mimomsf2df2.mdl

内模控制器（IMC）工具箱。包括参数整定、PID控制器参数转换等

	  Name			  "states"
	  Ports			  [1, 2, 0, 0, 0]
	  Position		  [260, 25, 295, 60]
	  Orientation		  "left"
	  SourceBlock		  "MIMO_lib/2_input_state"
	  SourceType		  "2_input_state"
	  Ds			  "Ds"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [15, 93, 45, 107]
	  Orientation		  "left"
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "states"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  Points		  [-10, 0]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "(1,1) "
	  SrcPort		  1
	  Points		  [-15, 0]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  Points		  [-10, 0]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "(1,2)"
	  SrcPort		  1
	  Points		  [-15, 0]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "(2,1)"
	  SrcPort		  1
	  Points		  [-15, 0]
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "states"
	  SrcPort		  1
	  Points		  [-30, 0]
	  Branch {
	    DstBlock		    "(1,1) "
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 95]
	    DstBlock		    "(2,1)"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "states"
	  SrcPort		  2
	  Points		  [-15, 0]
	  Branch {
	    Points		    [-35, 0]
	    DstBlock		    "(1,2)"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 130]
	    DstBlock		    "(2,2)"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "(2,2)"
	  SrcPort		  1
	  Points		  [-15, 0]
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "input delay"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [415, 93, 480, 127]
      ShowName		      off
      ShowPortLabels	      on
      MaskType		      "input delay"
      MaskPromptString	      "Input Delay (vector)"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskVariables	      "input_delay=@1;"
      MaskDisplay	      "disp('Input delay')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "input_delay"
      System {
	Name			"input delay"
	Location		[516, 120, 772, 262]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"automatic"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [25, 48, 55, 62]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Ports			  [1, 2, 0, 0, 0]
	  Position		  [75, 36, 80, 74]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "2"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Mdelay"
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [115, 14, 150, 46]
	  SourceBlock		  "MIMO_lib/Mdelay"
	  SourceType		  "Mdelay"
	  Mdelay		  "input_delay(1)"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Mdelay1"
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [115, 69, 150, 101]
	  SourceBlock		  "MIMO_lib/Mdelay"
	  SourceType		  "Mdelay"
	  Mdelay		  "input_delay(2)"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [185, 36, 190, 74]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [215, 48, 245, 62]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  DstBlock		  "Mdelay"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  DstBlock		  "Mdelay1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mdelay"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mdelay1"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      Reference
      Name		      "input reverse swapping"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [355, 95, 385, 125]
      SourceBlock	      "simulink3/Math/Matrix\nGain"
      SourceType	      "Matrix Gain"
      K			      "inv(T)"
    }
    Block {
      BlockType		      Reference
      Name		      "input swapping"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [460, 175, 490, 205]
      Orientation	      "left"
      SourceBlock	      "simulink3/Math/Matrix\nGain"
      SourceType	      "Matrix Gain"
      K			      "T"
    }
    Block {
      BlockType		      Reference
      Name		      "input swapping1"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [485, 245, 515, 275]
      Orientation	      "left"
      SourceBlock	      "simulink3/Math/Matrix\nGain"
      SourceType	      "Matrix Gain"
      K			      "T"
    }
    Block {
      BlockType		      Reference
      Name		      "input swapping2"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [60, 85, 90, 115]
      SourceBlock	      "simulink3/Math/Matrix\nGain"
      SourceType	      "Matrix Gain"
      K			      "T"
    }
    Block {
      BlockType		      Reference
      Name		      "qd"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [335, 239, 380, 281]
      Orientation	      "left"
      SourceBlock	      "MIMO_lib/2x2m"
      SourceType	      "diagonal transferfunction matrix"
      num		      "qdnum"
      den		      "qdden"
    }
    Line {
      SrcBlock		      "Ksp"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "combined K(s) and 1/D(s)"
      SrcPort		      1
      Points		      [-40, 0]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Ksp"
      DstPort		      1
    }
    Line {
      SrcBlock		      "input swapping"
      SrcPort		      1
      DstBlock		      "combined K(s) and 1/D(s)"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Model"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Process"
      SrcPort		      1
      DstBlock		      "Sum4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum4"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"Sum2"
	DstPort			1
      }
      Branch {
	DstBlock		"To Workspace"
	DstPort			1
      }
      Branch {
	DstBlock		"Scope"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "input reverse swapping"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Setpoint1"
      SrcPort		      1
      DstBlock		      "Pd"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Pd"
      SrcPort		      1
      Points		      [-10, 0]
      DstBlock		      "Sum4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "qd"
      SrcPort		      1
      Points		      [-150, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Prefilter"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [0, 75]
      DstBlock		      "input swapping1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "input swapping1"
      SrcPort		      1
      DstBlock		      "qd"
      DstPort		      1
    }
    Line {
      SrcBlock		      "input swapping2"
      SrcPort		      1
      DstBlock		      "Prefilter"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Setpoint"
      SrcPort		      1
      Points		      [-20, 0]
      DstBlock		      "input swapping2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "input reverse swapping"
      SrcPort		      1
      DstBlock		      "input delay"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Saturation"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	DstBlock		"Process"
	DstPort			1
      }
      Branch {
	Points			[0, 80]
	Branch {
	  DstBlock		  "Model"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "input swapping"
	  DstPort		  1
	}
      }
      Branch {
	DstBlock		"To Workspace1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "input delay"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"Saturation"
	DstPort			1
      }
      Branch {
	DstBlock		"To Workspace2"
	DstPort			1
      }
    }
    Annotation {
      Position		      [436, 317]
      Text		      "* In put delay and input swapping result from t"
"he Dtarray function, to make the system be able to be decoupled."
    }
    Annotation {
      Position		      [181, 31]
      Text		      "MIMO 2 x 2 system"
    }
  }
}