📄 pid_interpolation_model.mdl
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Model {
Name "PID_Interpolation_Model"
Version 5.0
SaveDefaultBlockParams on
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDataTypes off
ShowLoopsOnError on
IgnoreBidirectionalLines off
ShowStorageClass off
ExecutionOrder off
RecordCoverage off
CovPath "/"
CovSaveName "covdata"
CovMetricSettings "dw"
CovNameIncrementing off
CovHtmlReporting on
covSaveCumulativeToWorkspaceVar on
CovSaveSingleToWorkspaceVar on
CovCumulativeVarName "covCumulativeData"
CovCumulativeReport off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
MinMaxOverflowArchiveMode "Overwrite"
BlockNameDataTip off
BlockParametersDataTip off
BlockDescriptionStringDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
Created "Wed Nov 17 00:07:24 2004"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "Administrator"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Sun Dec 05 12:29:46 2004"
ModelVersionFormat "1.%<AutoIncrement:155>"
ConfigurationManager "None"
SimParamPage "Solver"
LinearizationMsg "none"
Profile off
ParamWorkspaceSource "MATLABWorkspace"
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
TryForcingSFcnDF off
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "normal"
ExtModeTrigPort "1"
ExtModeTrigElement "any"
ExtModeTrigDuration 1000
ExtModeTrigHoldOff 0
ExtModeTrigDelay 0
ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
ExtModeAutoIncOneShot off
ExtModeIncDirWhenArm off
ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect on
ExtModeSkipDownloadWhenConnect off
ExtModeLogAll on
ExtModeAutoUpdateStatusClock on
BufferReuse on
RTWExpressionDepthLimit 5
SimulationMode "normal"
Solver "ode45"
SolverMode "Auto"
StartTime "0.0"
StopTime "10.0"
MaxOrder 5
MaxStep "auto"
MinStep "auto"
MaxNumMinSteps "-1"
InitialStep "auto"
FixedStep "auto"
RelTol "1e-3"
AbsTol "auto"
OutputOption "RefineOutputTimes"
OutputTimes "[]"
Refine "1"
LoadExternalInput off
ExternalInput "[t, u]"
LoadInitialState off
InitialState "xInitial"
SaveTime on
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput on
OutputSaveName "yout"
SaveFinalState off
FinalStateName "xFinal"
SaveFormat "Array"
Decimation "1"
LimitDataPoints on
MaxDataPoints "1000"
SignalLoggingName "sigsOut"
ConsistencyChecking "none"
ArrayBoundsChecking "none"
AlgebraicLoopMsg "warning"
BlockPriorityViolationMsg "warning"
MinStepSizeMsg "warning"
InheritedTsInSrcMsg "warning"
DiscreteInheritContinuousMsg "warning"
MultiTaskRateTransMsg "error"
SingleTaskRateTransMsg "none"
CheckForMatrixSingularity "none"
IntegerOverflowMsg "warning"
Int32ToFloatConvMsg "warning"
ParameterDowncastMsg "error"
ParameterOverflowMsg "error"
ParameterPrecisionLossMsg "warning"
UnderSpecifiedDataTypeMsg "none"
UnnecessaryDatatypeConvMsg "none"
VectorMatrixConversionMsg "none"
InvalidFcnCallConnMsg "error"
SignalLabelMismatchMsg "none"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
SfunCompatibilityCheckMsg "none"
RTWInlineParameters off
BlockReductionOpt on
BooleanDataType on
ConditionallyExecuteInputs on
ParameterPooling on
OptimizeBlockIOStorage on
ZeroCross on
AssertionControl "UseLocalSettings"
ProdHWDeviceType "Microprocessor"
ProdHWWordLengths "8,16,32,32"
RTWSystemTargetFile "grt.tlc"
RTWTemplateMakefile "grt_default_tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
RTWRetainRTWFile off
TLCProfiler off
TLCDebug off
TLCCoverage off
TLCAssertion off
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
BlockParameterDefaults {
Block {
BlockType Constant
Value "1"
VectorParams1D on
ShowAdditionalParam off
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
}
Block {
BlockType Derivative
}
Block {
BlockType Display
Format "short"
Decimation "10"
Floating off
SampleTime "-1"
}
Block {
BlockType Gain
Gain "1"
Multiplication "Element-wise(K.*u)"
ShowAdditionalParam off
ParameterDataTypeMode "Same as input"
ParameterDataType "sfix(16)"
ParameterScalingMode "Best Precision: Matrix-wise"
ParameterScaling "2^0"
OutDataTypeMode "Same as input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
}
Block {
BlockType Ground
}
Block {
BlockType Inport
Port "1"
PortDimensions "-1"
SampleTime "-1"
ShowAdditionalParam off
