📄 hisc61.mdl
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BlockType Demux
Name "Demux"
Ports [1, 2, 0, 0, 0]
Position [160, 87, 165, 183]
BackgroundColor "black"
ShowName off
Outputs "2"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [460, 32, 470, 188]
ShowName off
IconShape "rectangular"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "kd"
Position [275, 144, 305, 176]
Gain "3"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "kp"
Position [275, 95, 305, 125]
Gain "5"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [550, 103, 580, 117]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
DstBlock "kp"
DstPort 1
}
Line {
SrcBlock "kd"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "kp"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "kd"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "控制模态4"
Ports [1, 1, 1, 0, 0]
Position [465, 425, 545, 465]
ShowPortLabels on
System {
Name "控制模态4"
Location [491, 259, 989, 559]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [45, 103, 75, 117]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType EnablePort
Name "Enable"
Ports [0, 0, 0, 0, 0]
Position [220, 15, 240, 35]
StatesWhenEnabling "held"
ShowOutputPort off
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 2, 0, 0, 0]
Position [100, 70, 105, 150]
BackgroundColor "black"
ShowName off
Outputs "2"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [335, 28, 345, 152]
ShowName off
IconShape "rectangular"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "kd1"
Position [220, 114, 250, 146]
Gain "0.8"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "kp"
Position [220, 75, 250, 105]
Gain "10"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [375, 83, 405, 97]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
DstBlock "kp"
DstPort 1
}
Line {
SrcBlock "kp"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "kd1"
DstPort 1
}
Line {
SrcBlock "kd1"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
}
}
Block {
BlockType SubSystem
Name "控制模态5"
Ports [1, 1, 1, 0, 0]
Position [465, 500, 545, 540]
ShowPortLabels on
System {
Name "控制模态5"
Location [272, 281, 770, 581]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [110, 103, 140, 117]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType EnablePort
Name "Enable"
Ports [0, 0, 0, 0, 0]
Position [220, 15, 240, 35]
StatesWhenEnabling "held"
ShowOutputPort off
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 2, 0, 0, 0]
Position [170, 68, 175, 152]
BackgroundColor "black"
ShowName off
Outputs "2"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1, 0, 0, 0]
Position [210, 158, 230, 182]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1, 0, 0, 0]
Position [295, 32, 315, 188]
ShowName off
IconShape "rectangular"
Inputs "|+++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "kd"
Position [220, 114, 250, 146]
Gain "9"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "kd1"
Position [250, 154, 280, 186]
Gain "30"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "kp"
Position [220, 75, 250, 105]
Gain "50"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [375, 103, 405, 117]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "kp"
DstPort 1
}
Branch {
Points [0, 80]
DstBlock "Integrator"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "kd"
DstPort 1
}
Line {
SrcBlock "kd"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "kp"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "kd1"
DstPort 1
}
Line {
SrcBlock "kd1"
SrcPort 1
DstBlock "Sum"
DstPort 3
}
}
}
Block {
BlockType Derivative
Name "微分"
Position [220, 369, 245, 391]
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "微分"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "控制模态1"
SrcPort 1
Points [5, 0; 0, 65]
DstBlock "Sum1"
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 "Sum3"
SrcPort 1
Points [15, 0; 0, 140; -740, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [10, 0]
Branch {
Points [175, 0]
Branch {
DstBlock "控制模态3"
DstPort 1
}
Branch {
Points [-20, 0; 0, -80]
Branch {
Points [0, -85]
DstBlock "控制模态1"
DstPort 1
}
Branch {
DstBlock "控制模态2"
DstPort 1
}
}
Branch {
Points [-20, 0; 0, 80]
Branch {
Points [0, 75]
DstBlock "控制模态5"
DstPort 1
}
Branch {
DstBlock "控制模态4"
DstPort 1
}
}
}
Branch {
DstBlock "S-Function"
DstPort 1
}
}
Line {
SrcBlock "S-Function"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [110, 0]
DstBlock "控制模态2"
DstPort enable
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [5, 0; 0, -55]
DstBlock "控制模态1"
DstPort enable
}
Line {
SrcBlock "Demux"
SrcPort 5
Points [10, 0; 0, 185]
DstBlock "控制模态5"
DstPort enable
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [20, 0; 0, 125; 90, 0]
DstBlock "控制模态4"
DstPort enable
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [30, 0; 0, 65; 80, 0]
DstBlock "控制模态3"
DstPort enable
}
Line {
SrcBlock "控制模态3"
SrcPort 1
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "控制模态2"
SrcPort 1
Points [5, 0; 0, 30]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "控制模态4"
SrcPort 1
Points [5, 0; 0, -30]
DstBlock "Sum1"
DstPort 4
}
Line {
SrcBlock "控制模态5"
SrcPort 1
Points [5, 0; 0, -55]
DstBlock "Sum1"
DstPort 5
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Step1"
SrcPort 1
Points [40, 0]
DstBlock "Sum4"
DstPort 1
}
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 [10, 0]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
DstBlock "Transport\nDelay2"
DstPort 1
}
}
Line {
Name "e"
Labels [0, 1]
SrcBlock "Sum"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Mux"
DstPort 1
}
Branch {
Points [0, 35]
DstBlock "微分"
DstPort 1
}
}
Line {
SrcBlock "Transport\nDelay"
SrcPort 1
Points [45, 0]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
Points [0, 60]
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [0, -140]
DstBlock "To Workspace"
DstPort 1
}
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace1"
DstPort 1
}
}
}
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