📄 s5.mdl
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InitialOutput "0"
}
Block {
BlockType Outport
Name "wr/wb "
Position [595, 180, 615, 200]
Port "2"
OutputWhenDisabled held
InitialOutput "0"
}
Block {
BlockType Outport
Name "Tem"
Position [275, 188, 300, 212]
Port "3"
OutputWhenDisabled held
InitialOutput "0"
}
Block {
BlockType Outport
Name "(wr-we)/wb"
Position [590, 65, 610, 85]
Port "4"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "Tmech"
SrcPort 1
Points [130, 0; 0, 75]
DstBlock "Tacc"
DstPort 2
}
Line {
SrcBlock "slip"
SrcPort 1
Points [0, 0]
Branch {
Points [15, 0; 0, -55]
DstBlock "D"
DstPort 1
}
Branch {
Points [15, 0; 0, -55]
DstBlock "(wr-we)/wb"
DstPort 1
}
Branch {
Points [15, 0; 0, 50]
DstBlock "Sum14"
DstPort 1
}
Branch {
DstBlock "gain4"
DstPort 1
}
}
Line {
SrcBlock "Sum12"
SrcPort 1
Points [0, 0]
Branch {
Points [35, 0; 0, 50]
DstBlock "Tem"
DstPort 1
}
Branch {
DstBlock "Tacc"
DstPort 3
}
}
Line {
SrcBlock "Sum14"
SrcPort 1
DstBlock "wr/wb "
DstPort 1
}
Line {
SrcBlock "-id"
SrcPort 1
Points [10, 0; 0, -30]
DstBlock "Prod2"
DstPort 2
}
Line {
SrcBlock "psiq"
SrcPort 1
DstBlock "Prod2"
DstPort 1
}
Line {
SrcBlock "del"
SrcPort 1
DstBlock "delta"
DstPort 1
}
Line {
SrcBlock "psid "
SrcPort 1
DstBlock "Prod"
DstPort 2
}
Line {
SrcBlock "-iq"
SrcPort 1
Points [10, 0; 0, 25]
DstBlock "Prod"
DstPort 1
}
Line {
SrcBlock "Prod"
SrcPort 1
DstBlock "Sum12"
DstPort 1
}
Line {
SrcBlock "Tacc"
SrcPort 1
DstBlock "1/2H"
DstPort 1
}
Line {
SrcBlock "we/wb"
SrcPort 1
DstBlock "Sum14"
DstPort 2
}
Line {
SrcBlock "1/2H"
SrcPort 1
DstBlock "slip"
DstPort 1
}
Line {
SrcBlock "Prod2"
SrcPort 1
DstBlock "Sum12"
DstPort 2
}
Line {
SrcBlock "gain4"
SrcPort 1
DstBlock "del"
DstPort 1
}
Line {
SrcBlock "D"
SrcPort 1
Points [-60, 0; 0, 35]
DstBlock "Tacc"
DstPort 1
}
Annotation {
Position [227, 137]
VerticalAlignment top
Text "Tem_"
}
}
}
Block {
BlockType Terminator
Name "T"
Position [225, 110, 235, 120]
}
Block {
BlockType Terminator
Name "T1"
Position [220, 295, 230, 305]
}
Block {
BlockType Terminator
Name "T2"
Position [420, 315, 430, 325]
}
Block {
BlockType SubSystem
Name "d_cct"
Position [150, 253, 190, 327]
ShowPortLabels off
System {
Name "d_cct"
Location [-3, 66, 801, 594]
Open off
ScreenColor white
Block {
BlockType Inport
Name "In_vd"
Position [50, 105, 70, 125]
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "In_wrpsiq"
Position [50, 150, 70, 170]
Port "2"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "In_Ef"
Position [65, 375, 85, 395]
Port "3"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Demux
Name "Demux"
Position [650, 298, 690, 382]
Outputs "3"
}
Block {
BlockType Fcn
Name "Fcn"
Position [180, 120, 375, 150]
Expr "wb*(u[2]+u[3]+(rs/xls)*(u[1]-u[4]))"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [180, 385, 320, 415]
Expr "wb*rpf*(u[1]/xmd-u[2])"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [150, 270, 260, 300]
Expr "-wb*rpkd3*u[1]"
}
Block {
BlockType Fcn
Name "Fcn3"
Position [515, 150, 790, 180]
Expr "xMD*(u[1]/xls+u[2]*b1col+u[3]*b2col+u[4]"
"*b3col)"
}
Block {
BlockType Fcn
Name "Fcn5"
Position [610, 86, 695, 114]
Expr "(u[1]-u[2])/xls"
}
Block {
BlockType Fcn
Name "Fcn6"
Position [155, 330, 260, 360]
Expr "-wb*rpkd2*u[1]"
}
Block {
BlockType StateSpace
Name "Matrix\nGain B"
Position [585, 326, 630, 354]
A "[]"
B "[]"
C "[]"
D "K"
X0 "0"
MaskType "Matrix Gain"
MaskDescription "Matrix Gain."
