ex31_pid.mdl

其中提到遺傳學的程式碼與應用提供給次淚相向的研究者參考下載

      LinearizePole	      "inf"
    }
    Block {
      BlockType		      Gain
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      ParameterDataTypeMode   "Same as input"
      ParameterDataType	      "sfix(16)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      SignalConversion
      OverrideOpt	      off
    }
    Block {
      BlockType		      Inport
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      Interpolate	      on
    }
    Block {
      BlockType		      Integrator
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      IgnoreLimit	      off
      ZeroCross		      on
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
      BusObject		      "BusObject"
      NonVirtualBus	      off
    }
    Block {
      BlockType		      Scope
      Floating		      off
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Terminator
    }
    Block {
      BlockType		      ToWorkspace
      VariableName	      "simulink_output"
      MaxDataPoints	      "1000"
      Decimation	      "1"
      SampleTime	      "0"
      FixptAsFi		      off
    }
    Block {
      BlockType		      TransferFcn
      Numerator		      "[1]"
      Denominator	      "[1 2 1]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "ex31_pid"
    Location		    [314, 82, 793, 326]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [20, 15, 40, 35]
      Decimation	      "10"
    }
    Block {
      BlockType		      Derivative
      Name		      "Derivative"
      Position		      [125, 145, 155, 175]
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [170, 100, 200, 130]
      Gain		      "Ki"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [170, 143, 215, 177]
      Gain		      "Kd"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain2"
      Position		      [260, 68, 290, 102]
      Gain		      "Kp"
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator"
      Ports		      [1, 1]
      Position		      [125, 100, 155, 130]
      IgnoreLimit	      off
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [395, 66, 400, 104]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [415, 69, 445, 101]
      Location		      [7, 65, 302, 297]
      Open		      on
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "4"
      YMin		      "0"
      YMax		      "1.5"
      SaveToWorkspace	      on
      SaveName		      "IO"
      DataFormat	      "Array"
    }
    Block {
      BlockType		      Reference
      Name		      "Signal Constraint"
      Ports		      [1]
      Position		      [395, 131, 455, 199]
      DropShadow	      on
      SourceBlock	      "srolib/Signal Constraint"
      SourceType	      "Signal Constraint"
      ShowPortLabels	      on
      DialogPosition	      "[0.00625 0.2705078125 0.45 0.3095703125]"
      SaveIn		      "workspace"
      LogID		      "SRO_DataLog_1"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [20, 70, 50, 100]
      Time		      "0"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [80, 75, 100, 95]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [3, 1]
      Position		      [225, 75, 245, 95]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+++"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [80, 12, 100, 38]
      VariableName	      "t"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [145, 61, 165, 79]
      VariableName	      "in"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [285, 146, 305, 164]
      VariableName	      "y"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn"
      Position		      [310, 67, 365, 103]
      Numerator		      "[10]"
      Denominator	      "[1 3 2]"
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			1
      }
      Branch {
	Points			[0, -30; 65, 0]
	Branch {
	  Points		  [255, 0]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 15]
	  DstBlock		  "To Workspace1"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	Points			[104, 0]
	DstBlock		"Sum1"
	DstPort			1
      }
      Branch {
	Points			[0, 30; 0, 0]
	Branch {
	  DstBlock		  "Integrator"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "Derivative"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      DstBlock		      "Gain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      DstBlock		      "Gain1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      Points		      [15, 0]
      DstBlock		      "Sum1"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [0, -18]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Transfer Fcn"
      SrcPort		      1
      Points		      [0, 10]
      Branch {
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	Points			[0, 70]
	Branch {
	  Points		  [0, 15; -120, 0]
	  Branch {
	    Points		    [-160, 0]
	    DstBlock		    "Sum"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, -25]
	    DstBlock		    "To Workspace2"
	    DstPort		    1
	  }
	}
	Branch {
	  DstBlock		  "Signal Constraint"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      DstBlock		      "Transfer Fcn"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Gain2"
      DstPort		      1
    }
    Annotation {
      Name		      "ex31_pid.mdl, 7-8-2001, 2005-5-3,\nversion 7.x"
"\nPenChen Chou"
      Position		      [231, 26]
    }
    Annotation {
      Name		      "\n"
      Position		      [237, 241]
    }
    Annotation {
      Name		      "Set Kp=10;Ki=0;Kd=0;\nbefore simulation.\nSee a"
" WORD file to find the result."
      Position		      [180, 219]
    }
  }
}