📄 fuzzypidmyself.mdl
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Name "Derivative"
Position [190, 145, 220, 175]
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [220, 260, 250, 290]
}
Block {
BlockType Product
Name "Multiply"
Ports [2, 1]
Position [360, 243, 385, 287]
FontSize 10
Inputs "**"
ShowAdditionalParam on
InputSameDT off
OutDataTypeMode "Specify via dialog"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Multiply1"
Ports [2, 1]
Position [285, 134, 310, 181]
FontSize 10
Inputs "**"
ShowAdditionalParam on
InputSameDT off
OutDataTypeMode "Specify via dialog"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Saturate
Name "Saturation"
Position [520, 145, 550, 175]
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [935, 144, 965, 176]
Location [1, 56, 1025, 737]
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 [20, 70, 50, 100]
Time "0"
After "45"
SampleTime "0"
}
Block {
BlockType SubSystem
Name "Subsystem"
Ports [2, 3]
Position [205, 27, 240, 113]
FontSize 10
TreatAsAtomicUnit off
System {
Name "Subsystem"
Location [2, 82, 1014, 721]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "e"
Position [30, 108, 60, 122]
}
Block {
BlockType Inport
Name "ec"
Position [40, 228, 70, 242]
Port "2"
}
Block {
BlockType Gain
Name "\n"
Position [425, 80, 455, 110]
Gain "1.2"
}
Block {
BlockType Gain
Name "\n\n"
Position [430, 230, 460, 260]
Gain "1.3"
}
Block {
BlockType Gain
Name "\n\n1"
Position [425, 155, 455, 185]
ShowName off
Gain "1.5"
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 3]
Position [350, 112, 355, 228]
BackgroundColor "black"
ShowName off
Outputs "3"
}
Block {
BlockType Reference
Name "Fuzzy Logic \nController \nwith Ruleviewer"
Ports [1, 1]
Position [230, 145, 290, 195]
FontSize 10
SourceBlock "fuzblock/Fuzzy Logic \nController \nwith Ru"
"leviewer"
SourceType "FIS"
fismatrix "fismat"
Ts "2"
}
Block {
BlockType Gain
Name "Ke"
Position [90, 100, 120, 130]
Gain "1.6"
}
Block {
BlockType Gain
Name "Kec"
Position [95, 220, 125, 250]
Gain "0.6"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [170, 151, 175, 189]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Outport
Name "Kp"
Position [500, 88, 530, 102]
}
Block {
BlockType Outport
Name "Ki"
Position [500, 163, 530, 177]
Port "2"
}
Block {
BlockType Outport
Name "Kd"
Position [505, 238, 535, 252]
Port "3"
}
Line {
SrcBlock "Fuzzy Logic \nController \nwith Ruleviewer"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Fuzzy Logic \nController \nwith Ruleviewer"
DstPort 1
}
Line {
SrcBlock "Ke"
SrcPort 1
Points [15, 0; 0, 45]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Kec"
SrcPort 1
Points [10, 0; 0, -55]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "e"
SrcPort 1
DstBlock "Ke"
DstPort 1
}
Line {
SrcBlock "ec"
SrcPort 1
DstBlock "Kec"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [25, 0; 0, -35]
DstBlock "\n"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "\n\n1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [25, 0; 0, 35]
DstBlock "\n\n"
DstPort 1
}
Line {
SrcBlock "\n"
SrcPort 1
DstBlock "Kp"
DstPort 1
}
Line {
SrcBlock "\n\n1"
SrcPort 1
DstBlock "Ki"
DstPort 1
}
Line {
SrcBlock "\n\n"
SrcPort 1
DstBlock "Kd"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [85, 75, 105, 95]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [795, 150, 815, 170]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [715, 35, 775, 65]
VariableName "simout"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Structure"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [600, 142, 660, 178]
Denominator "[1 1]"
}
Block {
BlockType TransportDelay
Name "Transport\nDelay1"
Position [705, 145, 735, 175]
DelayTime "2"
BufferSize "2500"
}
Block {
BlockType Saturate
Name "limited"
Position [135, 144, 165, 176]
UpperLimit "0.1"
LowerLimit "-0.1"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, -5]
Branch {
Points [0, 70]
Branch {
Points [0, 125]
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, 10]
DstBlock "limited"
DstPort 1
}
}
Branch {
Points [0, -30]
DstBlock "Subsystem"
DstPort 1
}
}
Line {
SrcBlock "Multiply1"
SrcPort 1
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Subsystem"
SrcPort 3
Points [5, 0; 0, 45]
DstBlock "Multiply1"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "Multiply"
DstPort 2
}
Line {
SrcBlock "Subsystem"
SrcPort 2
Points [100, 0]
DstBlock "Multiply"
DstPort 1
}
Line {
SrcBlock "Multiply"
SrcPort 1
Points [20, 0; 0, -65]
DstBlock "Add"
DstPort 3
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [170, 0; 0, 80]
DstBlock "Add"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
DstBlock "Transport\nDelay1"
DstPort 1
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [10, 0]
Branch {
Points [10, 0; 0, 10]
DstBlock "Multiply1"
DstPort 2
}
Branch {
Points [0, -25; -45, 0]
DstBlock "Subsystem"
DstPort 2
}
}
Line {
SrcBlock "Transport\nDelay1"
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [35, 0]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
Points [0, 245; -760, 0]
DstBlock "Sum1"
DstPort 2
}
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [110, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "limited"
SrcPort 1
DstBlock "Derivative"
DstPort 1
}
Line {
SrcBlock "Add"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
}
}
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