📄 ex33b1_pid.mdl
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Numerator "[20]"
Denominator "[1 2 0.5]"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn4"
Position [550, 482, 605, 518]
Numerator "[10]"
Denominator "[1 3 2]"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay,0.15 sec."
Position [500, 485, 530, 515]
BackgroundColor "yellow"
DelayTime "0.15"
}
Line {
SrcBlock "Step"
SrcPort 1
Points [40, 0; 5, 0]
Branch {
Points [0, -30; 495, 0]
Branch {
Points [30, 0]
DstBlock "Mux"
DstPort 1
}
Branch {
Points [0, 110]
DstBlock "Mux1"
DstPort 1
}
}
Branch {
DstBlock "Sum12"
DstPort 1
}
Branch {
Points [0, 175]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, 135]
Branch {
Points [0, 135]
DstBlock "Sum6"
DstPort 1
}
Branch {
DstBlock "Sum4"
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 "Mux"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Transfer Fcn1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 110]
Branch {
Points [0, 5]
DstBlock "Mux1"
DstPort 2
}
Branch {
Points [-445, 0]
DstBlock "Sum12"
DstPort 2
}
}
}
Line {
SrcBlock "Integrator1"
SrcPort 1
DstBlock "Gain3"
DstPort 1
}
Line {
SrcBlock "Derivative1"
SrcPort 1
DstBlock "Gain4"
DstPort 1
}
Line {
SrcBlock "Gain4"
SrcPort 1
Points [15, 0]
DstBlock "Sum3"
DstPort 3
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [0, -18]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Gain5"
SrcPort 1
DstBlock "Transfer Fcn2"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Gain5"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn2"
SrcPort 1
Points [10, 0]
Branch {
Points [10, 0; 0, 15; 5, 0; 0, -5; 10, 0; 0, -125]
DstBlock "Mux"
DstPort 3
}
Branch {
Points [0, 110; -440, 0]
DstBlock "Sum2"
DstPort 2
}
}
Line {
SrcBlock "Integrator2"
SrcPort 1
DstBlock "Gain6"
DstPort 1
}
Line {
SrcBlock "Derivative2"
SrcPort 1
DstBlock "Gain7"
DstPort 1
}
Line {
SrcBlock "Gain7"
SrcPort 1
Points [15, 0]
DstBlock "Sum5"
DstPort 3
}
Line {
SrcBlock "Gain6"
SrcPort 1
Points [0, -18]
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "Gain8"
SrcPort 1
DstBlock "Transfer Fcn3"
DstPort 1
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock "Gain8"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn3"
SrcPort 1
Points [10, 0]
Branch {
Points [10, 0; 0, 15; 5, 0; 0, -5; 20, 0; 0, -245]
DstBlock "Mux"
DstPort 4
}
Branch {
Points [0, 115; -440, 0]
DstBlock "Sum4"
DstPort 2
}
}
Line {
SrcBlock "Integrator3"
SrcPort 1
DstBlock "Gain9"
DstPort 1
}
Line {
SrcBlock "Derivative3"
SrcPort 1
DstBlock "Gain10"
DstPort 1
}
Line {
SrcBlock "Gain10"
SrcPort 1
Points [15, 0]
DstBlock "Sum7"
DstPort 3
}
Line {
SrcBlock "Gain9"
SrcPort 1
Points [0, -18]
DstBlock "Sum7"
DstPort 2
}
Line {
SrcBlock "Gain11"
SrcPort 1
DstBlock "Transport\nDelay,0.15 sec."
DstPort 1
}
Line {
SrcBlock "Sum7"
SrcPort 1
DstBlock "Gain11"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn4"
SrcPort 1
Points [5, 0; 0, 10]
Branch {
Points [10, 0; 0, -365]
DstBlock "Mux"
DstPort 5
}
Branch {
Points [0, 105; -470, 0]
DstBlock "Sum6"
DstPort 2
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Scope1"
DstPort 1
}
Line {
SrcBlock "Transport\nDelay,0.15 sec."
SrcPort 1
DstBlock "Transfer Fcn4"
DstPort 1
}
Line {
SrcBlock "Sum12"
SrcPort 1
Points [135, 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 "Sum6"
SrcPort 1
Points [10, 0; 0, -45; 130, 0]
Branch {
Points [0, 30]
Branch {
DstBlock "Derivative3"
DstPort 1
}
Branch {
DstBlock "Integrator3"
DstPort 1
}
}
Branch {
Points [104, 0]
DstBlock "Sum7"
DstPort 1
}
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [10, 0; 0, -45; 130, 0]
Branch {
Points [104, 0]
DstBlock "Sum5"
DstPort 1
}
Branch {
Points [0, 30]
Branch {
DstBlock "Integrator2"
DstPort 1
}
Branch {
DstBlock "Derivative2"
DstPort 1
}
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [10, 0; 0, -45; 120, 0]
Branch {
Points [105, 0; 0, -12]
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [0, 30]
Branch {
Points [0, 45]
DstBlock "Derivative1"
DstPort 1
}
Branch {
DstBlock "Integrator1"
DstPort 1
}
}
}
Annotation {
Name "ex33B1_pid.mdl, 7-8-2001, 2005-6-6,\nUse of PS_"
"ex33B.m file to find PID parameters\nversion 7.x\nPenChen Chou"
Position [131, 36]
}
Annotation {
Name "\n"
Position [712, 56]
}
Annotation {
Name "Set Kp=10;Ki=0;Kd=0;SE=0;SDE=0;SU=0;\nbefore si"
"mulation.\nSee a WORD file to find the result."
Position [375, 34]
}
Annotation {
Name "NORMAL plant"
Position [534, 153]
}
Annotation {
Name "Reduced gain and pole"
Position [551, 279]
}
Annotation {
Name "Double gain and reduce pole"
Position [550, 412]
}
Annotation {
Name "Kp=1.26;Ki=0.236;Kd=0.178;\nSE=1.7;SDE=0.8;SU=0"
".06;\n is a set data after PS_ex33B.m execution."
Position [599, 34]
}
}
}
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