servo_demo1.mdl

this is the simulik models of servo drive using matlab 7.1

	      }
	      Branch {
		Points			[0, 160]
		DstBlock		"Relational\nOperator1"
		DstPort			1
	      }
	    }
	    Line {
	      SrcBlock		      "e1"
	      SrcPort		      1
	      Points		      [35, 0]
	      Branch {
		DstBlock		"Relational\nOperator2"
		DstPort			1
	      }
	      Branch {
		Points			[0, 180]
		DstBlock		"Relational\nOperator3"
		DstPort			1
	      }
	    }
	  }
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "sampled\nerror"
	  Position		  [150, 30, 180, 60]
	  SampleTime		  "0.02"
	}
	Block {
	  BlockType		  Outport
	  Name			  "duty cycle"
	  Position		  [775, 68, 805, 82]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "sampled\nerror"
	  SrcPort		  1
	  DstBlock		  "loop\ngain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "sampled\nerror"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Constant5"
	  SrcPort		  1
	  Points		  [0, -5]
	  DstBlock		  "Switch"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Switch"
	  SrcPort		  1
	  DstBlock		  "integral\ngain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "prevent\nwindup"
	  SrcPort		  1
	  Points		  [20, 0; 0, 55; -535, 0; 0, -125]
	  DstBlock		  "Switch"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "integral\ngain"
	  SrcPort		  1
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  DstBlock		  "Unit Delay"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Unit Delay"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    DstBlock		    "Sum"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, 35; -125, 0; 0, -30]
	    DstBlock		    "Sum2"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "set point"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "feedback"
	  SrcPort		  1
	  Points		  [0, -50]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "loop\ngain"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    Points		    [0, 40]
	    Branch {
	      Points		      [0, 90]
	      DstBlock		      "prevent\nwindup"
	      DstPort		      2
	    }
	    Branch {
	      DstBlock		      "Switch"
	      DstPort		      1
	    }
	  }
	  Branch {
	    DstBlock		    "Sum"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Saturation"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    DstBlock		    "duty cycle"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "prevent\nwindup"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Saturation"
	  DstPort		  1
	}
	Annotation {
	  Name			  "proportional + integral control"
	  Position		  [447, 60]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "controller"
	  Position		  [414, 249]
	  UseDisplayTextAsClickCallback	off
	  FontName		  "Arial"
	  FontSize		  16
	  FontWeight		  "bold"
	}
      }
    }
    Block {
      BlockType		      Reference
      Name		      "Desired Response for \nPiston Position"
      Ports		      [1]
      Position		      [685, 275, 775, 345]
      BackgroundColor	      "green"
      DropShadow	      on
      SourceBlock	      "srolib/Signal Constraint"
      SourceType	      "Signal Constraint"
      ShowPortLabels	      on
      DialogPosition	      "[0.031875 0.296666666666667 0.3725 0.2758333333"
"33333]"
      SaveIn		      "workspace"
      SaveAs		      "servo_optim"
      LogID		      "SRO_DataLog_1"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [405, 87, 445, 123]
      ShowName		      off
      Gain		      "Ao"
    }
    Block {
      BlockType		      HitCross
      Name		      "Hit \nCrossing"
      Ports		      [1]
      Position		      [250, 186, 280, 214]
      ShowName		      off
      HitCrossingOffset	      "[0, Ipull, (Ihold + deltai), (Ihold - deltai)]"
      HitCrossingDirection    "either"
      ShowOutputPort	      off
    }
    Block {
      BlockType		      SubSystem
      Name		      "Magnetic\nCircuit"
      Ports		      [2, 2]
      Position		      [355, 123, 430, 172]
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskHideContents	      off
      System {
	Name			"Magnetic\nCircuit"
	Location		[129, 298, 973, 648]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "vsol"
	  Position		  [15, 93, 45, 107]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "x"
	  Position		  [15, 203, 45, 217]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  Port {
	    PortNumber		    1
	    Name		    "armature position"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [190, 100, 220, 130]
	  ShowName		  off
	  Gain			  "1/N"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [80, 110, 110, 140]
	  ShowName		  off
