📄 vong_dk_position_fuzzyslidingadaptive.mdl
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}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1]
Position [1000, 41, 1030, 74]
Inputs "2"
}
Block {
BlockType Mux
Name "Mux3"
Ports [2, 1]
Position [215, 406, 245, 444]
Inputs "2"
}
Block {
BlockType Step
Name "Nhieu do tai-gia toc 1"
Position [745, 45, 775, 75]
Time "5"
After "3175"
SampleTime "0"
}
Block {
BlockType Sin
Name "Nhieu do tai-gia toc 2"
Position [935, 485, 965, 515]
SineType "Time based"
Amplitude "3175"
SampleTime "0"
}
Block {
BlockType Reference
Name "PI Controller"
Ports [1, 1]
Position [675, 170, 705, 200]
SourceBlock "simulink_extras/Additional\nLinear/PID Controll"
"er"
SourceType "PID Controller"
P "0.0596"
I "0.6"
D "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [370, 44, 400, 76]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "10"
YMin "-3"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [370, 384, 400, 416]
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 [385, 244, 415, 276]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-0.003826"
YMax "-0.003813"
SaveName "ScopeData7"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [235, 250, 255, 270]
ShowName off
IconShape "round"
Inputs "|++"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [635, 175, 655, 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 [840, 161, 860, 194]
Inputs "-+"
}
Block {
BlockType Scope
Name "Toc do"
Ports [1]
Position [1055, 44, 1085, 76]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "5.4253472292487e-007"
YMin "-37.5"
YMax "7.5"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [735, 166, 815, 204]
Numerator "[1325]"
Denominator "[0.004 1]"
}
Block {
BlockType Scope
Name "Upi-DK toc do"
Ports [1]
Position [750, 379, 780, 411]
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 [580, 379, 610, 411]
Location [5, 56, 1029, 743]
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 Scope
Name "Vi tri"
Ports [1]
Position [1055, 139, 1085, 171]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "0.35"
YMin "9.87"
YMax "10.02"
SaveName "ScopeData5"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Step
Name "Vi tri dat 1"
Position [15, 170, 45, 200]
Time "0"
After "10"
SampleTime "0"
}
Block {
BlockType Sin
Name "Vi tri dat 2"
Position [935, 545, 965, 575]
SineType "Time based"
Amplitude "10"
SampleTime "0"
}
Block {
BlockType SignalGenerator
Name "Vi tri dat 3"
Position [935, 425, 965, 455]
WaveForm "square"
Amplitude "10"
Units "rad/sec"
}
Block {
BlockType Reference
Name "XY Graph Sin"
Ports [2]
Position [860, 545, 890, 580]
SourceBlock "simulink/Sinks/XY Graph"
SourceType "XY scope."
xmin "-0.3"
xmax "0.3"
ymin "-10"
ymax "15"
st "-1"
}
Block {
BlockType Reference
Name "XY Graph Step"
Ports [2]
Position [265, 45, 295, 80]
SourceBlock "simulink/Sinks/XY Graph"
SourceType "XY scope."
xmin "-0.1"
xmax "0.4"
ymin "-10"
ymax "10"
st "-1"
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "PI Controller"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Vi tri"
DstPort 1
}
Line {
SrcBlock "PI Controller"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Transfer Fcn"
DstPort 1
}
Branch {
Points [0, 210]
DstBlock "Upi-DK toc do"
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; 365, 0]
DstBlock "Mux2"
DstPort 1
}
}
Line {
Labels [2, 0]
SrcBlock "Integrator1"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, -120]
DstBlock "Mux2"
DstPort 2
}
Branch {
Points [0, 55; -280, 0]
DstBlock "Sum2"
DstPort 2
}
Branch {
DstBlock "Integrator2"
DstPort 1
}
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [5, 0]
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "Sum4"
DstPort 2
}
Branch {
Points [0, 210]
DstBlock "Gia toc dong co"
DstPort 1
}
}
Line {
SrcBlock "Nhieu do tai-gia toc 1"
SrcPort 1
Points [45, 0]
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Derivative"
DstPort 1
}
Branch {
Points [0, -50; 115, 0]
Branch {
DstBlock "Chuan hoa Kp"
DstPort 1
}
Branch {
Points [0, -80]
DstBlock "XY Graph Step"
DstPort 1
}
Branch {
Points [0, 125]
DstBlock "Sum1"
DstPort 1
}
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Fuzzy Logic\nController"
DstPort 1
}
Line {
SrcBlock "Vi tri dat 1"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [0, -85; 930, 0]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Fuzzy Logic\nController"
SrcPort 1
DstBlock "Chuan hoa U"
DstPort 1
}
Line {
SrcBlock "Integrator2"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 165; -905, 0]
DstBlock "Sum3"
DstPort 2
}
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [5, 0]
Branch {
Points [55, 0]
Branch {
DstBlock "Chuan hoa Kd"
DstPort 1
}
Branch {
Points [0, -120]
DstBlock "XY Graph Step"
DstPort 2
}
}
Branch {
Points [0, 115]
DstBlock "Lamda"
DstPort 1
}
}
Line {
SrcBlock "Chuan hoa Kd"
SrcPort 1
Points [30, 0]
Branch {
Points [0, 210]
DstBlock "Scope2"
DstPort 1
}
Branch {
Points [20, 0]
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, 35]
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "Chuan hoa U"
SrcPort 1
Points [25, 0]
Branch {
Points [0, 210]
DstBlock "Uref-DK bien tan"
DstPort 1
}
Branch {
DstBlock "Khuech dai"
DstPort 1
}
}
Line {
SrcBlock "Chuan hoa Lamda"
SrcPort 1
Points [30, 0]
Branch {
Points [0, -60]
DstBlock "Mux1"
DstPort 3
}
Branch {
DstBlock "Scope3"
DstPort 1
}
}
Line {
SrcBlock "Lamda"
SrcPort 1
Points [5, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Chuan hoa Lamda"
DstPort 1
}
}
}
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