📄 block0.mdl
字号:
Location [5, 30, 1021, 709]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "0.2"
YMin "-1000"
YMax "1000"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [230, 117, 260, 148]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product1"
Ports [2, 1]
Position [490, 17, 520, 48]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Constant
Name "Ps"
Position [95, 45, 125, 75]
Value "2000"
}
Block {
BlockType Saturate
Name "Saturation"
Position [285, 450, 315, 480]
Orientation "left"
NamePlacement "alternate"
UpperLimit "0.05"
LowerLimit "-0.05"
}
Block {
BlockType Signum
Name "Sign"
Position [95, 110, 125, 140]
}
Block {
BlockType Step
Name "Step"
Position [725, 495, 755, 525]
Time "0"
After "10"
SampleTime "0"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [40, 443, 155, 487]
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
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "Add"
SrcPort 1
DstBlock "Math\nFunction"
DstPort 1
}
Line {
SrcBlock "Math\nFunction"
SrcPort 1
Points [50, 0]
DstBlock "Product1"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [10, 0; 0, -20]
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 [-20, 0; 0, -340]
Branch {
DstBlock "Sign"
DstPort 1
}
Branch {
Points [0, -95; 340, 0]
DstBlock "Gain"
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 {
DstBlock "Output"
DstPort 1
}
}
Line {
SrcBlock "Step"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, -85; -75, 0]
Branch {
DstBlock "Add2"
DstPort 2
}
Branch {
Points [0, 90]
DstBlock "Mux"
DstPort 1
}
}
Branch {
DstBlock "Desired"
DstPort 1
}
}
Line {
SrcBlock "Gain7"
SrcPort 1
DstBlock "Add5"
DstPort 1
}
Line {
SrcBlock "Gain8"
SrcPort 1
DstBlock "Add5"
DstPort 2
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [30, 0; 0, 290]
DstBlock "Gain6"
DstPort 1
}
Line {
SrcBlock "Add4"
SrcPort 1
Points [65, 0; 0, -100]
DstBlock "Add1"
DstPort 2
}
Line {
SrcBlock "Gain9"
SrcPort 1
DstBlock "Add4"
DstPort 1
}
Line {
SrcBlock "Gain10"
SrcPort 1
DstBlock "Add4"
DstPort 2
}
Line {
SrcBlock "Derivative1"
SrcPort 1
DstBlock "Gain10"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [-10, 0; 0, 110; 95, 0]
DstBlock "Error"
DstPort 1
}
Line {
SrcBlock "Current Amplifier"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "Kp"
SrcPort 1
Points [-105, 0; 0, -5]
DstBlock "Add3"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
DstBlock "Add3"
DstPort 2
}
Line {
SrcBlock "Ki"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Kd"
SrcPort 1
DstBlock "Derivative2"
DstPort 1
}
Line {
SrcBlock "Derivative2"
SrcPort 1
DstBlock "Add3"
DstPort 3
}
Line {
SrcBlock "Add3"
SrcPort 1
Points [-5, 0]
Branch {
DstBlock "Saturation"
DstPort 1
}
Branch {
Points [-10, 0]
DstBlock "Add6"
DstPort 1
}
Branch {
Points [0, 30; -145, 0]
DstBlock "Output1"
DstPort 1
}
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Current Amplifier"
DstPort 1
}
Branch {
Points [0, 155]
DstBlock "Add6"
DstPort 2
}
}
Line {
SrcBlock "Add7"
SrcPort 1
DstBlock "Ki"
DstPort 1
}
Line {
SrcBlock "Kd1"
SrcPort 1
Points [170, 0; 0, 30; 10, 0; 0, -130]
Branch {
Labels [1, 0]
Points [-5, 0; 0, 5]
DstBlock "Kd"
DstPort 1
}
Branch {
Points [0, -45]
Branch {
Points [-25, 0]
DstBlock "Add7"
DstPort 2
}
Branch {
Points [0, -45]
DstBlock "Kp"
DstPort 1
}
}
}
Line {
SrcBlock "Add2"
SrcPort 1
Points [-50, 0]
DstBlock "Add7"
DstPort 1
}
Line {
SrcBlock "Add6"
SrcPort 1
DstBlock "Kd1"
DstPort 1
}
Annotation {
Name "QL"
Position [553, 89]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Xv"
Position [334, 18]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Xv"
Position [55, 112]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Xv"
Position [134, 440]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "i"
Position [180, 454]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Tout"
Position [802, 402]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "theta "
Position [898, 397]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "PL"
Position [200, 164]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "PL"
Position [484, 301]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Thm"
Position [577, 307]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "u"
Position [615, 411]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Td"
Position [676, 433]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Xv"
Position [70, 448]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Theta"
Position [928, 109]
UseDisplayTextAsClickCallback off
}
}
}
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