block2.mdl

this is the simulik models of servo drive using matlab 7.1

      BlockType		      Math
      Name		      "Inv3"
      Ports		      [1, 1]
      Position		      [870, 385, 900, 415]
      Orientation	      "left"
      Operator		      "reciprocal"
    }
    Block {
      BlockType		      Gain
      Name		      "Ki"
      Position		      [545, 540, 575, 570]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "10"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Kp"
      Position		      [530, 490, 560, 520]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "10"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Math
      Name		      "Math\nFunction"
      Ports		      [1, 1]
      Position		      [500, 245, 530, 275]
      Operator		      "sqrt"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [675, 536, 680, 574]
      Orientation	      "left"
      NamePlacement	      "alternate"
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Scope
      Name		      "Output2"
      Ports		      [1]
      Position		      [870, 524, 900, 556]
      Floating		      off
      Location		      [5, 52, 1021, 729]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      SaveName		      "ScopeData2"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Product
      Name		      "Product"
      Ports		      [2, 1]
      Position		      [340, 252, 370, 283]
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Product
      Name		      "Product1"
      Ports		      [2, 1]
      Position		      [600, 152, 630, 183]
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Constant
      Name		      "Ps"
      Position		      [205, 180, 235, 210]
      Value		      "2000"
    }
    Block {
      BlockType		      Signum
      Name		      "Sign"
      Position		      [205, 245, 235, 275]
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [740, 525, 770, 555]
      Time		      "0"
      SampleTime	      "0"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn1"
      Position		      [380, 317, 540, 353]
      Denominator	      "[0.000003925 0.0000678]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn2"
      Position		      [165, 512, 265, 548]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Numerator		      "[1710.936]"
      Denominator	      "[1 1068 1140624]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn3"
      Position		      [680, 384, 850, 416]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Denominator	      "[0.003465 3.9 6866]"
    }
    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		      "Transfer Fcn2"
      SrcPort		      1
      Points		      [-40, 0; 0, -270]
      Branch {
	Points			[0, -130]
	DstBlock		"Gain"
	DstPort			1
      }
      Branch {
	DstBlock		"Sign"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Gain4"
      SrcPort		      1
      Points		      [-145, 0; 0, -65]
      Branch {
	DstBlock		"Product"
	DstPort			2
      }
      Branch {
	DstBlock		"Inv2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Product"
      SrcPort		      1
      Points		      [25, 0]
      DstBlock		      "Add"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Product1"
      SrcPort		      1
      DstBlock		      "Add1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Current Amplifier"
      SrcPort		      1
      DstBlock		      "Transfer Fcn2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Kp"
      SrcPort		      1
      DstBlock		      "Add3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Ki"
      SrcPort		      1
      DstBlock		      "Integrator1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add3"
      SrcPort		      1
      DstBlock		      "Current Amplifier"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add2"
      SrcPort		      1
      Points		      [-5, 0; 0, 20]
      Branch {
	Points			[-20, 0]
	DstBlock		"Kp"
	DstPort			1
      }
      Branch {
	Points			[0, 70]
	DstBlock		"Ki"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Gain6"
      SrcPort		      1
      Points		      [-35, 0]
      Branch {
	Points			[0, 85]
	DstBlock		"Output2"
	DstPort			1
      }
      Branch {
	Points			[-80, 0]
	Branch {
	  DstBlock		  "Add2"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 110]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [0, 0; 5, 0]
      Branch {
	Points			[0, -65; -70, 0]
	Branch {
	  DstBlock		  "Add2"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, 70]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
      }
      Branch {
	Points			[0, 30]
	DstBlock		"Desired"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [-20, 0]
      DstBlock		      "Error"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Transfer Fcn3"
      SrcPort		      1
      DstBlock		      "Inv1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add1"
      SrcPort		      1
      DstBlock		      "Gain1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Transfer Fcn1"
      SrcPort		      1
      DstBlock		      "Inv"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Inv"
      SrcPort		      1
      Points		      [60, 0]
      DstBlock		      "Add1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Inv1"
      SrcPort		      1
      DstBlock		      "Gain4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Inv2"
      SrcPort		      1
      DstBlock		      "Transfer Fcn1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Inv3"
      SrcPort		      1
      DstBlock		      "Transfer Fcn3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator1"
      SrcPort		      1
      DstBlock		      "Add3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [10, 0; 0, 220]
      Branch {
	Points			[0, 55]
	DstBlock		"Gain6"
	DstPort			1
      }
      Branch {
	DstBlock		"Inv3"
	DstPort			1
      }
    }
    Annotation {
      Name		      "Xv"
      Position		      [439, 113]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Xv"
      Position		      [165, 247]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Tout"
      Position		      [822, 442]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "u"
      Position		      [630, 441]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Td"
      Position		      [671, 493]
      UseDisplayTextAsClickCallback off
    }
  }
}