fuzzyga.mdl

防人智能控制的设计

    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator"
      Ports		      [1, 1]
      Position		      [350, 350, 380, 380]
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [815, 324, 845, 356]
      Location		      [5, 53, 1033, 775]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      TimeRange		      "10"
      YMin		      "0"
      YMax		      "2"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [150, 300, 180, 330]
      Time		      "0"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step1"
      Position		      [290, 475, 320, 505]
      After		      "0"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [225, 305, 245, 325]
      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		      "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		      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		      TransportDelay
      Name		      "Transport\nDelay"
      Position		      [675, 324, 710, 356]
      DelayTime		      "2"
    }
    Block {
      BlockType		      TransportDelay
      Name		      "Transport\nDelay2"
      Position		      [680, 436, 715, 464]
      DelayTime		      "2"
    }
    Block {
      BlockType		      Gain
      Name		      "kd"
      Position		      [305, 400, 335, 430]
      Gain		      "20"
    }
    Block {
      BlockType		      Gain
      Name		      "ki"
      Position		      [305, 350, 335, 380]
      Gain		      "10"
    }
    Block {
      BlockType		      ZeroPole
      Name		      "等效对象"
      Position		      [585, 386, 650, 434]
      Zeros		      "[ ]"
      Poles		      "[-0.5 -1]"
      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
    }
  }
}