📄 ch8_6.mdl
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SourceType "Slider Gain"
low "0"
gain "60"
high "200"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [370, 31, 375, 69]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [60, 200, 65, 240]
Orientation "left"
NamePlacement "alternate"
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Reference
Name "PID Controller"
Ports [1, 1]
Position [215, 315, 245, 345]
SourceBlock "simulink_extras/Additional\nLinear/PID Controll"
"er"
SourceType "PID Controller"
P "0.3"
I "0.0055"
D "8.19"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [15, 205, 45, 235]
Orientation "left"
NamePlacement "alternate"
Location [1, 49, 801, 571]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "0"
YMax "1.3"
DataFormat "StructureWithTime"
}
Block {
BlockType Step
Name "Step"
Position [15, 60, 45, 90]
Time "0"
SampleTime "0"
}
Block {
BlockType Step
Name "Step1"
Position [25, 330, 55, 360]
Time "0"
SampleTime "0"
}
Block {
BlockType SubSystem
Name "Subsystem"
Ports [4, 1]
Position [315, 137, 360, 213]
Orientation "left"
NamePlacement "alternate"
TreatAsAtomicUnit off
System {
Name "Subsystem"
Location [282, 109, 707, 428]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "输入"
Position [25, 208, 55, 222]
}
Block {
BlockType Inport
Name "Kp"
Position [100, 23, 130, 37]
Port "2"
}
Block {
BlockType Inport
Name "Ki"
Position [105, 78, 135, 92]
Port "3"
}
Block {
BlockType Inport
Name "Kd"
Position [110, 123, 140, 137]
Port "4"
}
Block {
BlockType Derivative
Name "Derivative"
Position [115, 260, 145, 290]
}
Block {
BlockType Gain
Name "Gain"
Position [110, 150, 140, 180]
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [110, 200, 140, 230]
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [245, 141, 290, 174]
}
Block {
BlockType Product
Name "Product1"
Ports [2, 1]
Position [250, 191, 295, 224]
}
Block {
BlockType Product
Name "Product2"
Ports [2, 1]
Position [250, 251, 295, 284]
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1]
Position [330, 173, 350, 207]
ShowName off
Inputs "|+++"
}
Block {
BlockType Outport
Name "输出"
Position [370, 183, 400, 197]
}
Line {
SrcBlock "输入"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "Gain"
DstPort 1
}
Branch {
Points [0, 60]
DstBlock "Derivative"
DstPort 1
}
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "Product1"
DstPort 2
}
Line {
SrcBlock "Derivative"
SrcPort 1
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Kp"
SrcPort 1
Points [45, 0; 0, 120]
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "Ki"
SrcPort 1
Points [30, 0; 0, 115]
DstBlock "Product1"
DstPort 1
}
Line {
SrcBlock "Kd"
SrcPort 1
Points [10, 0; 0, 130]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
Points [10, 0; 0, 25]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product1"
SrcPort 1
Points [5, 0; 0, -15]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [15, 0]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "输出"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [120, 65, 140, 85]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [135, 305, 155, 355]
ShowName off
Inputs "|-+"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [95, 155, 155, 195]
Orientation "left"
NamePlacement "alternate"
Denominator "[30 1]"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [180, 155, 240, 195]
Orientation "left"
NamePlacement "alternate"
Numerator "[20]"
Denominator "[140 1]"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn2"
Position [155, 240, 215, 280]
Orientation "left"
NamePlacement "alternate"
Denominator "[30 1]"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn3"
Position [240, 240, 300, 280]
Orientation "left"
NamePlacement "alternate"
Numerator "[20]"
Denominator "[140 1]"
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [20, 0]
Branch {
Points [5, 0]
Branch {
DstBlock "Derivative"
DstPort 1
}
Branch {
Points [0, 45; 205, 0]
DstBlock "Subsystem"
DstPort 1
}
}
Branch {
Points [5, 0]
DstBlock "Gain"
DstPort 1
}
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Abs"
DstPort 1
}
Line {
SrcBlock "Derivative"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Abs"
SrcPort 1
Points [30, 0; 0, 10]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [15, 0; 0, -15]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Fuzzy Logic \nController"
DstPort 1
}
Line {
SrcBlock "Fuzzy Logic \nController"
SrcPort 1
Points [10, 0; 0, 135]
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
DstBlock "Subsystem"
DstPort 2
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "Subsystem"
DstPort 3
}
Line {
SrcBlock "Demux"
SrcPort 3
DstBlock "Subsystem"
DstPort 4
}
Line {
SrcBlock "Subsystem"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Transfer Fcn1"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
Points [-10, 0]
Branch {
Points [0, -75]
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "PID Controller"
SrcPort 1
Points [120, 0]
DstBlock "Gain5"
DstPort 1
}
Line {
SrcBlock "Gain5"
SrcPort 1
DstBlock "Transfer Fcn3"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn3"
SrcPort 1
DstBlock "Transfer Fcn2"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn2"
SrcPort 1
Points [-40, 0]
Branch {
Points [0, 70]
DstBlock "Sum1"
DstPort 1
}
Branch {
Points [-30, 0]
DstBlock "Mux1"
DstPort 2
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "PID Controller"
DstPort 1
}
Line {
SrcBlock "Step1"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
}
}
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