📄 mypid.mdl
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BlockType Sum
Name "Sum1"
Ports [3, 1]
Position [420, 244, 435, 436]
ShowName off
Inputs "|+++"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [735, 392, 750, 428]
ShowName off
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [780, 382, 795, 418]
ShowName off
Inputs "|++"
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1]
Position [535, 322, 550, 358]
ShowName off
Inputs "|++"
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1]
Position [225, 680, 245, 700]
ShowName off
IconShape "round"
Inputs "|+-"
Port {
PortNumber 1
Name "e"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Sum
Name "Sum6"
Ports [3, 1]
Position [420, 619, 435, 811]
ShowName off
Inputs "|+++"
}
Block {
BlockType Sum
Name "Sum9"
Ports [2, 1]
Position [535, 697, 550, 733]
ShowName off
Inputs "|++"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [805, 240, 865, 270]
VariableName "out1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [620, 210, 680, 240]
VariableName "t1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [805, 615, 865, 645]
VariableName "out2"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace3"
Position [620, 585, 680, 615]
VariableName "t"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay"
Position [675, 324, 710, 356]
DelayTime "75"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay1"
Position [675, 699, 710, 731]
DelayTime "75"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay2"
Position [680, 436, 715, 464]
DelayTime "75"
}
Block {
BlockType Gain
Name "kd"
Position [305, 400, 335, 430]
Gain "100"
}
Block {
BlockType Gain
Name "kd1"
Position [305, 775, 335, 805]
Gain "39.16"
}
Block {
BlockType Gain
Name "ki"
Position [305, 350, 335, 380]
Gain "0.0080"
}
Block {
BlockType Gain
Name "ki1"
Position [305, 725, 335, 755]
Gain "0.0057"
}
Block {
BlockType ZeroPole
Name "等效对象"
Position [585, 386, 650, 434]
Zeros "[ ]"
Poles "[-0.0125 -0.0125 -0.0125]"
Gain "[0.000001953125]"
}
Block {
BlockType ZeroPole
Name "过程对象"
Position [585, 316, 650, 364]
Zeros "[ ]"
Poles "[-0.0125 -0.0125 -0.0125]"
Gain "[0.000001953125]"
}
Block {
BlockType ZeroPole
Name "过程对象1"
Position [585, 691, 650, 739]
Zeros "[ ]"
Poles "[-0.0125 -0.0125 -0.0125]"
Gain "[0.000001953125]"
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "过程对象"
SrcPort 1
DstBlock "Transport\nDelay"
DstPort 1
}
Line {
SrcBlock "Transport\nDelay2"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "过程对象"
DstPort 1
}
Branch {
Points [0, 70]
DstBlock "等效对象"
DstPort 1
}
}
Line {
SrcBlock "等效对象"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
DstBlock "Transport\nDelay2"
DstPort 1
}
}
Line {
Name "e"
Labels [0, 1]
SrcBlock "Sum"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Gain"
DstPort 1
}
Branch {
Points [0, 50]
Branch {
DstBlock "ki"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "kd"
DstPort 1
}
}
}
Line {
SrcBlock "Transport\nDelay"
SrcPort 1
Points [0, 0; 45, 0]
Branch {
Points [0, 60]
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [0, -85]
DstBlock "To Workspace"
DstPort 1
}
Branch {
DstBlock "Scope"
DstPort 1
}
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace1"
DstPort 1
}
Line {
SrcBlock "ki"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "kd"
SrcPort 1
DstBlock "Derivative"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Derivative"
SrcPort 1
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Step1"
SrcPort 1
Points [155, 0; 0, -140]
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [30, 0; 0, 125; -595, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Step2"
SrcPort 1
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "过程对象1"
SrcPort 1
DstBlock "Transport\nDelay1"
DstPort 1
}
Line {
SrcBlock "Sum9"
SrcPort 1
DstBlock "过程对象1"
DstPort 1
}
Line {
Name "e"
Labels [0, 1]
SrcBlock "Sum5"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Gain1"
DstPort 1
}
Branch {
Points [0, 50]
Branch {
DstBlock "ki1"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "kd1"
DstPort 1
}
}
}
Line {
SrcBlock "Transport\nDelay1"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
Points [20, 0]
Branch {
Points [0, -85]
DstBlock "To Workspace2"
DstPort 1
}
Branch {
DstBlock "Scope1"
DstPort 1
}
}
Branch {
Points [0, 115; -505, 0]
DstBlock "Sum5"
DstPort 2
}
}
Line {
SrcBlock "Clock1"
SrcPort 1
DstBlock "To Workspace3"
DstPort 1
}
Line {
SrcBlock "ki1"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "kd1"
SrcPort 1
DstBlock "Derivative1"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Sum6"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
DstBlock "Sum6"
DstPort 2
}
Line {
SrcBlock "Derivative1"
SrcPort 1
DstBlock "Sum6"
DstPort 3
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "Sum9"
DstPort 1
}
Line {
SrcBlock "Step3"
SrcPort 1
Points [155, 0; 0, -140]
DstBlock "Sum9"
DstPort 2
}
}
}
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