📄 king242aps.mdl
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Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
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BlockType Abs
SaturateOnIntegerOverflow on
ZeroCross on
SampleTime "-1"
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BlockType Constant
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VectorParams1D on
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
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Block {
BlockType Derivative
LinearizePole "inf"
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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"
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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
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Block {
BlockType Mux
Inputs "4"
DisplayOption "none"
BusObject "BusObject"
NonVirtualBus off
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Block {
BlockType Outport
Port "1"
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
OutputWhenDisabled "held"
InitialOutput "[]"
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Block {
BlockType Product
Inputs "2"
Multiplication "Element-wise(.*)"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Zero"
SaturateOnIntegerOverflow on
SampleTime "-1"
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Block {
BlockType Saturate
UpperLimit "0.5"
LowerLimit "-0.5"
LinearizeAsGain on
ZeroCross on
SampleTime "-1"
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Block {
BlockType Scope
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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"
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Block {
BlockType StateSpace
A "1"
B "1"
C "1"
D "1"
X0 "0"
AbsoluteTolerance "auto"
Realization "auto"
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Block {
BlockType Step
Time "1"
Before "0"
After "1"
SampleTime "-1"
VectorParams1D on
ZeroCross on
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Block {
BlockType SubSystem
ShowPortLabels on
Permissions "ReadWrite"
PermitHierarchicalResolution "All"
SystemSampleTime "-1"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
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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 TransferFcn
Numerator "[1]"
Denominator "[1 2 1]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType TransportDelay
DelayTime "1"
InitialInput "0"
BufferSize "1024"
PadeOrder "0"
TransDelayFeedthrough off
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}
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 "king242APS"
Location [539, 83, 1020, 312]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Abs
Name "Abs"
Position [110, 165, 140, 195]
}
Block {
BlockType Constant
Name "Constant"
Position [55, 165, 85, 195]
Value "k1"
}
Block {
BlockType Reference
Name "LTI System"
Ports [1, 1]
Position [325, 74, 380, 106]
SourceBlock "cstblocks/LTI System"
SourceType "LTI Block"
ShowPortLabels on
sys "plant"
IC "[]"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [415, 71, 420, 109]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Reference
Name "PID Controller"
Ports [1, 1]
Position [120, 75, 150, 105]
SourceBlock "simulink_extras/Additional\nLinear/PID Controll"
"er"
SourceType "PID Controller"
ShowPortLabels on
P "Kp"
I "Ki"
D "Kd"
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [160, 156, 205, 189]
InputSameDT off
RndMeth "Floor"
}
Block {
BlockType Saturate
Name "Saturation\n+-50"
Position [215, 74, 255, 106]
UpperLimit "500"
LowerLimit "-500"
ZeroCross off
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [440, 74, 470, 106]
Location [6, 64, 532, 286]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "60"
YMin "0"
YMax "1.5"
DataFormat "StructureWithTime"
MaxDataPoints "50000"
}
Block {
BlockType Step
Name "Step"
Position [15, 75, 45, 105]
Time "0"
After "inp_cmd"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [80, 80, 100, 100]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay=0.001 sec"
Position [270, 75, 300, 105]
DelayTime "0.001"
}
Block {
BlockType Outport
Name "Out1"
Position [420, 138, 450, 152]
IconDisplay "Port number"
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "PID Controller"
DstPort 1
}
Line {
SrcBlock "Step"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, -30; 335, 0; 0, 20]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "LTI System"
SrcPort 1
Points [10, 0; 0, 10]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 40; -20, 0]
Branch {
Points [-310, 0; 0, -25]
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, 5]
DstBlock "Out1"
DstPort 1
}
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Saturation\n+-50"
SrcPort 1
DstBlock "Transport\nDelay=0.001 sec"
DstPort 1
}
Line {
SrcBlock "PID Controller"
SrcPort 1
Points [-1, -1; 21, 1; 0, 45; -30, 0]
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "Transport\nDelay=0.001 sec"
SrcPort 1
DstBlock "LTI System"
DstPort 1
}
Line {
SrcBlock "Abs"
SrcPort 1
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Abs"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
Points [0, -45; -25, 0; 0, -40]
DstBlock "Saturation\n+-50"
DstPort 1
}
Annotation {
Name "king242APS.mdl\nPenChen Chou. 2004/1/14."
Position [86, 25]
}
Annotation {
Name "Use with GA_evo.m file.\nSet [Kp Ki Kd k1] valu"
"es and plant \nin LTI mode before simulation,\nOR load GA_evo_data.mat file."
"\n"
Position [302, 36]
}
}
}
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