📄 s4.mdl
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DstBlock "vqr"
DstPort 1
}
Line {
SrcBlock "qds2dr"
SrcPort 1
DstBlock "vdr"
DstPort 1
}
Line {
SrcBlock "cos_thetar"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "sin_thetar"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "abc2q"
SrcPort 1
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "abc2d"
SrcPort 1
Points [30, 0; 0, -10]
DstBlock "Mux1"
DstPort 4
}
Line {
SrcBlock "abc20"
SrcPort 1
DstBlock "vd0"
DstPort 1
}
Annotation {
Position [327, 157]
VerticalAlignment top
Text "vds"
}
Annotation {
Position [207, 282]
VerticalAlignment top
Text "abc2qd0"
}
Annotation {
Position [472, 282]
VerticalAlignment top
Text "qds2qdr"
}
Annotation {
Position [327, 125]
VerticalAlignment top
Text "vqs"
}
}
}
Block {
BlockType SubSystem
Name "osc"
Position [450, 205, 475, 240]
ShowPortLabels off
System {
Name "osc"
Location [96, 160, 686, 404]
Open off
ScreenColor white
Block {
BlockType Inport
Name "wr/wb"
Position [30, 45, 50, 65]
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Gain
Name "Gain"
Position [135, 63, 180, 97]
Gain "-wb"
}
Block {
BlockType Gain
Name "Gain1"
Position [340, 120, 385, 160]
Orientation left
Gain "wb"
}
Block {
BlockType Product
Name "Product"
Position [370, 43, 390, 92]
Inputs "2"
}
Block {
BlockType Product
Name "Product1"
Position [140, 128, 160, 172]
Orientation left
Inputs "2"
}
Block {
BlockType Integrator
Name "cos"
Position [215, 63, 245, 97]
ExternalReset none
InitialConditionSource internal
InitialCondition "cos(delto)"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "sin"
Position [265, 123, 295, 157]
Orientation left
ExternalReset none
InitialConditionSource internal
InitialCondition "sin(delto)"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Outport
Name "cos_thetar"
Position [470, 105, 490, 125]
Port "1"
OutputWhenDisabled held
InitialOutput "0"
}
Block {
BlockType Outport
Name "sin_thetar"
Position [470, 160, 490, 180]
Port "2"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "Product"
SrcPort 1
Points [20, 0; 0, 70]
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "cos"
SrcPort 1
Points [0, 0]
Branch {
Points [20, 0; 0, 35]
DstBlock "cos_thetar"
DstPort 1
}
Branch {
DstBlock "Product"
DstPort 2
}
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "cos"
DstPort 1
}
Line {
SrcBlock "Product1"
SrcPort 1
Points [-20, 0; 0, -70]
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "sin"
DstPort 1
}
Line {
SrcBlock "wr/wb"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Product"
DstPort 1
}
Branch {
Points [35, 0; 0, 135; 110, 0; 0, -30]
DstBlock "Product1"
DstPort 2
}
}
Line {
SrcBlock "sin"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Product1"
DstPort 1
}
Branch {
Points [-30, 0; 0, 30]
DstBlock "sin_thetar"
DstPort 1
}
}
}
}
Block {
BlockType SubSystem
Name "qd_motor"
Position [290, 171, 345, 299]
ShowPortLabels off
System {
Name "qd_motor"
Location [66, 61, 681, 537]
Open off
ScreenColor white
Block {
BlockType Inport
Name "vq"
Position [60, 65, 80, 85]
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "vd"
Position [55, 255, 75, 275]
Port "2"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "Ipm"
Position [55, 305, 75, 325]
Port "3"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "Tmech"
Position [305, 310, 325, 330]
Port "4"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType SubSystem
Name "Rotor"
Position [345, 230, 395, 330]
ShowPortLabels off
System {
Name "Rotor"
Location [28, 188, 720, 475]
Open off
ScreenColor white
Block {
BlockType Inport
Name "iq"
Position [95, 95, 115, 115]
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "psid "
Position [95, 130, 115, 150]
Port "2"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "psiq"
Position [95, 170, 115, 190]
Port "3"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "id"
Position [95, 210, 115, 230]
Port "4"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "Tmech"
Position [95, 55, 115, 75]
Port "5"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Gain
Name "1/2H"
Position [325, 120, 395, 160]
Gain "1/(2*H)"
}
Block {
BlockType Gain
