unsat_imc1df.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

	    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		      [45, 84, 130, 116]
	      Value		      "Pdelay<=3*eps"
	    }
	    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		  Sum
	  Name			  "Sum6"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [240, 75, 260, 95]
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [285, 78, 315, 92]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Mdelay = 0"
	  SrcPort		  1
	  Points		  [15, 0]
	  DstBlock		  "Mdelay\n> 0"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mdelay\n> 0"
	  SrcPort		  1
	  Points		  [15, 0]
	  DstBlock		  "Sum6"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mdelay = 0"
	  SrcPort		  2
	  DstBlock		  "Sum6"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Mdelay = 0"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum6"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [610, 150, 640, 180]
      Floating		      off
      Location		      [309, 365, 633, 604]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Matrix"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope1"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [195, 40, 225, 70]
      Orientation	      "left"
      Floating		      off
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Matrix"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step Input"
      Position		      [30, 60, 50, 80]
      Time		      "0"
      Before		      "0"
      After		      "Setpoint"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step Input1"
      Position		      [270, 50, 290, 70]
      Time		      "0"
      Before		      "0"
      After		      "Disturb"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [90, 120, 110, 140]
      IconShape		      "rectangular"
      Inputs		      "+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum4"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [460, 115, 480, 135]
      IconShape		      "rectangular"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum5"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [515, 175, 535, 195]
      IconShape		      "rectangular"
      Inputs		      "+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [545, 70, 605, 100]
      VariableName	      "simout"
      Buffer		      "inf"
      Decimation	      "1"
      SampleTime	      "-1"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [155, 185, 215, 215]
      Orientation	      "left"
      VariableName	      "effort"
      Buffer		      "inf"
      Decimation	      "1"
      SampleTime	      "-1"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn"
      Position		      [300, 112, 355, 148]
      Numerator		      "numPs"
      Denominator	      "denPs"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn1"
      Position		      [300, 172, 355, 208]
      Numerator		      "numMs"
      Denominator	      "denMs"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn2"
      Position		      [135, 112, 185, 148]
      Numerator		      "numCs"
      Denominator	      "denCs"
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      DstBlock		      "Transfer Fcn2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Disturbance lag"
      SrcPort		      1
      Points		      [35, 0]
      DstBlock		      "Sum4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Pdelay1"
      SrcPort		      1
      DstBlock		      "Sum4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Transfer Fcn"
      SrcPort		      1
      DstBlock		      "Pdelay1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step Input1"
      SrcPort		      1
      DstBlock		      "Disturbance lag"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step Input"
      SrcPort		      1
      Points		      [0, 55]
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Transfer Fcn1"
      SrcPort		      1
      DstBlock		      "Mdelay"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum4"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	Points			[0, 55]
	DstBlock		"Sum5"
	DstPort			1
      }
      Branch {
	Points			[30, 0]
	Branch {
	  Points		  [10, 0]
	  DstBlock		  "To Workspace"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 40]
	  DstBlock		  "Scope"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Mdelay"
      SrcPort		      1
      DstBlock		      "Sum5"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum5"
      SrcPort		      1
      Points		      [0, 85; -465, 0]
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Transfer Fcn2"
      SrcPort		      1
      Points		      [65, 0]
      Branch {
	Points			[15, 0]
	Branch {
	  DstBlock		  "Transfer Fcn"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 60]
	  DstBlock		  "Transfer Fcn1"
	  DstPort		  1
	}
      }
      Branch {
	DstBlock		"Scope1"
	DstPort			1
      }
      Branch {
	DstBlock		"To Workspace1"
	DstPort			1
      }
    }
    Annotation {
      Position		      [287, 112]
      VerticalAlignment	      "top"
      Text		      "Md\n"
    }
  }
}