MaskHelp "Multiplies input vector by entered "
"matrix to produce output vector (y=Au)."
MaskPromptString "Gain matrix:"
MaskStyleString "edit"
MaskInitialization "K = @1;"
MaskDisplay "disp('K')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate off
MaskIconUnits autoscale
MaskValueString "B"
}
Block {
BlockType Mux
Name "Mux"
Position [135, 91, 160, 179]
Inputs "4"
}
Block {
BlockType Mux
Name "Mux1"
Position [135, 370, 160, 430]
Inputs "2"
}
Block {
BlockType Mux
Name "Mux2"
Position [555, 71, 580, 129]
Inputs "2"
}
Block {
BlockType Mux
Name "Mux3"
Position [465, 122, 490, 208]
Inputs "4"
}
Block {
BlockType Mux
Name "Mux4"
Position [535, 295, 560, 385]
Inputs "3"
}
Block {
BlockType Sum
Name "Sum"
Position [450, 263, 465, 292]
Inputs "-+"
}
Block {
BlockType Sum
Name "Sum1"
Position [450, 323, 465, 352]
Inputs "-+"
}
Block {
BlockType Sum
Name "Sum2"
Position [450, 378, 465, 407]
Inputs "-+"
}
Block {
BlockType Integrator
Name "psid"
Position [395, 122, 425, 148]
ExternalReset none
InitialConditionSource internal
InitialCondition "Psido"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "psipf"
Position [350, 387, 380, 413]
ExternalReset none
InitialConditionSource internal
InitialCondition "Psifo"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "psipkd2"
Position [315, 332, 345, 358]
ExternalReset none
InitialConditionSource internal
InitialCondition "Psikd2o"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "psipkd3"
Position [315, 272, 345, 298]
ExternalReset none
InitialConditionSource internal
InitialCondition "Psikd3o"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Outport
Name "Out_psid"
Position [460, 70, 480, 90]
Port "1"
OutputWhenDisabled held
InitialOutput "0"
}
Block {
BlockType Outport
Name "Out_-id"
Position [735, 90, 755, 110]
Port "2"
OutputWhenDisabled held
InitialOutput "0"
}
Block {
BlockType Outport
Name "Out_psimd"
Position [830, 155, 850, 175]
Port "3"
OutputWhenDisabled held
InitialOutput "0"
}
Block {
BlockType Outport
Name "Out_ipf"
Position [810, 360, 830, 380]
Port "4"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "Matrix\nGain B"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Fcn5"
SrcPort 1
DstBlock "Out_-id"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Fcn5"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [0, 0]
Branch {
DstBlock "Out_ipf"
DstPort 1
}
Branch {
Points [10, 0; 0, 75; -590, 0; 0, -30]
DstBlock "Mux1"
DstPort 2
}
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [30, 0; 0, -95; -615, 0; 0, 100]
DstBlock "Fcn6"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [10, 0; 0, -60; -585, 0; 0, 35]
DstBlock "Fcn2"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [15, 0; 0, -25]
DstBlock "Mux4"
DstPort 3
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Mux4"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [20, 0; 0, 30]
DstBlock "Mux4"
DstPort 1
}
Line {
SrcBlock "psipkd2"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Sum1"
DstPort 2
}
Branch {
Points [40, 0; 0, -170]
DstBlock "Mux3"
DstPort 3
}
}
Line {
SrcBlock "psipf"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Sum2"
DstPort 2
}
Branch {
Points [15, 0; 0, -205]
DstBlock "Mux3"
DstPort 4
}
}
Line {
SrcBlock "psipkd3"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Sum"
DstPort 2
}
Branch {
Points [30, 0; 0, -130]
DstBlock "Mux3"
DstPort 2
}
}
Line {
SrcBlock "In_Ef"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Fcn6"
SrcPort 1
DstBlock "psipkd2"
DstPort 1
}
Line {
SrcBlock "Fcn3"
SrcPort 1
Points [0, 0]
Branch {
Points [5, 0; 0, -105; -280, 0; 0, 25]
DstBlock "Mux2"
DstPort 1
}
Branch {
Points [5, 0; 0, 65; -380, 0; 0, 155]
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [5, 0; 0, 65; -380, 0; 0, 100]
DstBlock "Sum1"
DstPort 1
}
Branch {
Points [5, 0; 0, 65; -380, 0; 0, 40]
DstBlock "Sum"
DstPort 1
}
Branch {
DstBlock "Out_psimd"
DstPort 1
}
Branch {
Points [5, 0; 0, -105; -685, 0; 0, 45]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Mux4"
SrcPort 1
DstBlock "Matrix\nGain B"
DstPort 1
}
Line {
SrcBlock "Mux3"
SrcPort 1
DstBlock "Fcn3"
DstPort 1
}
Line {
SrcBlock "psid"
SrcPort 1
Points [0, 0]
Branch {
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