ipclimpulse2.mdl

把控制倒立摆的matlab文件不上去

    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Gain
      Name		      "Feedback Gain"
      Position		      [250, 260, 320, 290]
      Orientation	      "left"
      NamePlacement	      "alternate"
      FontName		      "Verdana"
      Gain		      "2.8648"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Impulse \nDisturbance"
      Ports		      [0, 1]
      Position		      [383, 70, 427, 110]
      Orientation	      "down"
      NamePlacement	      "alternate"
      FontName		      "Verdana"
      TreatAsAtomicUnit	      off
      MaskType		      "Impulse Generator"
      MaskDescription	      "This model generates an impulse of specified wi"
"dth."
      MaskHelp		      "This model generates an impulse of specified wi"
"dth."
      MaskPromptString	      "Impulse Time|Impulse Duration"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskToolTipString	      "on,on"
      MaskVarAliasString      ","
      MaskVariables	      "T=@1;dt=@2;"
      MaskDisplay	      "plot(0,0,9,3,[1 2 3 4 4 4 5 6 7],[1 1 1 1 2 1 1"
" 1 1])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "0.5|0.01"
      System {
	Name			"Impulse \nDisturbance"
	Location		[287, 103, 462, 240]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Step
	  Name			  "Step"
	  Position		  [25, 25, 55, 55]
	  FontName		  "Verdana"
	  Time			  "T"
	  After			  "1 / dt"
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  Step
	  Name			  "Step1"
	  Position		  [25, 80, 55, 110]
	  FontName		  "Verdana"
	  Time			  "T + dt"
	  After			  "1 / dt"
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1]
	  Position		  [75, 30, 95, 50]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|+-"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Impulse"
	  Position		  [120, 33, 150, 47]
	  FontName		  "Verdana"
	}
	Line {
	  SrcBlock		  "Step"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Step1"
	  SrcPort		  1
	  Points		  [25, 0]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Impulse"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Gain
      Name		      "Kc"
      Position		      [120, 144, 165, 176]
      FontName		      "Verdana"
      Gain		      "80"
    }
    Block {
      BlockType		      Reference
      Name		      "PID Controller"
      Ports		      [1, 1]
      Position		      [195, 145, 225, 175]
      FontName		      "Verdana"
      SourceBlock	      "simulink_extras/Additional\nLinear/PID Controll"
"er"
      SourceType	      "PID Controller"
      P			      "20"
      I			      "100"
      D			      "1"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "PLANT\n(Cart + IP)"
      Position		      [475, 138, 575, 182]
      FontName		      "Verdana"
      Numerator		      "[0 0 0.102]"
      Denominator	      "[0.0446 0 -1]"
    }
    Block {
      BlockType		      Constant
      Name		      "Reference\nPosition"
      Position		      [20, 145, 50, 175]
      FontName		      "Verdana"
      Value		      "0"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "SERVOMECHANISM\n(Motor + Pulley-Chain \nMechani"
"sm)"
      Position		      [290, 142, 350, 178]
      FontName		      "Verdana"
      Numerator		      "[0.391 0]"
      Denominator	      "[0.5 1]"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [75, 150, 95, 170]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [380, 150, 400, 170]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
    }
    Block {
      BlockType		      Scope
      Name		      "Theta\n(Angle from \nthe Vertical)"
      Ports		      [1]
      Position		      [610, 144, 640, 176]
      FontName		      "Verdana"
      Location		      [29, 321, 353, 559]
      Open		      on
      NumInputPorts	      "1"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      SaveToWorkspace	      on
      SaveName		      "stepr"
      DataFormat	      "Array"
      MaxDataPoints	      "30000"
    }
    Line {
      SrcBlock		      "Feedback Gain"
      SrcPort		      1
      Points		      [-160, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Kc"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Reference\nPosition"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "PLANT\n(Cart + IP)"
      DstPort		      1
    }
    Line {
      SrcBlock		      "SERVOMECHANISM\n(Motor + Pulley-Chain \nMechani"
"sm)"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Impulse \nDisturbance"
      SrcPort		      1
      Points		      [0, 75; -15, 0]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "PLANT\n(Cart + IP)"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"Theta\n(Angle from \nthe Vertical)"
	DstPort			1
      }
      Branch {
	Points			[0, 115]
	DstBlock		"Feedback Gain"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Kc"
      SrcPort		      1
      DstBlock		      "PID Controller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PID Controller"
      SrcPort		      1
      DstBlock		      "SERVOMECHANISM\n(Motor + Pulley-Chain \nMechani"
"sm)"
      DstPort		      1
    }
    Annotation {
      Name		      "Force on\nthe Cart"
      Position		      [438, 144]
      FontName		      "Verdana"
    }
    Annotation {
      Name		      "Response to Disturbance in Force on the Cart of"
" Compensated Inverted Pendulum System"
      Position		      [336, 36]
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      11
      FontWeight	      "bold"
    }
    Annotation {
      Name		      "This model shows the response to disturbance in"
" force on the cart \nof compensated Inverted Pendulum System. It shows that h"
"ow \nthe system rejects the disturbance in the force in the cart."
      Position		      [339, 339]
      FontName		      "Arial"
      FontSize		      12
    }
  }
}