	  Gain			  "R"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain6"
	  Position		  [490, 132, 535, 168]
	  ShowName		  off
	  Gain			  "1/mu0"
	}
	Block {
	  BlockType		  Lookup2D
	  Name			  "H vs. B"
	  Position		  [425, 67, 455, 98]
	  RowIndex		  "Bvalues"
	  ColumnIndex		  "[-1 1]"
	  OutputValues		  "Hdata'"
	}
	Block {
	  BlockType		  Memory
	  Name			  "Memory"
	  Position		  [325, 150, 355, 180]
	  ShowName		  off
	}
	Block {
	  BlockType		  Product
	  Name			  "Product"
	  Ports			  [2, 1]
	  Position		  [550, 22, 580, 53]
	  ShowName		  off
	}
	Block {
	  BlockType		  Signum
	  Name			  "Sign"
	  Position		  [255, 149, 290, 181]
	  ShowName		  off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1]
	  Position		  [135, 88, 170, 137]
	  ShowName		  off
	  Inputs		  "+-"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Ports			  [2, 1]
	  Position		  [210, 187, 240, 218]
	  ShowName		  off
	  Inputs		  "+-"
	}
	Block {
	  BlockType		  Product
	  Name			  "air mmf"
	  Ports			  [2, 1]
	  Position		  [570, 142, 600, 173]
	}
	Block {
	  BlockType		  Gain
	  Name			  "current"
	  Position		  [690, 82, 730, 118]
	  Gain			  "1/N"
	}
	Block {
	  BlockType		  Constant
	  Name			  "equiv. series gap"
	  Position		  [410, 179, 445, 201]
	  NamePlacement		  "alternate"
	  Value			  "gser"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "flux"
	  Ports			  [1, 1]
	  Position		  [255, 100, 285, 130]
	  NamePlacement		  "alternate"
	  LowerSaturationLimit	  "0"
	  IgnoreLimit		  off
	}
	Block {
	  BlockType		  Gain
	  Name			  "flux\ndensity"
	  Position		  [315, 96, 355, 134]
	  NamePlacement		  "alternate"
	  Gain			  "1/A"
	}
	Block {
	  BlockType		  Gain
	  Name			  "force"
	  Position		  [615, 18, 690, 62]
	  NamePlacement		  "alternate"
	  Gain			  "0.5*A/mu0"
	}
	Block {
	  BlockType		  Constant
	  Name			  "gap at\nx = 0"
	  Position		  [145, 185, 185, 205]
	  NamePlacement		  "alternate"
	  Value			  "gmax"
	}
	Block {
	  BlockType		  Sum
	  Name			  "net air gap"
	  Ports			  [2, 1]
	  Position		  [475, 182, 505, 213]
	}
	Block {
	  BlockType		  Sum
	  Name			  "overall\nmmf"
	  Ports			  [2, 1]
	  Position		  [635, 71, 660, 124]
	}
	Block {
	  BlockType		  Gain
	  Name			  "steel mmf"
	  Position		  [520, 68, 565, 102]
	  Gain			  "Lsteel"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Fsol"
	  Position		  [785, 33, 815, 47]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "isol"
	  Position		  [785, 93, 815, 107]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	  InitialOutput		  "0"
	}
	Line {
	  Name			  "armature position"
	  Labels		  [1, 1]
	  SrcBlock		  "x"
	  SrcPort		  1
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "gap at\nx = 0"
	  SrcPort		  1
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  DstBlock		  "net air gap"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "equiv. series gap"
	  SrcPort		  1
	  DstBlock		  "net air gap"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "vsol"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "net air gap"
	  SrcPort		  1
	  Points		  [30, 0; 0, -35]
	  DstBlock		  "air mmf"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "current"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    DstBlock		    "isol"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 135; -685, 0; 0, -110]
	    DstBlock		    "Gain1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "flux\ndensity"
	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
	    Points		    [0, -40]
	    DstBlock		    "H vs. B"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -40]
	    Branch {
	      Points		      [0, 40; 75, 0; 0, 35]
	      DstBlock		      "Gain6"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, -45; 155, 0]
	      Branch {
		Points			[0, 15]
		DstBlock		"Product"
		DstPort			2
	      }
	      Branch {
		DstBlock		"Product"
		DstPort			1
	      }
	    }
	  }
	}
	Line {
	  SrcBlock		  "overall\nmmf"
	  SrcPort		  1
	  DstBlock		  "current"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "air mmf"
	  SrcPort		  1
	  Points		  [10, 0; 0, -50]
	  DstBlock		  "overall\nmmf"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "steel mmf"
	  SrcPort		  1
	  DstBlock		  "overall\nmmf"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "H vs. B"
	  SrcPort		  1
	  DstBlock		  "steel mmf"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain6"
	  SrcPort		  1
	  DstBlock		  "air mmf"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  Points		  [5, 0]
	  Branch {
	    DstBlock		    "flux"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "Sign"
	    DstPort		    1