📄 vong_dk_position_fuzzypid.mdl
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Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [330, 166, 360, 199]
Inputs "2"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1]
Position [945, 41, 975, 74]
Inputs "2"
}
Block {
BlockType Step
Name "Nhieu do tai-gia toc 1"
Position [690, 45, 720, 75]
Time "5"
After "4063"
SampleTime "0"
}
Block {
BlockType Sin
Name "Nhieu do tai-gia toc 2"
Position [910, 530, 940, 560]
SineType "Time based"
Amplitude "4063"
Frequency "10"
SampleTime "0"
}
Block {
BlockType Reference
Name "PI Controller\nDK toc do"
Ports [1, 1]
Position [615, 170, 645, 200]
SourceBlock "simulink_extras/Additional\nLinear/PID Controll"
"er"
SourceType "PID Controller"
P "0.118"
I "1.847"
D "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [330, 44, 360, 76]
Location [6, 54, 1020, 710]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-3"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [340, 369, 370, 401]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-0.003826"
YMax "-0.003813"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope3"
Ports [1]
Position [225, 44, 255, 76]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "0"
YMax "19"
SaveName "ScopeData7"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope4"
Ports [1]
Position [255, 369, 285, 401]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-3"
SaveName "ScopeData8"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [580, 175, 600, 195]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [70, 175, 90, 195]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1]
Position [780, 161, 800, 194]
Inputs "-+"
}
Block {
BlockType Integrator
Name "Tich phan 1"
Ports [1, 1]
Position [825, 170, 850, 200]
}
Block {
BlockType Integrator
Name "Tich phan 2"
Ports [1, 1]
Position [890, 170, 915, 200]
}
Block {
BlockType Scope
Name "Toc do"
Ports [1]
Position [1000, 44, 1030, 76]
Location [1, 49, 1025, 715]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "5.4253472292487e-007"
YMin "-50"
YMax "120"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Upi-DK toc do"
Ports [1]
Position [695, 369, 725, 401]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-2"
YMax "2"
SaveName "ScopeData4"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Uref-DK bien tan"
Ports [1]
Position [460, 369, 490, 401]
Location [6, 54, 1020, 710]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-10.5"
YMax "-9.5"
SaveName "ScopeData6"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Derivative
Name "Vi phan"
Position [180, 185, 220, 215]
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Scope
Name "Vi tri"
Ports [1]
Position [1000, 139, 1030, 171]
Location [1, 49, 1025, 714]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "10"
YMin "0"
YMax "12"
SaveName "ScopeData5"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Step
Name "Vi tri dat 1"
Position [55, 30, 85, 60]
Time "0"
After "10"
SampleTime "0"
}
Block {
BlockType Sin
Name "Vi tri dat 2"
Position [910, 475, 940, 505]
SineType "Time based"
Frequency "10"
SampleTime "0"
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "PI Controller\nDK toc do"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Vi tri"
DstPort 1
}
Line {
SrcBlock "Tich phan 2"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, 0]
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 160; -850, 0]
DstBlock "Sum3"
DstPort 2
}
}
Line {
SrcBlock "PI Controller\nDK toc do"
SrcPort 1
Points [5, 0; 10, 0]
Branch {
DstBlock "Khau quan tinh\nbac nhat"
DstPort 1
}
Branch {
Points [0, 200]
DstBlock "Upi-DK toc do"
DstPort 1
}
}
Line {
SrcBlock "Vi phan"
SrcPort 1
Points [5, 0]
Branch {
Points [0, 185]
DstBlock "Scope4"
DstPort 1
}
Branch {
DstBlock "Chuan hoa Kd"
DstPort 1
}
}
Line {
SrcBlock "Kp"
SrcPort 1
Points [10, 0]
Branch {
Points [0, -75]
DstBlock "Scope3"
DstPort 1
}
Branch {
DstBlock "Chuan hoa Kp"
DstPort 1
}
}
Line {
SrcBlock "Kd"
SrcPort 1
DstBlock "Vi phan"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Toc do"
DstPort 1
}
Line {
SrcBlock "Khuech dai"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, -160; 370, 0]
DstBlock "Mux2"
DstPort 1
}
}
Line {
Labels [2, 0]
SrcBlock "Tich phan 1"
SrcPort 1
Points [5, 0; 10, 0]
Branch {
Points [0, -120]
DstBlock "Mux2"
DstPort 2
}
Branch {
DstBlock "Tich phan 2"
DstPort 1
}
Branch {
Points [0, 55; -280, 0]
DstBlock "Sum2"
DstPort 2
}
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [0, 5]
DstBlock "Tich phan 1"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Kd"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "Kp"
DstPort 1
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Bo dieu\nkhien mo"
DstPort 1
}
Line {
SrcBlock "Bo dieu\nkhien mo"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Chuan hoa U"
DstPort 1
}
Branch {
Points [0, 200]
DstBlock "Uref-DK bien tan"
DstPort 1
}
}
Line {
SrcBlock "Chuan hoa U"
SrcPort 1
DstBlock "Khuech dai"
DstPort 1
}
Line {
SrcBlock "Chuan hoa Kd"
SrcPort 1
Points [15, 0]
Branch {
Points [0, 185]
DstBlock "Scope2"
DstPort 1
}
Branch {
Points [0, -10]
DstBlock "Mux1"
DstPort 2
}
}
Line {
SrcBlock "Chuan hoa Kp"
SrcPort 1
Points [30, 0]
Branch {
Points [0, -75]
DstBlock "Scope1"
DstPort 1
}
Branch {
Points [0, 40]
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "Khau quan tinh\nbac nhat"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Sum4"
DstPort 2
}
Branch {
Points [0, 100]
Branch {
Points [0, 100]
DstBlock "Gia toc dong co"
DstPort 1
}
Branch {
DstBlock "Momen\nquan tinh J"
DstPort 1
}
}
}
Line {
SrcBlock "Nhieu do tai-gia toc 1"
SrcPort 1
Points [40, 0]
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Momen\nquan tinh J"
SrcPort 1
DstBlock "Momen\ndong co"
DstPort 1
}
Line {
SrcBlock "Vi tri dat 1"
SrcPort 1
Points [10, 0; 0, 40; -55, 0; 0, 100; 10, 0]
Branch {
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [0, -85; 875, 0]
DstBlock "Mux"
DstPort 1
}
}
}
}
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