📄 ac.mdl
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Position [355, 88, 385, 102]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
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BlockType Outport
Name "iC"
Position [360, 148, 390, 162]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
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SrcBlock "ia"
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Branch {
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SrcBlock "ib"
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MinAlgLoopOccurrences off
RTWSystemCode "Auto"
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MaskStyleString "edit,edit,edit"
MaskTunableValueString "on,on,on"
MaskCallbackString "||"
MaskEnableString "on,on,on"
MaskVisibilityString "on,on,on"
MaskToolTipString "on,on,on"
MaskVarAliasString ",,"
MaskVariables "kp=@1;ki=@2;kd=@3;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "10|15|0"
MaskTabNameString ",,"
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ScreenColor "white"
PaperOrientation "landscape"
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BlockType Inport
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IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
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BlockType Sum
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Inputs "+++"
CollapseMode "All dimensions"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^-10"
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Block {
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Gain "kp"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
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BlockType Gain
Name "Gain1"
Position [135, 65, 165, 95]
Gain "ki"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
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Block {
BlockType Gain
Name "Gain2"
Position [135, 130, 165, 160]
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ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataTypeMode "Inherit via internal rule"
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OutScaling "2^0"
SaturateOnIntegerOverflow off
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Name "Integrator"
Ports [1, 1]
Position [225, 65, 255, 95]
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Block {
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UpperLimit "300"
LowerLimit "-300"
OutDataType "sfix(16)"
OutScaling "2^0"
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Block {
BlockType Outport
Name "Out1"
Position [455, 63, 485, 77]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
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Line {
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Points [5, 0]
Branch {
Points [10, 0]
Branch {
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DstBlock "Gain"
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Branch {
Points [0, 35]
DstBlock "Gain1"
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Branch {
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DstBlock "Gain2"
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DstBlock "Integrator"
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Line {
SrcBlock "Gain2"
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DstBlock "Derivative"
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Line {
SrcBlock "Gain"
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Points [140, 0; 0, 30; 30, 0]
DstBlock "Add"
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SrcBlock "Integrator"
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Points [0, -5; 75, 0]
DstBlock "Add"
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DstBlock "Add"
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DstBlock "Saturation"
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DstBlock "Out1"
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BlockType SubSystem
Name "ATR"
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RTWSystemCode "Auto"
FunctionWithSeparateData off
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MaskStyleString "edit,edit,edit"
MaskTunableValueString "on,on,on"
MaskCallbackString "||"
MaskEnableString "on,on,on"
MaskVisibilityString "on,on,on"
MaskToolTipString "on,on,on"
MaskVarAliasString ",,"
MaskVariables "kp=@1;ki=@2;kd=@3;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "125|2|0"
MaskTabNameString ",,"
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Location [366, 301, 1015, 488]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [25, 38, 55, 52]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
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Block {
BlockType Sum
Name "Add"
Ports [3, 1]
Position [350, 54, 380, 86]
Inputs "+++"
CollapseMode "All dimensions"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Derivative
Name "Derivative"
Position [225, 125, 255, 155]
}
Block {
BlockType DiscreteIntegrator
Name "Discrete-Time\nIntegrator"
Ports [1, 1]
Position [220, 64, 255, 96]
IntegratorMethod "Integration: Trapezoidal"
ExternalReset "none"
InitialConditionSource "internal"
SampleTime "0.0001"
OutDataType "sfix(16)"
OutScaling "2^0"
ICPrevOutput "DiscIntNeverNeededParam"
ICPrevScaledInput "DiscIntNeverNeededParam"
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Block {
BlockType Gain
Name "Gain"
Position [130, 25, 160, 55]
Gain "kp"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
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Block {
BlockType Gain
Name "Gain1"
Position [135, 65, 165, 95]
Gain "ki"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
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Block {
BlockType Gain
Name "Gain2"
Position [135, 130, 165, 160]
Gain "kd"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
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Block {
BlockType Saturate
Name "Saturation"
Position [400, 55, 430, 85]
UpperLimit "10"
LowerLimit "-10"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [490, 55, 525, 85]
SampleTime "0.0001"
}
Block {
BlockType Outport
Name "Out1"
Position [570, 63, 600, 77]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
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Line {
SrcBlock "In1"
SrcPort 1
Points [5, 0]
Branch {
Points [10, 0]
Branch {
Points [10, 0; 0, -5]
DstBlock "Gain"
DstPort 1
}
Branch {
Points [0, 35]
DstBlock "Gain1"
DstPort 1
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Branch {
Points [0, 100]
DstBlock "Gain2"
DstPort 1
}
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Discrete-Time\nIntegrator"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [20, 0; 0, -5]
DstBlock "Derivative"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [140, 0; 0, 30; 30, 0]
DstBlock "Add"
DstPort 1
}
Line {
SrcBlock "Discrete-Time\nIntegrator"
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