block143.mdl

this is the simulik models of servo drive using matlab 7.1

	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain5"
	  Position		  [705, 115, 735, 145]
	  Gain			  "0.00015"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain6"
	  Position		  [840, 403, 895, 437]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Gain			  "6866"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain7"
	  Position		  [710, 265, 740, 295]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Gain			  "3.9"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain8"
	  Position		  [710, 310, 740, 340]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Gain			  "0.003465"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain9"
	  Position		  [375, 195, 405, 225]
	  Gain			  "0.0000678"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [890, 115, 920, 145]
	  IgnoreLimit		  off
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
	  Ports			  [1, 1]
	  Position		  [460, 460, 490, 490]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  IgnoreLimit		  off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Kd"
	  Position		  [540, 510, 570, 540]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Gain			  "0.00125"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Ki"
	  Position		  [540, 460, 570, 490]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Gain			  "0.005"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Kp"
	  Position		  [540, 415, 570, 445]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Gain			  "2"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Math
	  Name			  "Math\nFunction"
	  Ports			  [1, 1]
	  Position		  [405, 120, 435, 150]
	  Operator		  "sqrt"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [2, 1]
	  Position		  [675, 516, 680, 554]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Product
	  Name			  "Product"
	  Ports			  [2, 1]
	  Position		  [245, 127, 275, 158]
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Product
	  Name			  "Product1"
	  Ports			  [2, 1]
	  Position		  [505, 27, 535, 58]
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Constant
	  Name			  "Ps"
	  Position		  [110, 55, 140, 85]
	  Value			  "2000"
	}
	Block {
	  BlockType		  Signum
	  Name			  "Sign"
	  Position		  [110, 120, 140, 150]
	}
	Block {
	  BlockType		  Step
	  Name			  "Step"
	  Position		  [740, 505, 770, 535]
	  Time			  "0"
	  After			  "10"
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn"
	  Position		  [55, 453, 170, 497]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Numerator		  "[1710.936]"
	  Denominator		  "[1 1068 1140624]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [785, 385, 815, 400]
	  Orientation		  "up"
	  IconDisplay		  "Port number"
	}
	Line {
	  SrcBlock		  "Add2"
	  SrcPort		  1
	  Points		  [0, 0; -55, 0]
	  Branch {
	    Points		    [-35, 0]
	    DstBlock		    "Kp"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 45]
	    Branch {
	      Points		      [-35, 0]
	      DstBlock		      "Ki"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 50]
	      DstBlock		      "Kd"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Add3"
	  SrcPort		  1
	  Points		  [0, 0]
	  DstBlock		  "Current Amplifier"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Derivative2"
	  SrcPort		  1
	  DstBlock		  "Add3"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Kd"
	  SrcPort		  1
	  DstBlock		  "Derivative2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Ki"
	  SrcPort		  1
	  DstBlock		  "Integrator1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integrator1"
	  SrcPort		  1
	  DstBlock		  "Add3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Kp"
	  SrcPort		  1
	  Points		  [-105, 0]
	  DstBlock		  "Add3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Current Amplifier"
	  SrcPort		  1
	  DstBlock		  "Transfer Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  Points		  [30, 0; 0, 115; 95, 0]
	  DstBlock		  "Error"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Product"
	  SrcPort		  1
	  DstBlock		  "Add"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Derivative1"
	  SrcPort		  1
	  DstBlock		  "Gain10"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain10"
	  SrcPort		  1
	  DstBlock		  "Add4"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Gain9"
	  SrcPort		  1
	  DstBlock		  "Add4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Add4"
	  SrcPort		  1
	  Points		  [65, 0; 0, -100]
	  DstBlock		  "Add1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  Points		  [30, 0; 0, 290]
	  DstBlock		  "Gain6"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain8"
	  SrcPort		  1
	  DstBlock		  "Add5"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Gain7"
	  SrcPort		  1
	  DstBlock		  "Add5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Step"
	  SrcPort		  1
	  Points		  [0, 0; 10, 0]
	  Branch {
	    Points		    [0, -85; -75, 0]
	    Branch {
	      Points		      [15, 0]
	      DstBlock		      "Add2"
	      DstPort		      2
	    }
	    Branch {
	      Points		      [0, 90]
	      DstBlock		      "Mux"
	      DstPort		      1
	    }
	  }
	  Branch {
	    Points		    [0, 35]
	    DstBlock		    "Desired"
	    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 {
		Points			[5, 0]
		DstBlock		"Add2"
		DstPort			1
	      }
	      Branch {
		Points			[0, 125]
		DstBlock		"Mux"
		DstPort			2
	      }
	    }
	  }
	  Branch {
	    Points		    [0, -5]
	    DstBlock		    "Out1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Derivative"
	  SrcPort		  1
	  DstBlock		  "Gain8"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain5"
	  SrcPort		  1
	  Points		  [0, 0; 100, 0]
	  Branch {
	    Points		    [35, 0]
	    DstBlock		    "Integrator"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 150]
	    Branch {
	      Points		      [0, 45]
	      DstBlock		      "Derivative"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [-85, 0]
	      DstBlock		      "Gain7"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Add1"
	  SrcPort		  1
	  DstBlock		  "Gain5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Add5"
	  SrcPort		  1
	  DstBlock		  "Gain4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain4"
	  SrcPort		  1
	  Points		  [-285, 0; 0, -70]
	  Branch {
	    Points		    [40, 0]
	    DstBlock		    "Derivative1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -45]
	    Branch {
	      Points		      [0, -60]
	      DstBlock		      "Product"
	      DstPort		      2
	    }
	    Branch {
	      Points		      [130, 0]
	      DstBlock		      "Gain9"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Transfer Fcn"
	  SrcPort		  1
	  Points		  [-20, 0; 0, -340]
	  Branch {
	    Points		    [65, 0]
	    DstBlock		    "Sign"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -95]
	    DstBlock		    "Gain"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Product1"
	  SrcPort		  1
	  Points		  [10, 0; 0, 75]
	  DstBlock		  "Add1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  Points		  [10, 0; 0, -20]
	  DstBlock		  "Product1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Math\nFunction"
	  SrcPort		  1
	  Points		  [50, 0]
	  DstBlock		  "Product1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Add"
	  SrcPort		  1
	  DstBlock		  "Math\nFunction"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sign"
	  SrcPort		  1
	  DstBlock		  "Product"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Ps"
	  SrcPort		  1
	  Points		  [160, 0]
	  DstBlock		  "Add"
	  DstPort		  1
	}
	Annotation {
	  Name			  "Theta"
	  Position		  [943, 119]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "Xv"
	  Position		  [85, 458]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "Td"
	  Position		  [691, 443]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "u"
	  Position		  [630, 421]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "Thm"
	  Position		  [592, 317]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "PL"
	  Position		  [499, 311]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "PL"
	  Position		  [215, 174]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "theta "
	  Position		  [913, 407]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "Tout"
	  Position		  [817, 412]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "i"
	  Position		  [195, 464]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "Xv"
	  Position		  [149, 450]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "Xv"
	  Position		  [70, 122]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "Xv"
	  Position		  [349, 28]
	  UseDisplayTextAsClickCallback	off
	}
	Annotation {
	  Name			  "QL"
	  Position		  [568, 99]
	  UseDisplayTextAsClickCallback	off
	}
      }
    }
  }
}