📄 compare_pid_fitterpid.mdl
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Block {
BlockType Reference
Name "PI Controller\nDK toc do"
Ports [1, 1]
Position [475, 155, 505, 185]
SourceBlock "simulink_extras/Additional\nLinear/PID Controll"
"er"
SourceType "PID Controller"
P "0.118"
I "1.847"
D "0"
}
Block {
BlockType Reference
Name "PI Controller\nDK toc do1"
Ports [1, 1]
Position [495, 415, 525, 445]
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 [170, 160, 190, 180]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1]
Position [685, 406, 705, 439]
Inputs "-+"
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1]
Position [450, 420, 470, 440]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum6"
Ports [2, 1]
Position [180, 420, 200, 440]
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 Integrator
Name "Tich phan 3"
Ports [1, 1]
Position [730, 415, 755, 445]
}
Block {
BlockType Integrator
Name "Tich phan 4"
Ports [1, 1]
Position [800, 415, 825, 445]
}
Block {
BlockType Scope
Name "Toc do"
Ports [1]
Position [920, 59, 950, 91]
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 "Toc do1"
Ports [1]
Position [925, 344, 955, 376]
Location [5, 53, 1029, 719]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "10"
YMin "-50"
YMax "120"
SaveToWorkspace on
SaveName "Tocdo1"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Vi tri"
Ports [1]
Position [920, 154, 950, 186]
Location [1, 49, 1025, 714]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "10"
YMin "-0.00015"
YMax "0.00015"
SaveToWorkspace on
SaveName "Vitri"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Step
Name "Vi tri dat 1"
Position [15, 155, 45, 185]
Time "0"
After "10"
SampleTime "0"
}
Block {
BlockType Sin
Name "Vi tri dat 2"
Position [45, 485, 75, 515]
SineType "Time based"
Frequency "10"
SampleTime "0"
}
Block {
BlockType Scope
Name "Vi tri1"
Ports [1]
Position [925, 409, 955, 441]
Location [1, 49, 1025, 714]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "10"
YMin "-0.00015"
YMax "0.00015"
SaveToWorkspace on
SaveName "Vitri1"
DataFormat "StructureWithTime"
LimitDataPoints off
}
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, 140; -650, 0]
DstBlock "Sum3"
DstPort 2
}
}
Line {
SrcBlock "PI Controller\nDK toc do"
SrcPort 1
DstBlock "Khau quan tinh\nbac nhat"
DstPort 1
}
Line {
Labels [0, 1]
SrcBlock "PD Controller\nDK vi tri"
SrcPort 1
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, -90]
DstBlock "Mux1"
DstPort 2
}
}
Line {
SrcBlock "Khau quan tinh\nbac nhat"
SrcPort 1
Points [45, 0]
Branch {
DstBlock "Sum1"
DstPort 2
}
Branch {
Points [0, 85]
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, -125; 440, 0]
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "Khau quan tinh\nbac nhat1"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [0, -50; 705, 0]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Nhieu do tai-gia toc 1"
SrcPort 1
Points [0, 0; 45, 0]
Branch {
Points [15, 0]
DstBlock "Sum1"
DstPort 1
}
Branch {
Points [0, 335]
DstBlock "Sum4"
DstPort 1
}
}
Line {
Labels [0, 1]
SrcBlock "Chuan hoa U"
SrcPort 1
DstBlock "Khuech dai"
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]
Branch {
DstBlock "Khau quan tinh\nbac nhat1"
DstPort 1
}
Branch {
Points [0, 260; 100, 0]
Branch {
DstBlock "Sum6"
DstPort 1
}
Branch {
Points [0, -50; 700, 0]
DstBlock "Mux2"
DstPort 1
}
}
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock "PI Controller\nDK toc do1"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Vi tri1"
DstPort 1
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "PD Controller\nDK vi tri1"
DstPort 1
}
Line {
SrcBlock "Tich phan 4"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [0, 0]
Branch {
DstBlock "Mux2"
DstPort 2
}
Branch {
Points [0, 140; -655, 0]
DstBlock "Sum6"
DstPort 2
}
}
Branch {
Points [0, -245]
DstBlock "Mux"
DstPort 3
}
}
Line {
SrcBlock "PI Controller\nDK toc do1"
SrcPort 1
DstBlock "Khau quan tinh\nbac nhat2"
DstPort 1
}
Line {
Labels [0, 1]
SrcBlock "PD Controller\nDK vi tri1"
SrcPort 1
DstBlock "Chuan hoa U1"
DstPort 1
}
Line {
Labels [2, 0]
SrcBlock "Tich phan 3"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [0, 55; -315, 0]
DstBlock "Sum5"
DstPort 2
}
Branch {
DstBlock "Tich phan 4"
DstPort 1
}
Branch {
Points [0, -65]
DstBlock "Mux3"
DstPort 2
}
}
Line {
SrcBlock "Khau quan tinh\nbac nhat2"
SrcPort 1
Points [25, 0; 10, 0]
Branch {
DstBlock "Sum4"
DstPort 2
}
Branch {
Points [0, 85]
DstBlock "Momen\nquan tinh J1"
DstPort 1
}
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [0, 5]
DstBlock "Tich phan 3"
DstPort 1
}
Line {
SrcBlock "Mux3"
SrcPort 1
DstBlock "Toc do1"
DstPort 1
}
Line {
SrcBlock "Khuech dai1"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "Sum5"
DstPort 1
}
Branch {
Points [0, -80]
DstBlock "Mux3"
DstPort 1
}
}
Line {
Labels [0, 1]
SrcBlock "Chuan hoa U1"
SrcPort 1
DstBlock "Khuech dai1"
DstPort 1
}
Line {
SrcBlock "Momen\nquan tinh J1"
SrcPort 1
DstBlock "Momen\ndong co1"
DstPort 1
}
}
}
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