📄 fuzzypid.mdl
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Port "3"
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "fuzzy"
DstPort 1
}
Line {
SrcBlock "fuzzy"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "Out2"
DstPort 1
}
Line {
SrcBlock "In2"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Demux"
SrcPort 3
DstBlock "Out3"
DstPort 1
}
Annotation {
Position [143, 62]
}
}
}
Block {
BlockType SubSystem
Name "Subsystem1"
Ports [5, 1]
Position [340, 27, 400, 243]
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Subsystem1"
Location [2, 78, 1022, 718]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "125"
Block {
BlockType Inport
Name "e1"
Position [260, 233, 290, 247]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Inport
Name "ec1"
Position [315, 318, 345, 332]
Port "2"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Inport
Name "kp"
Position [380, 43, 410, 57]
Port "3"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Inport
Name "ki"
Position [380, 188, 410, 202]
Port "4"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Inport
Name "kd"
Position [315, 283, 345, 297]
Port "5"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [375, 225, 405, 255]
}
Block {
BlockType Product
Name "Product1"
Ports [2, 1]
Position [435, 173, 465, 262]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
Ports [2, 1]
Position [375, 273, 405, 342]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product3"
Ports [2, 1]
Position [435, 28, 465, 117]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum4"
Ports [3, 1]
Position [550, 97, 565, 343]
ShowName off
Inputs "|+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "Out1"
Position [590, 213, 620, 227]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Product2"
SrcPort 1
DstBlock "Sum4"
DstPort 3
}
Line {
SrcBlock "e1"
SrcPort 1
Points [30, 0]
Branch {
Points [0, 0; 0, -145]
DstBlock "Product3"
DstPort 2
}
Branch {
DstBlock "Integrator"
DstPort 1
}
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "Product1"
DstPort 2
}
Line {
SrcBlock "Product1"
SrcPort 1
Points [65, 0]
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "ec1"
SrcPort 1
Points [0, 0]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Sum4"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "kd"
SrcPort 1
Points [0, 0]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "ki"
SrcPort 1
DstBlock "Product1"
DstPort 1
}
Line {
SrcBlock "kp"
SrcPort 1
DstBlock "Product3"
DstPort 1
}
Line {
SrcBlock "Product3"
SrcPort 1
Points [30, 0; 0, 115]
DstBlock "Sum4"
DstPort 1
}
Annotation {
Position [320, 182]
}
}
}
Block {
BlockType Outport
Name "Out2"
Position [460, 128, 490, 142]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "e2"
SrcPort 1
Points [0, 0; 40, 0]
Branch {
DstBlock "Subsystem1"
DstPort 1
}
Branch {
Points [0, 120]
DstBlock "Subsystem"
DstPort 1
}
}
Line {
SrcBlock "ec2"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Subsystem1"
DstPort 2
}
Branch {
Points [0, 110]
DstBlock "Subsystem"
DstPort 2
}
}
Line {
SrcBlock "Subsystem1"
SrcPort 1
DstBlock "Out2"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 3
Points [25, 0; 0, 20]
DstBlock "Subsystem1"
DstPort 5
}
Line {
SrcBlock "Subsystem"
SrcPort 2
DstBlock "Subsystem1"
DstPort 4
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [25, 0; 0, -20]
DstBlock "Subsystem1"
DstPort 3
}
}
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [135, 140, 155, 160]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [580, 65, 640, 95]
VariableName "simout"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [395, 147, 455, 183]
Numerator "[11.8]"
Denominator "[24 1]"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay"
Position [500, 150, 530, 180]
DelayTime "9"
PadeOrder "2"
TransDelayFeedthrough on
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [5, 0]
Branch {
Points [0, 30]
DstBlock "Derivative"
DstPort 1
}
Branch {
DstBlock "Subsystem2"
DstPort 1
}
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
DstBlock "Transport\nDelay"
DstPort 1
}
Line {
SrcBlock "Transport\nDelay"
SrcPort 1
Points [30, 0]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
Points [0, 75; -420, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
}
Line {
SrcBlock "Derivative"
SrcPort 1
DstBlock "Subsystem2"
DstPort 2
}
Line {
SrcBlock "Subsystem2"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Annotation {
Position [638, 250]
}
Annotation {
Position [118, 98]
}
}
}
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