modelle_v_regelkreis.mdl

电机的PID控制

	      OutScaling	      "2^0"
	      SampleTime	      "inf"
	      FramePeriod	      "inf"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Gain2"
	      Position		      [135, 330, 165, 360]
	      Gain		      "-1"
	    }
	    Block {
	      BlockType		      Math
	      Name		      "Math\nFunction"
	      Ports		      [1, 1]
	      Position		      [260, 310, 290, 340]
	    }
	    Block {
	      BlockType		      Mux
	      Name		      "Mux1"
	      Ports		      [3, 1]
	      Position		      [555, 326, 560, 364]
	      ShowName		      off
	      Inputs		      "3"
	      DisplayOption	      "bar"
	    }
	    Block {
	      BlockType		      Product
	      Name		      "Product1"
	      Ports		      [2, 1]
	      Position		      [305, 116, 350, 149]
	      RndMeth		      "Floor"
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	    Block {
	      BlockType		      Product
	      Name		      "Product3"
	      Ports		      [2, 1]
	      Position		      [165, 206, 210, 239]
	      RndMeth		      "Floor"
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	    Block {
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	      Ports		      [3, 1]
	      Position		      [190, 307, 235, 343]
	      Inputs		      "3"
	      RndMeth		      "Floor"
	    }
	    Block {
	      BlockType		      Product
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	      Ports		      [3, 1]
	      Position		      [325, 298, 370, 332]
	      Inputs		      "3"
	      RndMeth		      "Floor"
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	    Block {
	      BlockType		      Product
	      Name		      "Product6"
	      Ports		      [2, 1]
	      Position		      [165, 105, 210, 140]
	      RndMeth		      "Floor"
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	    Block {
	      BlockType		      Scope
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	      Ports		      [1]
	      Position		      [585, 329, 615, 361]
	      Floating		      off
	      Location		      [6, 643, 330, 882]
	      Open		      off
	      NumInputPorts	      "1"
	      ZoomMode		      "yonly"
	      List {
		ListType		AxesTitles
		axes1			"%<SignalLabel>"
	      }
	      TimeRange		      "0.4"
	      YMin		      "-50"
	      YMax		      "250"
	      SaveName		      "ScopeData22"
	      DataFormat	      "StructureWithTime"
	      MaxDataPoints	      "5000000"
	      SampleTime	      "0"
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	    Block {
	      BlockType		      Product
	      Name		      "Reibung_Coulomb"
	      Ports		      [2, 1]
	      Position		      [415, 110, 460, 145]
	      RndMeth		      "Floor"
	    }
	    Block {
	      BlockType		      Product
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	      Ports		      [2, 1]
	      Position		      [415, 200, 460, 235]
	      RndMeth		      "Floor"
	    }
	    Block {
	      BlockType		      Saturate
	      Name		      "Saturation"
	      Position		      [235, 110, 265, 140]
	      UpperLimit	      "1"
	      LowerLimit	      "-1"
	    }
	    Block {
	      BlockType		      ToWorkspace
	      Name		      "Stribeck"
	      Position		      [375, 514, 450, 546]
	      Orientation	      "left"
	      VariableName	      "FReibStriPrim"
	      MaxDataPoints	      "inf"
	      Decimation	      "10"
	      SampleTime	      "-1"
	      SaveFormat	      "Array"
	    }
	    Block {
	      BlockType		      ToWorkspace
	      Name		      "Stribeck1"
	      Position		      [645, 180, 705, 210]
	      VariableName	      "FReibPrim"
	      MaxDataPoints	      "inf"
	      Decimation	      "10"
	      SampleTime	      "-1"
	      SaveFormat	      "Array"
	    }
	    Block {
	      BlockType		      Product
	      Name		      "Stribeck8"
	      Ports		      [2, 1]
	      Position		      [415, 290, 460, 325]
	      RndMeth		      "Floor"
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum1"
	      Ports		      [3, 1]
	      Position		      [525, 150, 545, 170]
	      ShowName		      off
	      IconShape		      "round"
	      Inputs		      "+++"
	    }
	    Block {
	      BlockType		      ToWorkspace
	      Name		      "Viskose"
	      Position		      [375, 470, 450, 500]
	      Orientation	      "left"
	      VariableName	      "FReibViskPrim"
	      MaxDataPoints	      "inf"
	      Decimation	      "10"
	      SampleTime	      "-1"
	      SaveFormat	      "Array"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "beta"
	      Position		      [55, 330, 85, 360]
	      BackgroundColor	      "lightBlue"
	      Value		      "par_primary_beta"
	      VectorParams1D	      on
	      SamplingMode	      "Sample based"
	      OutDataTypeMode	      "Inherit from 'Constant value'"
	      OutDataType	      "sfix(16)"
	      ConRadixGroup	      "Use specified scaling"
	      OutScaling	      "2^0"
	      SampleTime	      "inf"
	      FramePeriod	      "inf"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "FReib"
	      Position		      [595, 153, 625, 167]
