modelle_v_regelkreis.mdl

电机的PID控制

      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      IgnoreLimit	      off
      ZeroCross		      on
    }
    Block {
      BlockType		      Math
      Operator		      "exp"
      OutputSignalType	      "auto"
      SampleTime	      "-1"
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
      UseBusObject	      off
      BusObject		      "BusObject"
      NonVirtualBus	      off
    }
    Block {
      BlockType		      Outport
      Port		      "1"
      UseBusObject	      off
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    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"
    }
    Block {
      BlockType		      Quantizer
      QuantizationInterval    "0.5"
      LinearizeAsGain	      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Reference
    }
    Block {
      BlockType		      Rounding
      Operator		      "floor"
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Saturate
      UpperLimit	      "0.5"
      LowerLimit	      "-0.5"
      LinearizeAsGain	      on
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Scope
      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	      "-1"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      TreatAsAtomicUnit	      off
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      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		      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		    "modelle_v_Regelkreis"
    Location		    [6, 82, 1018, 360]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "centimeters"
    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
    TiledPageScale	    1
    ShowPageBoundaries	    off
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "Kraftregler"
      Ports		      [2, 1]
      Position		      [365, 78, 445, 122]
      BackgroundColor	      "orange"
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      MaskHideContents	      off
      System {
	Name			"Kraftregler"
	Location		[-17, 437, 573, 659]
	Open			on
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "Fsoll"
	  Position		  [20, 63, 50, 77]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "Iist"
	  Position		  [20, 28, 50, 42]
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain(F~I)"
	  Position		  [85, 55, 115, 85]
	  Gain			  "138"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Glaettungsfilter_I"
	  Position		  [210, 52, 270, 88]
	  Numerator		  "[Vg_I]"
	  Denominator		  "[Tg_I 1]"
	  Port {
	    PortNumber		    1
	    Name		    "I-soll"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [4, 1]
	  Position		  [335, 96, 340, 159]
	  ShowName		  off
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "PI_Regler\nStrom"
	  Ports			  [2, 1]
	  Position		  [390, 38, 465, 82]
	  BackgroundColor	  "orange"
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskHideContents	  off
	  System {
	    Name		    "PI_Regler\nStrom"
	    Location		    [505, 385, 986, 685]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "Iist"
	      Position		      [55, 128, 85, 142]
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "Isoll"
	      Position		      [55, 83, 85, 97]
	      Port		      "2"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Gain1"
	      Position		      [195, 151, 275, 199]
	      ShowName		      off
	      Gain		      "Kp_I/Tn_I"
	      ParameterDataTypeMode   "Inherit via internal rule"
	      OutDataTypeMode	      "Inherit via internal rule"
	      SaturateOnIntegerOverflow	off
	    }
	    Block {
	      BlockType		      Integrator
	      Name		      "Int_R"
	      Ports		      [1, 1]
	      Position		      [305, 160, 335, 190]
	      IgnoreLimit	      off
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "P-Anteil"
	      Position		      [230, 75, 285, 105]
	      Gain		      "Kp_I"
	      ParameterDataTypeMode   "Inherit via internal rule"
	      OutDataTypeMode	      "Inherit via internal rule"
	      SaturateOnIntegerOverflow	off
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum1"
	      Ports		      [2, 1]
	      Position		      [140, 80, 160, 100]
	      ShowName		      off
	      IconShape		      "round"
	      Inputs		      "|+-"
	      InputSameDT	      off
	      OutDataTypeMode	      "Inherit via internal rule"
	      SaturateOnIntegerOverflow	off
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum2"
	      Ports		      [2, 1]
	      Position		      [345, 80, 365, 100]
	      ShowName		      off
	      IconShape		      "round"
	      Inputs		      "|++"
	      InputSameDT	      off
	      OutDataTypeMode	      "Inherit via internal rule"
	      SaturateOnIntegerOverflow	off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Usoll"
	      Position		      [415, 83, 445, 97]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Line {
	      SrcBlock		      "Isoll"
	      SrcPort		      1
	      DstBlock		      "Sum1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Iist"
	      SrcPort		      1
	      Points		      [60, 0]
	      DstBlock		      "Sum1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Sum1"
	      SrcPort		      1
	      Points		      [0, 0; 15, 0]
	      Branch {
		DstBlock		"P-Anteil"
		DstPort			1
	      }
	      Branch {
		DstBlock		"Gain1"
		DstPort			1
	      }
	    }
	    Line {
	      SrcBlock		      "Gain1"
	      SrcPort		      1
	      DstBlock		      "Int_R"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Int_R"
	      SrcPort		      1
	      Points		      [15, 0]
	      DstBlock		      "Sum2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "P-Anteil"
	      SrcPort		      1
	      DstBlock		      "Sum2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Sum2"
	      SrcPort		      1
	      DstBlock		      "Usoll"
	      DstPort		      1
	    }
	    Annotation {
	      Name		      "I-Anteil"
	      Position		      [262, 224]
	      UseDisplayTextAsClickCallback off
	    }
	  }
	}
	Block {
	  BlockType		  Scope
	  Name			  "Scope"
	  Ports			  [1]
	  Position		  [380, 114, 410, 146]
	  Floating		  off
	  Location		  [5, 56, 1285, 997]
	  Open			  off
	  NumInputPorts		  "1"
	  ZoomMode		  "yonly"
	  List {
	    ListType		    AxesTitles
	    axes1		    "%<SignalLabel>"
	  }
	  TimeRange		  "0.25"
	  YMin			  "-0.06"
	  YMax			  "0.08"
	  SaveName		  "ScopeData2"
	  DataFormat		  "StructureWithTime"
	  MaxDataPoints		  "500000"
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  Saturate
	  Name			  "Spitzenstrom"
	  Position		  [150, 55, 180, 85]
	  UpperLimit		  "I_max"
	  LowerLimit		  "-I_max"
	  Port {
	    PortNumber		    1
	    Name		    "I-Soll"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "Usoll"
	  Position		  [510, 53, 540, 67]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  Name			  "I-Soll"
	  SrcBlock		  "Spitzenstrom"
	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
	    DstBlock		    "Glaettungsfilter_I"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "Mux"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "PI_Regler\nStrom"
	  SrcPort		  1
	  Points		  [0, 0]
	  DstBlock		  "Usoll"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fsoll"
	  SrcPort		  1
	  Points		  [0, 0; 5, 0]
	  Branch {
	    DstBlock		    "Gain(F~I)"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 80]
	    DstBlock		    "Mux"
	    DstPort		    4
	  }
	}
	Line {
	  SrcBlock		  "Gain(F~I)"
	  SrcPort		  1
	  Points		  [0, 0; 5, 0]
	  Branch {
	    DstBlock		    "Spitzenstrom"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 65]
	    DstBlock		    "Mux"