📄 pid_interpolation_model.mdl
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Ports [2, 1]
Position [165, 170, 185, 190]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Integrator
Name "Tich phan 1"
Ports [1, 1]
Position [745, 165, 770, 195]
}
Block {
BlockType Integrator
Name "Tich phan 2"
Ports [1, 1]
Position [815, 165, 840, 195]
}
Block {
BlockType Scope
Name "Upd-DK vi tri"
Ports [1]
Position [320, 59, 350, 91]
Location [6, 54, 1020, 710]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-2"
YMax "2"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Upi-DK toc do"
Ports [1]
Position [585, 349, 615, 381]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-2"
YMax "2"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Uref-DK bien tan"
Ports [1]
Position [390, 349, 420, 381]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "4.75"
YMax "5.25"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Outport
Name "Out1"
Position [935, 73, 965, 87]
}
Block {
BlockType Outport
Name "Out2"
Position [935, 168, 965, 182]
Port "2"
}
Block {
BlockType Outport
Name "Out3"
Position [235, 233, 265, 247]
Port "3"
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "PI Controller\nDK toc do"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Out2"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "PD Controller\nDK vi tri"
DstPort 1
}
Branch {
Points [0, 60]
DstBlock "Out3"
DstPort 1
}
}
Line {
SrcBlock "Tich phan 2"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [0, 0]
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 150; -685, 0]
DstBlock "Sum3"
DstPort 2
}
}
Line {
SrcBlock "PI Controller\nDK toc do"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Khau quan tinh\nbac nhat"
DstPort 1
}
Branch {
Points [0, 185]
DstBlock "Upi-DK toc do"
DstPort 1
}
}
Line {
Labels [0, 1]
SrcBlock "PD Controller\nDK vi tri"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, -105]
DstBlock "Upd-DK vi tri"
DstPort 1
}
Branch {
DstBlock "Chuan hoa U"
DstPort 1
}
}
Line {
Labels [2, 0]
SrcBlock "Tich phan 1"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [0, 55; -315, 0]
DstBlock "Sum2"
DstPort 2
}
Branch {
DstBlock "Tich phan 2"
DstPort 1
}
Branch {
Points [0, -95]
DstBlock "Mux1"
DstPort 2
}
}
Line {
SrcBlock "Khau quan tinh\nbac nhat"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, 0]
DstBlock "Sum1"
DstPort 2
}
Branch {
Points [0, 90]
Branch {
Points [0, 95]
DstBlock "Gia toc dong co"
DstPort 1
}
Branch {
DstBlock "Momen\nquan tinh J"
DstPort 1
}
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, 5]
DstBlock "Tich phan 1"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Khuech dai"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
Points [0, 0]
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, -145; 420, 0]
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Khau quan tinh\ntien xu ly"
DstPort 1
}
Line {
SrcBlock "Nhieu do tai-gia toc 1"
SrcPort 1
Points [50, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
Labels [0, 1]
SrcBlock "Chuan hoa U"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Labels [1, 0]
Points [0, 185]
DstBlock "Uref-DK bien tan"
DstPort 1
}
Branch {
Points [0, 0]
DstBlock "Khuech dai"
DstPort 1
}
}
Line {
SrcBlock "Momen\nquan tinh J"
SrcPort 1
DstBlock "Momen\ndong co X"
DstPort 1
}
Line {
SrcBlock "Khau quan tinh\ntien xu ly"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [0, -60; 730, 0]
DstBlock "Mux"
DstPort 1
}
}
}
}
Block {
BlockType SubSystem
Name "Bo dieu khien\ntruc Y"
Ports [1, 3]
Position [210, 222, 290, 348]
TreatAsAtomicUnit off
System {
Name "Bo dieu khien\ntruc Y"
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 [75, 161, 125, 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 Y"
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_Y"
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"
Ports [2, 1]
Position [165, 170, 185, 190]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Integrator
Name "Tich phan 1"
Ports [1, 1]
Position [745, 165, 770, 195]
}
Block {
BlockType Integrator
Name "Tich phan 2"
Ports [1, 1]
Position [815, 165, 840, 195]
}
Block {
BlockType Scope
Name "Upd-DK vi tri"
Ports [1]
Position [320, 59, 350, 91]
Location [6, 54, 1020, 710]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-2"
YMax "2"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Upi-DK toc do"
Ports [1]
Position [585, 349, 615, 381]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-2"
YMax "2"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Uref-DK bien tan"
Ports [1]
Position [390, 349, 420, 381]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "4.75"
YMax "5.25"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Outport
Name "Out1"
Position [935, 73, 965, 87]
}
Block {
BlockType Outport
Name "Out2"
Position [935, 168, 965, 182]
Port "2"
}
Block {
BlockType Outport
Name "Out3"
Position [235, 238, 265, 252]
Port "3"
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "PI Controller\nDK toc do"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Out2"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "PD Controller\nDK vi tri"
DstPort 1
}
Branch {
Points [0, 65]
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