servo_demo1.mdl

this is the simulik models of servo drive using matlab 7.1

	  }
	}
	Line {
	  SrcBlock		  "Memory"
	  SrcPort		  1
	  Points		  [35, 0; 0, -75]
	  DstBlock		  "H vs. B"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "flux"
	  SrcPort		  1
	  DstBlock		  "flux\ndensity"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "force"
	  SrcPort		  1
	  DstBlock		  "Fsol"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Product"
	  SrcPort		  1
	  DstBlock		  "force"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sign"
	  SrcPort		  1
	  DstBlock		  "Memory"
	  DstPort		  1
	}
	Annotation {
	  Name			  "magnetic circuit"
	  Position		  [374, 289]
	  UseDisplayTextAsClickCallback	off
	  FontName		  "Arial"
	  FontSize		  16
	  FontWeight		  "bold"
	}
      }
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [900, 57, 905, 93]
      BackgroundColor	      "black"
      ShowName		      off
      Inputs		      "2"
    }
    Block {
      BlockType		      SubSystem
      Name		      "PWM_driver_ckt"
      Ports		      [2, 1]
      Position		      [230, 106, 305, 164]
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskHideContents	      off
      MaskType		      "Stateflow"
      MaskDescription	      "Stateflow diagram"
      MaskDisplay	      "plot(sf('Private','sfblk','xIcon'),sf('Private'"
",'sfblk','yIcon'));text(0.5,0,sf('Private', 'sfblk', 'tIcon'),'HorizontalAl',"
"'Center','VerticalAl','Bottom');"
      MaskSelfModifiable      on
      MaskIconFrame	      off
      MaskIconOpaque	      off
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      Port {
	PortNumber		1
	Name			"solenoid\nvoltage"
	PropagatedSignals	"v"
	RTWStorageClass		"Auto"
	DataLoggingNameMode	"SignalName"
      }
      System {
	Name			"PWM_driver_ckt"
	Location		[70, 200, 570, 460]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "duty_cycle"
	  Position		  [20, 101, 40, 119]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "i"
	  Position		  [20, 136, 40, 154]
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Demux
	  Name			  " Demux "
	  Ports			  [1, 1]
	  Position		  [270, 160, 320, 200]
	  Outputs		  "1"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  " SFunction "
	  Tag			  "Stateflow S-Function servo_demo1 1"
	  Ports			  [2, 2]
	  Position		  [180, 100, 230, 160]
	  FunctionName		  "sf_sfun"
	  Parameters		  "Ihold,Ipull,Tpwm,Vd,Vs,Vz,deltai"
	  PortCounts		  "[2 2]"
	  Port {
	    PortNumber		    2
	    Name		    "v"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Terminator
	  Name			  " Terminator "
	  Position		  [460, 171, 480, 189]
	}
	Block {
	  BlockType		  Outport
	  Name			  "v"
	  Position		  [460, 101, 480, 119]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  SrcBlock		  " SFunction "
	  SrcPort		  1
	  Points		  [0, 65]
	  DstBlock		  " Demux "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  " Demux "
	  SrcPort		  1
	  DstBlock		  " Terminator "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "duty_cycle"
	  SrcPort		  1
	  DstBlock		  " SFunction "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "i"
	  SrcPort		  1
	  DstBlock		  " SFunction "
	  DstPort		  2
	}
	Line {
	  Name			  "v"
	  Labels		  [0, 0]
	  SrcBlock		  " SFunction "
	  SrcPort		  2
	  DstBlock		  "v"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Constant
      Name		      "Supply\nPressure"
      Position		      [360, 95, 380, 115]
      NamePlacement	      "alternate"
      Value		      "Ps"
    }
    Block {
      BlockType		      SubSystem
      Name		      "armature\nmotion"
      Ports		      [2, 1]
      Position		      [460, 89, 515, 151]
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskHideContents	      off
      System {
	Name			"armature\nmotion"
	Location		[152, 487, 683, 764]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "Fball"
	  Position		  [15, 18, 45, 32]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "Fsol"
	  Position		  [15, 58, 45, 72]
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Gain
	  Name			  "damping"
	  Position		  [265, 110, 295, 140]
	  Orientation		  "left"
	  Gain			  "Cv"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "double integrator"
	  Ports			  [1, 2]
	  Position		  [300, 17, 350, 73]
	  TreatAsAtomicUnit	  off
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  MaskHideContents	  off
	  System {
	    Name		    "double integrator"
	    Location		    [344, 545, 1104, 841]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "xdotdot"
	      Position		      [15, 63, 45, 77]
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant"
	      Position		      [505, 219, 585, 241]
	      Orientation	      "left"
	      ShowName		      off
	      Value		      "gmax - gmin"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant1"
	      Position		      [505, 174, 585, 196]
	      Orientation	      "left"
	      ShowName		      off
	      Value		      "0"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant2"
	      Position		      [360, 41, 390, 59]
	      ShowName		      off
	      Value		      "0"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant3"
	      Position		      [90, 96, 120, 114]
	      ShowName		      off
	      Value		      "0"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant4"
	      Position		      [95, 171, 125, 189]
	      ShowName		      off