LatchInput off
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
Interpolate on
}
Block {
BlockType Integrator
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
ZeroCross on
}
Block {
BlockType MATLABFcn
MATLABFcn "sin"
OutputDimensions "-1"
OutputSignalType "auto"
Output1D on
}
Block {
BlockType Mux
Inputs "4"
DisplayOption "none"
}
Block {
BlockType Outport
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Saturate
UpperLimit "0.5"
LowerLimit "-0.5"
LinearizeAsGain on
ZeroCross on
}
Block {
BlockType Scope
Floating off
ModelBased off
TickLabels "OneTimeTick"
ZoomMode "on"
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType "S-Function"
FunctionName "system"
PortCounts "[]"
SFunctionModules "''"
}
Block {
BlockType Step
Time "1"
Before "0"
After "1"
SampleTime "-1"
VectorParams1D on
ZeroCross on
}
Block {
BlockType SubSystem
ShowPortLabels on
Permissions "ReadWrite"
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
ShowAdditionalParam off
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
}
Block {
BlockType Switch
Criteria "u2 >= Threshold"
Threshold "0"
ShowAdditionalParam off
InputSameDT on
OutDataTypeMode "Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow on
ZeroCross on
}
Block {
BlockType TransferFcn
Numerator "[1]"
Denominator "[1 2 1]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType UnitDelay
X0 "0"
SampleTime "1"
RTWStateStorageClass "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 "PID_Interpolation_Model"
Location [2, 70, 1022, 654]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType SubSystem
Name "Bo noi suy va dieu khien\nmay phay CNC"
Ports [2, 6]
Position [310, 49, 430, 281]
TreatAsAtomicUnit off
System {
Name "Bo noi suy va dieu khien\nmay phay CNC"
Location [2, 74, 1014, 699]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [35, 88, 65, 102]
}
Block {
BlockType Inport
Name "In2"
Position [35, 278, 65, 292]
Port "2"
}
Block {
BlockType SubSystem
Name "Bo dieu khien\ntruc X"
Ports [1, 3]
Position [210, 33, 290, 157]
TreatAsAtomicUnit off
System {
Name "Bo dieu khien\ntruc X"
Location [2, 74, 1014, 699]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [15, 173, 45, 187]
}
Block {
BlockType Saturate
Name "Chuan hoa U"
Position [305, 164, 340, 196]
UpperLimit "10"
LowerLimit "-10"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Scope
Name "Gia toc dong co"
Ports [1]
Position [705, 349, 735, 381]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-2"
YMax "2"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType TransferFcn
Name "Khau quan tinh\nbac nhat"
Position [585, 161, 665, 199]
Numerator "[529]"
Denominator "[0.004 1]"
}
Block {
BlockType TransferFcn
Name "Khau quan tinh\ntien xu ly"
Position [65, 161, 115, 199]
Denominator "[0.008 1]"
}
Block {
BlockType Gain
Name "Khuech dai"
Position [380, 160, 435, 200]
Gain "9.843"
}
Block {
BlockType Scope
Name "Momen\ndong co X"
Ports [1]
Position [790, 254, 820, 286]
Location [5, 53, 1029, 719]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-9"
YMax "8"
SaveToWorkspace on
SaveName "Momen_X"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Gain
Name "Momen\nquan tinh J"
Position [710, 250, 765, 290]
Gain "0.001"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [880, 156, 910, 189]
Inputs "2"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [880, 61, 910, 94]
Inputs "2"
}
Block {
BlockType Step
Name "Nhieu do tai-gia toc 1"
Position [600, 60, 630, 90]
Time "0.5"
After "101.5"
SampleTime "0"
}
Block {
BlockType Reference
Name "PD Controller\nDK vi tri"
Ports [1, 1]
Position [235, 165, 265, 195]
SourceBlock "simulink_extras/Additional\nLinear/PID "
"Controller"
SourceType "PID Controller"
P "10.86"
I "347.52"
D "0.085"
}
Block {
BlockType Reference
Name "PI Controller\nDK toc do"
Ports [1, 1]
Position [510, 165, 540, 195]
SourceBlock "simulink_extras/Additional\nLinear/PID "
"Controller"
SourceType "PID Controller"
P "0.118"
I "1.847"
D "0"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [700, 156, 720, 189]
Inputs "-+"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [465, 170, 485, 190]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum3"
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