📄 shifu10s.mdl
字号:
RndMeth "Floor"
SaturateOnIntegerOverflow on
ZeroCross on
SampleTime "-1"
}
Block {
BlockType ToWorkspace
VariableName "simulink_output"
MaxDataPoints "1000"
Decimation "1"
SampleTime "0"
FixptAsFi off
}
Block {
BlockType TransportDelay
DelayTime "1"
InitialInput "0"
BufferSize "1024"
PadeOrder "0"
TransDelayFeedthrough off
}
Block {
BlockType ZeroPole
Zeros "[1]"
Poles "[0 1]"
Gain "[1]"
AbsoluteTolerance "auto"
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "Helvetica"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "shifu10s"
Location [2, 78, 1438, 849]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Clock
Name "Clock"
Position [90, 490, 110, 510]
Decimation "10"
}
Block {
BlockType SubSystem
Name "HSIC controller"
Ports [1, 1]
Position [390, 330, 460, 390]
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "HSIC controller"
Location [244, 161, 639, 414]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "e"
Position [25, 73, 55, 87]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Abs
Name "Abs"
Position [165, 65, 195, 95]
}
Block {
BlockType Constant
Name "Constant"
Position [110, 25, 140, 55]
Value "0.1"
}
Block {
BlockType Gain
Name "Gain"
Position [125, 121, 175, 159]
Gain "0.01"
}
Block {
BlockType Gain
Name "Gain1"
Position [100, 184, 155, 226]
Gain "0.0077"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [170, 190, 200, 220]
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [235, 136, 255, 174]
ShowName off
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Switch
Name "Switch"
Position [285, 46, 315, 104]
Threshold "0.1"
InputSameDT off
}
Block {
BlockType Outport
Name "c"
Position [340, 68, 370, 82]
IconDisplay "Port number"
}
Line {
SrcBlock "e"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Abs"
DstPort 1
}
Branch {
Points [0, 60]
Branch {
Points [0, 65]
DstBlock "Gain1"
DstPort 1
}
Branch {
DstBlock "Gain"
DstPort 1
}
}
}
Line {
SrcBlock "Abs"
SrcPort 1
Points [70, 0]
DstBlock "Switch"
DstPort 2
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [45, 0; 0, 15]
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [5, 0; 0, 15]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, -40]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, -60]
DstBlock "Switch"
DstPort 3
}
Line {
SrcBlock "Switch"
SrcPort 1
DstBlock "c"
DstPort 1
}
}
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [940, 246, 945, 284]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "PID controller"
Ports [1, 1]
Position [385, 143, 455, 207]
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "PID controller"
Location [511, 261, 926, 472]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "e"
Position [25, 43, 55, 57]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Derivative
Name "Derivative"
Position [235, 155, 265, 185]
}
Block {
BlockType Gain
Name "Gain"
Position [80, 33, 125, 67]
Gain "0.042"
}
Block {
BlockType Gain
Name "Gain1"
Position [160, 85, 205, 115]
Gain "0.160"
}
Block {
BlockType Gain
Name "Gain2"
Position [165, 155, 215, 185]
Gain "3.125"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [220, 85, 250, 115]
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1]
Position [300, 38, 335, 107]
ShowName off
Inputs "|+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Outport
Name "c"
Position [360, 53, 390, 67]
IconDisplay "Port number"
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, 50]
Branch {
Points [0, 70]
DstBlock "Gain2"
DstPort 1
}
Branch {
DstBlock "Gain1"
DstPort 1
}
}
Branch {
DstBlock "Sum1"
DstPort 1
}
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [10, 0; 0, -75]
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, -35]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Derivative"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "e"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, -15]
DstBlock "c"
DstPort 1
}
}
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [975, 249, 1005, 281]
Location [50, 179, 993, 679]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "40"
YMin "-40"
YMax "170"
DataFormat "StructureWithTime"
}
Block {
BlockType Step
Name "Step"
Position [105, 160, 135, 190]
Time "0"
SampleTime "0"
VectorParams1D off
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [185, 165, 205, 185]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [185, 350, 205, 370]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [935, 80, 995, 110]
VariableName "ypid"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [185, 485, 245, 515]
VariableName "t"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Structure"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [945, 480, 1005, 510]
VariableName "yhsic"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay"
Position [615, 160, 645, 190]
DelayTime "10"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay1"
Position [630, 345, 660, 375]
DelayTime "10"
}
Block {
BlockType ZeroPole
Name "Zero-Pole"
Position [740, 139, 835, 211]
Zeros "[]"
Poles "[-1 -1 -1]"
Gain "[10]"
}
Block {
BlockType ZeroPole
Name "Zero-Pole1"
Position [725, 324, 820, 396]
Zeros "[]"
Poles "[-1 -1 -1]"
Gain "[10]"
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "PID controller"
DstPort 1
}
Line {
SrcBlock "Zero-Pole"
SrcPort 1
Points [0, -5; 25, 0]
Branch {
Points [20, 0; 0, 125; -690, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
Points [20, 0]
Branch {
Points [0, -75]
DstBlock "To Workspace"
DstPort 1
}
Branch {
Points [40, 0]
DstBlock "Mux"
DstPort 1
}
}
}
Line {
SrcBlock "Transport\nDelay"
SrcPort 1
DstBlock "Zero-Pole"
DstPort 1
}
Line {
SrcBlock "Step"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, 185]
DstBlock "Sum1"
DstPort 1
}
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace1"
DstPort 1
}
Line {
SrcBlock "PID controller"
SrcPort 1
DstBlock "Transport\nDelay"
DstPort 1
}
Line {
SrcBlock "Transport\nDelay1"
SrcPort 1
DstBlock "Zero-Pole1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "HSIC controller"
DstPort 1
}
Line {
SrcBlock "HSIC controller"
SrcPort 1
DstBlock "Transport\nDelay1"
DstPort 1
}
Line {
SrcBlock "Zero-Pole1"
SrcPort 1
Points [0, 0; 55, 0]
Branch {
Points [45, 0]
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 95]
Branch {
Points [0, 40]
DstBlock "To Workspace2"
DstPort 1
}
Branch {
Points [-685, 0]
DstBlock "Sum1"
DstPort 2
}
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
}
}
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