antiblock.mdl

this is the simulik models of servo drive using matlab 7.1

      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Scope
      Name		      "Output"
      Ports		      [1]
      Position		      [875, 539, 905, 571]
      Floating		      off
      Location		      [1, 52, 1017, 729]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "0.1"
      YMin		      "0"
      YMax		      "12"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Product
      Name		      "Product"
      Ports		      [2, 1]
      Position		      [280, 162, 310, 193]
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Product
      Name		      "Product1"
      Ports		      [2, 1]
      Position		      [540, 62, 570, 93]
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Constant
      Name		      "Ps"
      Position		      [145, 90, 175, 120]
      Value		      "2000"
    }
    Block {
      BlockType		      Signum
      Name		      "Sign"
      Position		      [145, 155, 175, 185]
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [775, 540, 805, 570]
      Time		      "0"
      After		      "10"
      SampleTime	      "0"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn"
      Position		      [140, 468, 255, 512]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Numerator		      "[1710.936]"
      Denominator	      "[1 1068 1140624]"
    }
    Line {
      SrcBlock		      "Ps"
      SrcPort		      1
      Points		      [160, 0]
      DstBlock		      "Add"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sign"
      SrcPort		      1
      Points		      [85, 0]
      DstBlock		      "Product"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add"
      SrcPort		      1
      DstBlock		      "Math\nFunction"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Math\nFunction"
      SrcPort		      1
      Points		      [25, 0; 0, -85]
      DstBlock		      "Product1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [10, 0; 0, 30]
      DstBlock		      "Product1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Product1"
      SrcPort		      1
      Points		      [10, 0; 0, 75]
      DstBlock		      "Add1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Transfer Fcn"
      SrcPort		      1
      Points		      [-70, 0; 0, -320]
      Branch {
	DstBlock		"Sign"
	DstPort			1
      }
      Branch {
	Points			[0, -130]
	DstBlock		"Gain"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Current Amplifier"
      SrcPort		      1
      DstBlock		      "Transfer Fcn"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain4"
      SrcPort		      1
      Points		      [-285, 0; 0, -70]
      Branch {
	DstBlock		"Derivative1"
	DstPort			1
      }
      Branch {
	Points			[0, -45]
	Branch {
	  DstBlock		  "Product"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "Gain9"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Add5"
      SrcPort		      1
      DstBlock		      "Gain4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add1"
      SrcPort		      1
      DstBlock		      "Gain5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain5"
      SrcPort		      1
      Points		      [0, 0; 100, 0]
      Branch {
	DstBlock		"Integrator"
	DstPort			1
      }
      Branch {
	Points			[0, 150]
	Branch {
	  Points		  [0, 45]
	  DstBlock		  "Derivative"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "Gain7"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      DstBlock		      "Gain8"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain6"
      SrcPort		      1
      Points		      [0, 0; -35, 0]
      Branch {
	Points			[-55, 0]
	Branch {
	  Points		  [0, -50]
	  DstBlock		  "Add5"
	  DstPort		  3
	}
	Branch {
	  Points		  [-25, 0]
	  Branch {
	    DstBlock		    "Add2"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 125]
	    DstBlock		    "Mux"
	    DstPort		    2
	  }
	}
      }
      Branch {
	Points			[0, 100]
	DstBlock		"Output"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [0, 0; 5, 0]
      Branch {
	Points			[5, 0; 0, -85; -75, 0]
	Branch {
	  DstBlock		  "Add2"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "Mux"
	  DstPort		  1
	}
      }
      Branch {
	Points			[0, 30]
	DstBlock		"Desired"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Gain7"
      SrcPort		      1
      Points		      [-30, 0]
      DstBlock		      "Add5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain8"
      SrcPort		      1
      Points		      [-30, 0]
      DstBlock		      "Add5"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [30, 0; 0, 290]
      DstBlock		      "Gain6"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add4"
      SrcPort		      1
      Points		      [35, 0; 0, -100]
      DstBlock		      "Add1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain9"
      SrcPort		      1
      Points		      [35, 0]
      DstBlock		      "Add4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain10"
      SrcPort		      1
      Points		      [35, 0]
      DstBlock		      "Add4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Derivative1"
      SrcPort		      1
      DstBlock		      "Gain10"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Product"
      SrcPort		      1
      Points		      [25, 0]
      DstBlock		      "Add"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [0, 0]
      DstBlock		      "Error"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Kp"
      SrcPort		      1
      Points		      [-120, 0]
      DstBlock		      "Add3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Ki"
      SrcPort		      1
      Points		      [0, 0; -10, 0]
      Branch {
	DstBlock		"Integrator1"
	DstPort			1
      }
      Branch {
	DstBlock		"Gain1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Add3"
      SrcPort		      1
      DstBlock		      "Current Amplifier"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add2"
      SrcPort		      1
      Points		      [0, 0; -35, 0]
      Branch {
	DstBlock		"Kp"
	DstPort			1
      }
      Branch {
	Points			[0, 50]
	DstBlock		"Ki"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      Points		      [0, 5]
      DstBlock		      "Add7"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Add7"
      SrcPort		      1
      Points		      [0, 30; 55, 0; 0, -85; -40, 0]
      DstBlock		      "Add3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Integrator1"
      SrcPort		      1
      Points		      [-5, 0]
      DstBlock		      "Add7"
      DstPort		      1
    }
    Annotation {
      Name		      "QL"
      Position		      [603, 134]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Xv"
      Position		      [379, 23]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Xv"
      Position		      [105, 157]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Xv"
      Position		      [184, 485]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "i"
      Position		      [290, 479]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Tout"
      Position		      [852, 447]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "theta "
      Position		      [948, 442]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "PL"
      Position		      [250, 209]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "PL"
      Position		      [534, 346]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Thm"
      Position		      [627, 352]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "u"
      Position		      [665, 456]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Td"
      Position		      [726, 478]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Xv"
      Position		      [120, 483]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Theta"
      Position		      [978, 154]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Position		      [892, 572]
      UseDisplayTextAsClickCallback off
    }
  }
}