📄 vong_dk_position_pid.mdl
字号:
Gain "0.001"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [850, 146, 880, 179]
Inputs "2"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [850, 51, 880, 84]
Inputs "2"
}
Block {
BlockType Step
Name "Nhieu do tai-gia toc 1"
Position [570, 50, 600, 80]
Time "5"
After "406.3"
SampleTime "0"
}
Block {
BlockType Sin
Name "Nhieu do tai-gia toc 2"
Position [890, 545, 920, 575]
SineType "Time based"
Amplitude "40.63"
Frequency "10"
SampleTime "0"
}
Block {
BlockType Reference
Name "PD Controller\nDK vi tri"
Ports [1, 1]
Position [205, 155, 235, 185]
SourceBlock "simulink_extras/Additional\nLinear/PID Controll"
"er"
SourceType "PID Controller"
P "10.86"
I "347.52"
D "0.085"
}
Block {
BlockType Reference
Name "PI Controller\nDK toc do"
Ports [1, 1]
Position [480, 155, 510, 185]
SourceBlock "simulink_extras/Additional\nLinear/PID Controll"
"er"
SourceType "PID Controller"
P "0.118"
I "1.847"
D "0"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [670, 146, 690, 179]
Inputs "-+"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [435, 160, 455, 180]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [165, 160, 185, 180]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Integrator
Name "Tich phan 1"
Ports [1, 1]
Position [715, 155, 740, 185]
}
Block {
BlockType Integrator
Name "Tich phan 2"
Ports [1, 1]
Position [785, 155, 810, 185]
}
Block {
BlockType Scope
Name "Toc do"
Ports [1]
Position [900, 54, 930, 86]
Location [5, 53, 1029, 719]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "10"
YMin "-50"
YMax "120"
SaveToWorkspace on
SaveName "Tocdo"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Upd-DK vi tri"
Ports [1]
Position [290, 49, 320, 81]
Location [6, 54, 1020, 710]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-2"
YMax "2"
SaveName "ScopeData5"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Upi-DK toc do"
Ports [1]
Position [555, 339, 585, 371]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-2"
YMax "2"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Uref-DK bien tan"
Ports [1]
Position [360, 339, 390, 371]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "4.75"
YMax "5.25"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Vi tri"
Ports [1]
Position [900, 149, 930, 181]
Location [1, 49, 1025, 714]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "10"
YMin "0"
YMax "1.2"
SaveToWorkspace on
SaveName "Vitri"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Step
Name "Vi tri dat 1"
Position [15, 155, 45, 185]
Time "0"
SampleTime "0"
}
Block {
BlockType Sin
Name "Vi tri dat 2"
Position [890, 485, 920, 515]
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 "Sum3"
SrcPort 1
DstBlock "PD Controller\nDK vi tri"
DstPort 1
}
Line {
SrcBlock "Tich phan 2"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 150; -655, 0]
DstBlock "Sum3"
DstPort 2
}
}
Line {
SrcBlock "PI Controller\nDK toc do"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Khau quan tinh\nbac nhat"
DstPort 1
}
Branch {
Points [0, 185]
DstBlock "Upi-DK toc do"
DstPort 1
}
}
Line {
Labels [0, 1]
SrcBlock "PD Controller\nDK vi tri"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, -105]
DstBlock "Upd-DK vi tri"
DstPort 1
}
Branch {
DstBlock "Chuan hoa U"
DstPort 1
}
}
Line {
Labels [2, 0]
SrcBlock "Tich phan 1"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [0, 55; -315, 0]
DstBlock "Sum2"
DstPort 2
}
Branch {
DstBlock "Tich phan 2"
DstPort 1
}
Branch {
Points [0, -95]
DstBlock "Mux1"
DstPort 2
}
}
Line {
SrcBlock "Khau quan tinh\nbac nhat"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Sum1"
DstPort 2
}
Branch {
Points [0, 90]
Branch {
Points [0, 95]
DstBlock "Gia toc dong co"
DstPort 1
}
Branch {
DstBlock "Momen\nquan tinh J"
DstPort 1
}
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, 5]
DstBlock "Tich phan 1"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Toc do"
DstPort 1
}
Line {
SrcBlock "Khuech dai"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, -145; 420, 0]
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "Vi tri dat 1"
SrcPort 1
DstBlock "Khau quan tinh\ntien xu ly"
DstPort 1
}
Line {
SrcBlock "Nhieu do tai-gia toc 1"
SrcPort 1
Points [50, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
Labels [0, 1]
SrcBlock "Chuan hoa U"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Labels [1, 0]
Points [0, 185]
DstBlock "Uref-DK bien tan"
DstPort 1
}
Branch {
DstBlock "Khuech dai"
DstPort 1
}
}
Line {
SrcBlock "Momen\nquan tinh J"
SrcPort 1
DstBlock "Momen\ndong co"
DstPort 1
}
Line {
SrcBlock "Khau quan tinh\ntien xu ly"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [0, -60; 690, 0]
DstBlock "Mux"
DstPort 1
}
}
}
}
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -