pid_apx.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

	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn1"
	  Position		  [145, 155, 200, 195]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Numerator		  "[1]"
	  Denominator		  "[a1 1]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn2"
	  Position		  [165, 22, 245, 68]
	  Numerator		  "[(a2-b2) 0]"
	  Denominator		  "[b1 1]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn3"
	  Position		  [240, 84, 295, 126]
	  Numerator		  "[a1]"
	  Denominator		  "[b1 1]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [370, 93, 400, 107]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
	    Points		    [0, -55]
	    DstBlock		    "Transfer Fcn2"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Sum1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Transfer Fcn1"
	  SrcPort		  1
	  Points		  [-20, 0]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Saturation"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    Points		    [0, 70]
	    DstBlock		    "Transfer Fcn1"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Transfer Fcn3"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Saturation"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Transfer Fcn3"
	  SrcPort		  1
	  DstBlock		  "Sum3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum3"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Transfer Fcn2"
	  SrcPort		  1
	  Points		  [65, 0]
	  DstBlock		  "Sum3"
	  DstPort		  1
	}
	Annotation {
	  Position		  [222, 127]
	  VerticalAlignment	  "top"
	  Text			  "Md\n"
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "conditinal switch\nd_through_p"
      Description	      "pass input signal through out1 if condition is "
"true."
      Ports		      [1, 2, 0, 0, 0]
      Position		      [345, 50, 395, 90]
      ShowPortLabels	      on
      System {
	Name			"conditinal switch\nd_through_p"
	Location		[401, 225, 815, 518]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "In"
	  Position		  [235, 133, 265, 147]
	  Orientation		  "left"
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Constant
	  Name			  "Condition"
	  Position		  [60, 80, 130, 120]
	  Value			  "d_through_p"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant1"
	  Position		  [115, 180, 145, 200]
	  Value			  "0"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant2"
	  Position		  [155, 50, 185, 70]
	  Value			  "0"
	}
	Block {
	  BlockType		  Switch
	  Name			  "Switch"
	  Position		  [230, 70, 260, 100]
	  Threshold		  "1"
	}
	Block {
	  BlockType		  Switch
	  Name			  "Switch1"
	  Position		  [190, 165, 220, 195]
	  Threshold		  "1"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out2"
	  Position		  [285, 78, 315, 92]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [245, 173, 275, 187]
	  Port			  "2"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "In"
	  SrcPort		  1
	  Points		  [-15, 0]
	  Branch {
	    DstBlock		    "Switch"
	    DstPort		    3
	  }
	  Branch {
	    Points		    [-40, 0]
	    DstBlock		    "Switch1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Condition"
	  SrcPort		  1
	  Points		  [20, 0]
	  Branch {
	    Points		    [0, 80]
	    DstBlock		    "Switch1"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, -15]
	    DstBlock		    "Switch"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Constant1"
	  SrcPort		  1
	  DstBlock		  "Switch1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Constant2"
	  SrcPort		  1
	  Points		  [25, 0]
	  DstBlock		  "Switch"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Switch"
	  SrcPort		  1
	  DstBlock		  "Out2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Switch1"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      TransferFcn
      Name		      "pre-filter"
      Position		      [20, 120, 100, 160]
      Numerator		      "Pre_fil_num"
      Denominator	      "Pre_fil_den"
    }
    Line {
      SrcBlock		      "pre-filter"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "approximated PID"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step Input"
      SrcPort		      1
      Points		      [-35, 0]
      DstBlock		      "pre-filter"
      DstPort		      1
    }
    Line {
      SrcBlock		      "approximated PID"
      SrcPort		      1
      DstBlock		      "Saturation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "conditinal switch\nd_through_p"
      SrcPort		      1
      DstBlock		      "Disturbance lag"
      DstPort		      1
    }
    Line {
      SrcBlock		      "conditinal switch\nd_through_p"
      SrcPort		      2
      Points		      [15, 0]
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step Input1"
      SrcPort		      1
      Points		      [30, 0]
      DstBlock		      "conditinal switch\nd_through_p"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Pdelay"
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      DstBlock		      "Process"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Process"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Disturbance lag"
      SrcPort		      1
      Points		      [20, 0]
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Saturation"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	DstBlock		"Pdelay"
	DstPort			1
      }
      Branch {
	DstBlock		"To Workspace1"
	DstPort			1
      }
      Branch {
	DstBlock		"Scope1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[0, 130; -460, 0]
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	DstBlock		"To Workspace"
	DstPort			1
      }
      Branch {
	DstBlock		"Scope"
	DstPort			1
      }
    }
  }
}