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SrcPort 1
Points [75, 0]
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [45, 0; 0, -60]
DstBlock "Add"
DstPort 3
}
Line {
SrcBlock "Add"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Out1"
DstPort 1
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Block {
BlockType SubSystem
Name "ATR1"
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Position [90, 115, 130, 175]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskPromptString "kp|ki|kd"
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 "5|0.1|0"
MaskTabNameString ",,"
System {
Name "ATR1"
Location [615, 291, 1271, 474]
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"
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Position [350, 54, 380, 86]
Inputs "+++"
CollapseMode "All dimensions"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
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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 "30"
LowerLimit "-30"
OutDataType "sfix(16)"
OutScaling "2^0"
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Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [495, 55, 530, 85]
SampleTime "0.0001"
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Block {
BlockType Outport
Name "Out1"
Position [585, 63, 615, 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
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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"
SrcPort 1
Points [75, 0]
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [45, 0; 0, -60]
DstBlock "Add"
DstPort 3
}
Line {
SrcBlock "Add"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
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Block {
BlockType SubSystem
Name "ATR2"
Ports [1, 1]
Position [190, 120, 230, 180]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskPromptString "kp|ki|kd"
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 "0.5|0.1|0"
MaskTabNameString ",,"
System {
Name "ATR2"
Location [534, 297, 1188, 484]
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"
}
Block {
BlockType Sum
Name "Add"
Ports [2, 1]
Position [355, 56, 385, 89]
CollapseMode "All dimensions"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
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"
}
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
}
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
}
Block {
BlockType Saturate
Name "Saturation"
Position [405, 60, 435, 90]
UpperLimit "1000"
LowerLimit "-1000"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [495, 60, 530, 90]
SampleTime "0.001"
}
Block {
BlockType Outport
Name "Out1"
Position [580, 68, 610, 82]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "In1"
SrcPort 1
Points [15, 0]
Branch {
Points [10, 0; 0, -5]
DstBlock "Gain"
DstPort 1
}
Branch {
Points [0, 35]
DstBlock "Gain1"
DstPort 1
}
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Discrete-Time\nIntegrator"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [175, 0]
DstBlock "Add"
DstPort 1
}
Line {
SrcBlock "Discrete-Time\nIntegrator"
SrcPort 1
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Add"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Acmotor"
Ports [4, 11]
Position [695, 106, 795, 264]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskPromptString "R1|Ls|R2|np|Lm|Lr|J|La|B"
MaskStyleString "edit,edit,edit,edit,edit,edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on,on,on,on,on,on"
MaskCallbackString "||||||||"
MaskEnableString "on,on,on,on,on,on,on,on,on"
MaskVisibilityString "on,on,on,on,on,on,on,on,on"
MaskToolTipString "on,on,on,on,on,on,on,on,on"
MaskVarAliasString ",,,,,,,,"
MaskVariables "R1=@1;Ls=&2;R2=@3;np=@4;Lm=@5;Lr=@6;J=@7;La=@8;B=@9;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "4.25|0.666|3.24|2|0.651|0.671|0.02|0.0344|0.0003"
MaskTabNameString ",,,,,,,,"
System {
Name "Acmotor"
Location [117, 99, 1129, 636]
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 "Ua"
Position [30, 43, 60, 57]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "Ub"
Position [30, 83, 60, 97]
Port "2"
IconDisplay "Port number"
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