📄 pid61.mdl
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Model {
Name "tp453150"
Version 3.0
SampleTimeColors off
ShowPortDataTypes off
BlockParametersDataTip off
BlockDescriptionStringDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
Created "Sat Sep 03 20:11:43 2005"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "Administrator"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Wed Sep 14 21:45:33 2005"
ModelVersionFormat "1.%<AutoIncrement:89>"
ConfigurationManager "None"
SimParamPage "Solver"
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "normal"
ExtModeTrigPort "1"
ExtModeTrigElement "any"
ExtModeTrigDuration 1000
ExtModeTrigHoldOff 0
ExtModeTrigDelay 0
ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
ExtModeAutoIncOneShot off
ExtModeIncDirWhenArm off
ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect on
BufferReuse on
SimulationMode "normal"
Solver "ode45"
SolverMode "Auto"
StartTime "0.0"
StopTime "10"
MaxOrder 5
MaxStep "auto"
InitialStep "auto"
FixedStep "auto"
RelTol "1e-3"
AbsTol "auto"
OutputOption "RefineOutputTimes"
OutputTimes "[]"
Refine "1"
LoadExternalInput off
ExternalInput "[t, u]"
LoadInitialState off
InitialState "xInitial"
SaveTime on
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput on
OutputSaveName "yout"
SaveFinalState off
FinalStateName "xFinal"
SaveFormat "Matrix"
Decimation "1"
AlgebraicLoopMsg "warning"
InheritedTsInSrcMsg "warning"
IntegerOverflowMsg "warning"
Int32ToFloatConvMsg "warning"
UnnecessaryDatatypeConvMsg "none"
SignalLabelMismatchMsg "none"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
RTWInlineParameters off
BooleanDataType on
OptimizeBlockIOStorage on
ZeroCross on
RTWSystemTargetFile "grt.tlc"
RTWTemplateMakefile "grt_default_tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
RTWRetainRTWFile off
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
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 "tp453150"
Location [2, 74, 1270, 978]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 212
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Clock
Name "Clock"
Position [535, 215, 555, 235]
DisplayTime off
Decimation "10"
}
Block {
BlockType Derivative
Name "Derivative"
Position [350, 400, 380, 430]
}
Block {
BlockType Gain
Name "Gain"
Position [305, 300, 335, 330]
Gain "5"
SaturateOnIntegerOverflow on
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1, 0, 0, 0]
Position [350, 350, 380, 380]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Scope
Name "Scope"
Ports [1, 0, 0, 0, 0]
Position [815, 324, 845, 356]
Floating off
Location [5, 53, 1285, 999]
Open off
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
axes1 ""
}
Grid "on"
TimeRange "10"
YMin "0"
YMax "2"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Step
Name "Step"
Position [150, 300, 180, 330]
Time "0"
Before "0"
After "1"
SampleTime "0"
}
Block {
BlockType Step
Name "Step1"
Position [290, 475, 320, 505]
Time "1"
Before "0"
After "0"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [225, 305, 245, 325]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1, 0, 0, 0]
Position [420, 244, 435, 436]
ShowName off
IconShape "rectangular"
Inputs "|+++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1, 0, 0, 0]
Position [735, 392, 750, 428]
ShowName off
IconShape "rectangular"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1, 0, 0, 0]
Position [780, 382, 795, 418]
ShowName off
IconShape "rectangular"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1, 0, 0, 0]
Position [535, 322, 550, 358]
ShowName off
IconShape "rectangular"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [805, 240, 865, 270]
VariableName "out1"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [620, 210, 680, 240]
VariableName "t1"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay"
Position [675, 324, 710, 356]
DelayTime "1"
InitialInput "0"
BufferSize "1024"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay2"
Position [680, 436, 715, 464]
DelayTime "0.98"
InitialInput "0"
BufferSize "1024"
}
Block {
BlockType Gain
Name "kd"
Position [305, 400, 335, 430]
Gain "1"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "ki"
Position [305, 350, 335, 380]
Gain "1.5"
SaturateOnIntegerOverflow on
}
Block {
BlockType ZeroPole
Name "等效对象"
Position [585, 386, 650, 434]
Zeros "[ ]"
Poles "[-0.45 -0.9]"
Gain "[2]"
}
Block {
BlockType ZeroPole
Name "过程对象"
Position [585, 316, 650, 364]
Zeros "[ ]"
Poles "[-0.5 -1]"
Gain "[2]"
}
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 "Sum2"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [0, 0; 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 {
DstBlock "Scope"
DstPort 1
}
Branch {
Points [0, 60]
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [0, -85]
DstBlock "To Workspace"
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
}
}
}
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