	      Value		      "0"
	    }
	    Block {
	      BlockType		      Integrator
	      Name		      "Integrator1"
	      Ports		      [2, 1]
	      Position		      [515, 52, 545, 83]
	      ShowName		      off
	      ExternalReset	      "rising"
	      LowerSaturationLimit    "Inf"
	      IgnoreLimit	      off
	    }
	    Block {
	      BlockType		      Integrator
	      Name		      "Integrator2"
	      Ports		      [1, 2]
	      Position		      [605, 51, 635, 84]
	      ShowName		      off
	      LimitOutput	      on
	      UpperSaturationLimit    "gmax - gmin"
	      LowerSaturationLimit    "0"
	      ShowSaturationPort      on
	      IgnoreLimit	      off
	    }
	    Block {
	      BlockType		      Logic
	      Name		      "Logical\nOperator"
	      Ports		      [2, 1]
	      Position		      [230, 92, 260, 123]
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Logic
	      Name		      "Logical\nOperator1"
	      Ports		      [2, 1]
	      Position		      [290, 127, 320, 158]
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Logic
	      Name		      "Logical\nOperator2"
	      Ports		      [2, 1]
	      Position		      [360, 102, 390, 133]
	      ShowName		      off
	      Operator		      "OR"
	    }
	    Block {
	      BlockType		      RelationalOperator
	      Name		      "Relational\nOperator"
	      Position		      [435, 207, 465, 238]
	      Orientation	      "left"
	      ShowName		      off
	    }
	    Block {
	      BlockType		      RelationalOperator
	      Name		      "Relational\nOperator1"
	      Position		      [140, 82, 170, 113]
	      ShowName		      off
	      Operator		      ">"
	    }
	    Block {
	      BlockType		      RelationalOperator
	      Name		      "Relational\nOperator2"
	      Position		      [435, 162, 465, 193]
	      Orientation	      "left"
	      ShowName		      off
	      Operator		      "<="
	    }
	    Block {
	      BlockType		      RelationalOperator
	      Name		      "Relational\nOperator3"
	      Position		      [155, 157, 185, 188]
	      ShowName		      off
	      Operator		      "<"
	    }
	    Block {
	      BlockType		      Switch
	      Name		      "Switch"
	      Position		      [435, 45, 465, 75]
	      Threshold		      "0.5"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "x"
	      Position		      [715, 53, 745, 67]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	      InitialOutput	      "0"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "xdot"
	      Position		      [715, 13, 745, 27]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	      InitialOutput	      "0"
	    }
	    Line {
	      SrcBlock		      "Integrator1"
	      SrcPort		      1
	      Points		      [25, 0]
	      Branch {
		Points			[0, -50]
		DstBlock		"xdot"
		DstPort			1
	      }
	      Branch {
		DstBlock		"Integrator2"
		DstPort			1
	      }
	    }
	    Line {
	      SrcBlock		      "Constant"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Relational\nOperator"
	      SrcPort		      1
	      Points		      [-225, 0; 0, -110]
	      DstBlock		      "Logical\nOperator"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Relational\nOperator2"
	      SrcPort		      1
	      Points		      [-165, 0; 0, -30]
	      DstBlock		      "Logical\nOperator1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Constant1"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "xdotdot"
	      SrcPort		      1
	      Points		      [20, 0]
	      Branch {
		DstBlock		"Switch"
		DstPort			3
	      }
	      Branch {
		Points			[0, 20]
		Branch {
		  DstBlock		  "Relational\nOperator1"
		  DstPort		  1
		}
		Branch {
		  Points		  [0, 75]
		  DstBlock		  "Relational\nOperator3"
		  DstPort		  1
		}
	      }
	    }
	    Line {
	      SrcBlock		      "Constant3"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Relational\nOperator1"
	      SrcPort		      1
	      DstBlock		      "Logical\nOperator"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant4"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator3"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Relational\nOperator3"
	      SrcPort		      1
	      Points		      [50, 0; 0, -40]
	      DstBlock		      "Logical\nOperator1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Logical\nOperator"
	      SrcPort		      1
	      DstBlock		      "Logical\nOperator2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Logical\nOperator1"
	      SrcPort		      1
	      Points		      [20, 0]
	      DstBlock		      "Logical\nOperator2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Constant2"
	      SrcPort		      1
	      DstBlock		      "Switch"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Logical\nOperator2"
	      SrcPort		      1
	      Points		      [15, 0; 0, -60]
	      DstBlock		      "Switch"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Integrator2"
	      SrcPort		      2
	      Points		      [10, 0; 0, 45; -160, 0; 0, -45]
	      DstBlock		      "Integrator1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Switch"
	      SrcPort		      1
	      DstBlock		      "Integrator1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Integrator2"
	      SrcPort		      1
	      Points		      [25, 0]
	      Branch {
		DstBlock		"x"
		DstPort			1
	      }
	      Branch {
		Points			[0, 95]
		Branch {
		  Points		  [0, 60]
		  DstBlock		  "Relational\nOperator"
		  DstPort		  1
		}
		Branch {