fuzzpidcontroller3.mdl

用MATLAB的SMULINK 实现的模糊算法

	  BlockType		  Product
	  Name			  "Product"
	  Ports			  [2, 1]
	  Position		  [69, 75, 116, 110]
	  Orientation		  "down"
	  NamePlacement		  "alternate"
	  InputSameDT		  off
	}
	Block {
	  BlockType		  Product
	  Name			  "Product1"
	  Ports			  [2, 1]
	  Position		  [159, 75, 206, 110]
	  Orientation		  "down"
	  NamePlacement		  "alternate"
	  InputSameDT		  off
	}
	Block {
	  BlockType		  Product
	  Name			  "Product2"
	  Ports			  [2, 1]
	  Position		  [244, 75, 291, 110]
	  Orientation		  "down"
	  NamePlacement		  "alternate"
	  InputSameDT		  off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1]
	  Position		  [135, 220, 155, 240]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "++|"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Ports			  [3, 1]
	  Position		  [285, 170, 305, 190]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "+++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum5"
	  Ports			  [2, 1]
	  Position		  [175, 170, 195, 190]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "++|"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum6"
	  Ports			  [2, 1]
	  Position		  [260, 130, 280, 150]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "++|"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
	Block {
	  BlockType		  Gain
	  Name			  "kd"
	  Position		  [55, 215, 85, 245]
	  Gain			  "0.3"
	}
	Block {
	  BlockType		  Gain
	  Name			  "ki"
	  Position		  [105, 165, 135, 195]
	  Gain			  "0.2"
	}
	Block {
	  BlockType		  Gain
	  Name			  "kp"
	  Position		  [205, 125, 235, 155]
	  Gain			  "15"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [330, 173, 360, 187]
	}
	Line {
	  SrcBlock		  "Product"
	  SrcPort		  1
	  Points		  [0, 15; 50, 0]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "kp"
	  SrcPort		  1
	  DstBlock		  "Sum6"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "ki"
	  SrcPort		  1
	  DstBlock		  "Sum5"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum5"
	  SrcPort		  1
	  DstBlock		  "Integrator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Derivative1"
	  SrcPort		  1
	  Points		  [65, 0]
	  DstBlock		  "Sum2"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Derivative1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum6"
	  SrcPort		  1
	  Points		  [10, 0]
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "kd"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Product1"
	  SrcPort		  1
	  DstBlock		  "Sum5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Product2"
	  SrcPort		  1
	  DstBlock		  "Sum6"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "e"
	  SrcPort		  1
	  Points		  [0, 0; 0, 15]
	  Branch {
	    Points		    [0, 80]
	    Branch {
	      Points		      [0, 40]
	      Branch {
		DstBlock		"kd"
		DstPort			1
	      }
	      Branch {
		DstBlock		"ki"
		DstPort			1
	      }
	    }
	    Branch {
	      DstBlock		      "kp"
	      DstPort		      1
	    }
	  }
	  Branch {
	    Points		    [40, 0]
	    Branch {
	      Points		      [90, 0]
	      Branch {
		DstBlock		"Product2"
		DstPort			1
	      }
	      Branch {
		DstBlock		"Product1"
		DstPort			1
	      }
	    }
	    Branch {
	      DstBlock		      "Product"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Δkd"
	  SrcPort		  1
	  DstBlock		  "Product"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Δki"
	  SrcPort		  1
	  DstBlock		  "Product1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Δkp"
	  SrcPort		  1
	  DstBlock		  "Product2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [1270, 219, 1300, 251]
      Location		      [5, 60, 1029, 741]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      YMin		      "0"
      YMax		      "50"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [845, 395, 875, 425]
      Time		      "10"
      After		      "6.5"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [375, 300, 395, 320]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [1220, 295, 1240, 315]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Switch
      Name		      "Switch"
      Position		      [1020, 370, 1050, 400]
      Threshold		      "3.5"
      InputSameDT	      off
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn"
      Position		      [1080, 287, 1140, 323]
      Numerator		      "[0.5]"
      Denominator	      "[20 1]"
    }
    Block {
      BlockType		      TransportDelay
      Name		      "Transport\nDelay1"
      Position		      [1165, 290, 1195, 320]
      BufferSize	      "2500"
    }
    Block {
      BlockType		      Gain
      Name		      "ke"
      Position		      [435, 265, 465, 295]
      Gain		      "0.075"
    }
    Block {
      BlockType		      Gain
      Name		      "kec"
      Position		      [525, 310, 555, 340]
      Gain		      "0.1"
    }
    Block {
      BlockType		      Gain
      Name		      "ku"
      Position		      [685, 300, 715, 330]
      Gain		      "0.1"
    }
    Block {
      BlockType		      Saturate
      Name		      "limited"
      Position		      [475, 309, 505, 341]
      UpperLimit	      "0.1"
      LowerLimit	      "-0.1"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      Gain
      Name		      "Δkd"
      Position		      [765, 325, 795, 355]
      Gain		      "0.1"
    }
    Block {
      BlockType		      Gain
      Name		      "Δki"
      Position		      [805, 300, 835, 330]
      Gain		      "0.06"
    }
    Block {
      BlockType		      Gain
      Name		      "Δkp"
      Position		      [770, 275, 800, 305]
      NamePlacement	      "alternate"
      Gain		      "0.1"
    }
    Line {
      SrcBlock		      "ke"
      SrcPort		      1
      Points		      [40, 0; 0, 20]
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "kec"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Fuzzy Logic \nController \nwith Ruleviewer"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Fuzzy Logic \nController \nwith Ruleviewer"
      SrcPort		      1
      DstBlock		      "ku"
      DstPort		      1
    }
    Line {
      SrcBlock		      "ku"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      3
      DstBlock		      "Δkd"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      DstBlock		      "Δkp"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [0, 0; 5, 0]
      Branch {
	DstBlock		"Derivative"
	DstPort			1
      }
      Branch {
	Points			[0, -30]
	Branch {
	  DstBlock		  "ke"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -30; 430, 0; 0, 15]
	  DstBlock		  "PID Controller"
	  DstPort		  1
	}
      }
    }
    Line {
      Labels		      [0, 0]
      SrcBlock		      "Δkd"
      SrcPort		      1
      DstBlock		      "PID Controller"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Δkp"
      SrcPort		      1
      DstBlock		      "PID Controller"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Δki"
      SrcPort		      1
      DstBlock		      "PID Controller"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      DstBlock		      "Δki"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      DstBlock		      "limited"
      DstPort		      1
    }
    Line {
      SrcBlock		      "limited"
      SrcPort		      1
      DstBlock		      "kec"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Transfer Fcn"
      SrcPort		      1
      DstBlock		      "Transport\nDelay1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      Points		      [65, 0]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Transport\nDelay1"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [-5, 0; 15, 0]
      Branch {
	Points			[10, 0; 0, 245; -880, 0]
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	DstBlock		"Scope"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Constant1"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PID Controller"
      SrcPort		      1
      Points		      [20, 0]
      Branch {
	DstBlock		"Gain1"
	DstPort			1
      }
      Branch {
	Points			[0, 140]
	DstBlock		"Gain"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      Points		      [0, 70]
      DstBlock		      "Switch"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Switch"
      SrcPort		      1
      Points		      [5, 0; 0, -80]
      DstBlock		      "Transfer Fcn"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Switch"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [35, 0; 0, -25]
      DstBlock		      "Switch"
      DstPort		      2
    }
  }
}