📄 串级控制.mdl
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Gain "0.02"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "ki"
Position [105, 80, 135, 110]
Gain "0.05"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "kp"
Position [165, 25, 195, 55]
Gain "2.4"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
SampleTime "1"
}
Block {
BlockType Outport
Name "Out1"
Position [380, 78, 410, 92]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 0; 30, 0]
Branch {
Points [0, 55]
Branch {
DstBlock "ki"
DstPort 1
}
Branch {
Points [0, 70]
DstBlock "kd"
DstPort 1
}
}
Branch {
DstBlock "kp"
DstPort 1
}
}
Line {
SrcBlock "ki"
SrcPort 1
Points [0, 0]
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "kd"
SrcPort 1
DstBlock "Derivative"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [114, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "kp"
SrcPort 1
Points [140, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [135, 0]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType Scope
Name "Qmeas"
Ports [1]
Position [115, 174, 145, 206]
Orientation "left"
Floating off
Location [234, 265, 905, 647]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "50"
YMin "-250"
YMax "150"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [15, 54, 45, 86]
Orientation "left"
Floating off
Location [323, 333, 647, 572]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData4"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [60, 130, 80, 150]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [185, 125, 205, 145]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [630, 125, 650, 145]
ShowName off
IconShape "round"
Inputs "++|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1]
Position [435, 125, 455, 145]
ShowName off
IconShape "round"
Inputs "++|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Scope
Name "Tmeas"
Ports [1]
Position [80, 234, 110, 266]
Orientation "left"
Floating off
Location [381, 133, 1019, 649]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "50"
YMin "-1.5"
YMax "1.5"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [190, 330, 250, 360]
VariableName "y"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [710, 330, 770, 360]
VariableName "t"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn2"
Position [370, 117, 415, 153]
Numerator "[0.1]"
Denominator "[1.5 1]"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay"
Position [580, 25, 610, 55]
DelayTime "2"
}
Block {
BlockType Step
Name "Tsp"
Position [15, 125, 45, 155]
SampleTime "0"
}
Block {
BlockType Step
Name "Uman"
Position [235, 30, 265, 60]
SampleTime "0"
}
Block {
BlockType Step
Name "pv"
Position [390, 25, 420, 55]
After "0.18"
SampleTime "0"
}
Block {
BlockType Scope
Name "Time\nScope"
Ports []
Position [50, 46, 85, 94]
IOType "viewer"
Floating off
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData2"
DataFormat "Structure"
SampleTime "0"
}
Line {
SrcBlock "Tsp"
SrcPort 1
Points [5, 0; 0, -70]
DstBlock "Scope1"
DstPort 1
}
Line {
SrcBlock "Osp.man"
SrcPort 1
DstBlock "Auto/Cas"
DstPort 1
}
Line {
SrcBlock "GQm"
SrcPort 1
Points [-30, 0]
Branch {
DstBlock "Qmeas"
DstPort 1
}
Branch {
DstBlock "Sum1"
DstPort 2
}
}
Line {
SrcBlock "Uman"
SrcPort 1
DstBlock "Man/Auto"
DstPort 1
}
Line {
SrcBlock "Man/Auto"
SrcPort 1
Points [5, 0; 0, 45; -30, 0; 0, 35]
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "pv"
SrcPort 1
Points [20, 0]
DstBlock "Kd2"
DstPort 1
}
Line {
SrcBlock "Gp1"
SrcPort 1
DstBlock "Delay1_Gp1\n"
DstPort 1
}
Line {
SrcBlock "F"
SrcPort 1
DstBlock "Transport\nDelay"
DstPort 1
}
Line {
SrcBlock "Transport\nDelay"
SrcPort 1
Points [25, 0]
DstBlock "Gd1"
DstPort 1
}
Line {
SrcBlock "GTm"
SrcPort 1
Points [-130, 0]
Branch {
Points [-20, 0]
Branch {
Points [-75, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, -40]
DstBlock "Tmeas"
DstPort 1
}
}
Branch {
Points [0, 55]
DstBlock "To Workspace"
DstPort 1
}
}
Line {
SrcBlock "Delay1_Gp1\n"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Gd1"
SrcPort 1
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Kd2"
SrcPort 1
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn2"
SrcPort 1
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Gp1"
DstPort 1
}
Branch {
Points [0, 55]
DstBlock "GQm"
DstPort 1
}
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Transfer Fcn2"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [25, 0]
Branch {
Labels [1, 0]
Points [0, 0]
}
Branch {
Points [0, 155]
DstBlock "GTm"
DstPort 1
}
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "PID1"
DstPort 1
}
Line {
SrcBlock "PID1"
SrcPort 1
DstBlock "Auto/Cas"
DstPort 2
}
Line {
SrcBlock "PID"
SrcPort 1
DstBlock "Man/Auto"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "PID"
DstPort 1
}
Line {
SrcBlock "Auto/Cas"
SrcPort 1
Points [10, 0; 0, 40; -35, 0; 0, 40]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace1"
DstPort 1
}
}
}
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