	      BackgroundColor	      "lightBlue"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
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	    Line {
	      SrcBlock		      "beta"
	      SrcPort		      1
	      DstBlock		      "Gain2"
	      DstPort		      1
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	    Line {
	      SrcBlock		      "Fv"
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	      DstBlock		      "Product3"
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	    }
	    Line {
	      SrcBlock		      "Fv1"
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	      DstBlock		      "Product6"
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	    }
	    Line {
	      SrcBlock		      "Product6"
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	    Line {
	      SrcBlock		      "Saturation"
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	      Points		      [0, 0; 10, 0]
	      Branch {
		DstBlock		"Product1"
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	      Branch {
		Points			[0, 155]
		Branch {
		  Points		  [-110, 0; 0, 35]
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		Branch {
		  Points		  [30, 0]
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	    }
	    Line {
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	      Points		      [195, 0; 0, -35]
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	      DstBlock		      "Math\nFunction"
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	    Line {
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	      Points		      [5, 0]
	      DstBlock		      "Product4"
	      DstPort		      3
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	    Line {
	      SrcBlock		      "Product1"
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	    Line {
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	      DstBlock		      "Stribeck8"
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	    Line {
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	      Points		      [20, 0]
	      Branch {
		DstBlock		"FReib"
		DstPort			1
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	      Branch {
		Points			[0, 35]
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	    Line {
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	      Points		      [20, 0; 0, 25]
	      Branch {
		DstBlock		"Product6"
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	      Branch {
		Points			[0, 100]
		Branch {
		  DstBlock		  "Product3"
		  DstPort		  1
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		Branch {
		  Points		  [0, 110]
		  DstBlock		  "Product4"
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	      }
	    }
	    Line {
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	      Points		      [290, 0; 0, 70]
	      Branch {
		DstBlock		"Reibung_Coulomb"
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	      Branch {
		Points			[0, 90]
		Branch {
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		Branch {
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	    }
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	      SrcBlock		      "Math\nFunction"
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	    Line {
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	      Points		      [210, 0; 0, 25]
	      DstBlock		      "Product5"
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	      Points		      [35, 0]
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		Branch {
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		Branch {
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		DstBlock		"Sum1"
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	    Line {
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	      Branch {
		Points			[0, 125]
		Branch {
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		Branch {
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	      Branch {
		Points			[20, 0]
		DstBlock		"Sum1"
		DstPort			2
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	    Line {
	      SrcBlock		      "Stribeck8"
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	      Points		      [15, 0]
	      Branch {
		Points			[0, 45]
		Branch {
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		Branch {
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	      Branch {
		Points			[55, 0]
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	    }
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	    }
	    Annotation {
	      Name		      "Reibmodell der Fuehrungswagen"
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	      BackgroundColor	      "orange"
	      UseDisplayTextAsClickCallback off
	    }
	  }
	}
	Block {
	  BlockType		  Outport
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	Block {
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	Block {
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	  BackgroundColor	  "lightBlue"
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