Name "D"
Position [330, 68, 405, 102]
Orientation left
Gain "Domega"
}
Block {
BlockType Product
Name "Prod"
Position [155, 124, 170, 146]
Inputs "2"
}
Block {
BlockType Product
Name "Prod2"
Position [155, 175, 170, 195]
Inputs "2"
}
Block {
BlockType Sum
Name "Sum12"
Position [195, 111, 215, 209]
Inputs "+-"
}
Block {
BlockType Sum
Name "Sum14"
Position [505, 178, 520, 222]
Inputs "++"
}
Block {
BlockType Sum
Name "Tacc"
Position [285, 110, 305, 170]
Inputs "-++"
}
Block {
BlockType Integrator
Name "del"
Position [545, 121, 575, 159]
ExternalReset none
InitialConditionSource internal
InitialCondition "delto"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Gain
Name "gain4"
Position [490, 123, 530, 157]
Gain "wb"
}
Block {
BlockType Integrator
Name "slip"
Position [420, 121, 450, 159]
ExternalReset none
InitialConditionSource internal
InitialCondition "wrslipo"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Constant
Name "we/wb"
Position [430, 198, 460, 222]
Value "1"
}
Block {
BlockType Outport
Name "delta"
Position [605, 130, 625, 150]
Port "1"
OutputWhenDisabled held
InitialOutput "0"
}
Block {
BlockType Outport
Name "wr/wb "
Position [605, 190, 625, 210]
Port "2"
OutputWhenDisabled held
InitialOutput "0"
}
Block {
BlockType Outport
Name "Tem"
Position [285, 198, 310, 222]
Port "3"
OutputWhenDisabled held
InitialOutput "0"
}
Block {
BlockType Outport
Name "(wr-we)/wb"
Position [590, 75, 610, 95]
Port "4"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "D"
SrcPort 1
Points [-60, 0; 0, 35]
DstBlock "Tacc"
DstPort 1
}
Line {
SrcBlock "gain4"
SrcPort 1
DstBlock "del"
DstPort 1
}
Line {
SrcBlock "Prod2"
SrcPort 1
DstBlock "Sum12"
DstPort 2
}
Line {
SrcBlock "1/2H"
SrcPort 1
DstBlock "slip"
DstPort 1
}
Line {
SrcBlock "we/wb"
SrcPort 1
DstBlock "Sum14"
DstPort 2
}
Line {
SrcBlock "Tacc"
SrcPort 1
DstBlock "1/2H"
DstPort 1
}
Line {
SrcBlock "Prod"
SrcPort 1
DstBlock "Sum12"
DstPort 1
}
Line {
SrcBlock "iq"
SrcPort 1
Points [10, 0; 0, 25]
DstBlock "Prod"
DstPort 1
}
Line {
SrcBlock "psid "
SrcPort 1
DstBlock "Prod"
DstPort 2
}
Line {
SrcBlock "psiq"
SrcPort 1
DstBlock "Prod2"
DstPort 1
}
Line {
SrcBlock "id"
SrcPort 1
Points [10, 0; 0, -30]
DstBlock "Prod2"
DstPort 2
}
Line {
SrcBlock "Sum14"
SrcPort 1
DstBlock "wr/wb "
DstPort 1
}
Line {
SrcBlock "Sum12"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Tacc"
DstPort 3
}
Branch {
Points [35, 0; 0, 50]
DstBlock "Tem"
DstPort 1
}
}
Line {
SrcBlock "slip"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "gain4"
DstPort 1
}
Branch {
Points [15, 0; 0, 50]
DstBlock "Sum14"
DstPort 1
}
Branch {
Points [15, 0; 0, -55]
DstBlock "(wr-we)/wb"
DstPort 1
}
Branch {
Points [15, 0; 0, -55]
DstBlock "D"
DstPort 1
}
}
Line {
SrcBlock "Tmech"
SrcPort 1
Points [130, 0; 0, 75]
DstBlock "Tacc"
DstPort 2
}
Line {
SrcBlock "del"
SrcPort 1
DstBlock "delta"
DstPort 1
}
Annotation {
Position [237, 147]
VerticalAlignment top
Text "Tem_"
}
}
}
Block {
BlockType Terminator
Name "T"
Position [225, 110, 230, 120]
}
Block {
BlockType Terminator
Name "T1"
Position [220, 295, 225, 305]
}
Block {
BlockType Terminator
Name "T2"
Position [210, 315, 215, 325]
}
Block {
BlockType SubSystem
Name "d_cct"
Position [150, 253, 190, 327]
ShowPortLabels off
System {
Name "d_cct"
Location [-72, 79, 732, 511]
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, 160, 70, 180]
Port "2"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "In_Ipm"
Position [50, 225, 70, 245]
Port "3"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Fcn
Name "Fcn"
Position [180, 125, 375, 155]
Expr "wb*(u[2]+u[3]+(rs/xls)*(u[1]-u[4]))"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [185, 281, 370, 309]
Expr "wb*rpkd*(u[1]-u[2])/xplkd"
}
Block {
BlockType Fcn
Name "Fcn3"
Position [565, 114, 775, 146]
Expr "xMD*(u[1]/xls+u[2]+u[3]/xplkd)"
}
Block {
BlockType Fcn
Name "Fcn4"
Position [570, 217, 660, 243]
Expr "(u[1]-u[2])/xls"
}
Block {
BlockType Fcn
Name "Fcn5"
Position [565, 302, 660, 328]
Expr "(u[1]-u[2])/xplkd"
}
Block {
BlockType Mux
Name "Mux"
Position [135, 86, 160, 189]
Inputs "4"
}
Block {
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