📄 vong_dk_position_fuzzysliding.mdl
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}
Block {
BlockType Step
Name "Nhieu do tai-gia toc 1"
Position [720, 45, 750, 75]
Time "5"
After "4063"
SampleTime "0"
}
Block {
BlockType Sin
Name "Nhieu do tai-gia toc 2"
Position [935, 545, 965, 575]
SineType "Time based"
Amplitude "3175"
SampleTime "0"
}
Block {
BlockType Reference
Name "PI Controller\nDK toc do"
Ports [1, 1]
Position [645, 170, 675, 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 [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 [610, 175, 630, 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 [815, 161, 835, 194]
Inputs "-+"
}
Block {
BlockType Integrator
Name "Tich phan 1"
Ports [1, 1]
Position [860, 170, 885, 200]
InitialCondition "5"
}
Block {
BlockType Integrator
Name "Tich phan 2"
Ports [1, 1]
Position [920, 170, 945, 200]
InitialCondition "5"
}
Block {
BlockType Scope
Name "Toc do"
Ports [1]
Position [1025, 44, 1055, 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 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 [745, 544, 775, 576]
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 Derivative
Name "Vi phan"
Position [115, 174, 165, 206]
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Scope
Name "Vi tri"
Ports [1]
Position [1025, 139, 1055, 171]
Location [5, 53, 1029, 743]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "0.35"
YMin "9.94"
YMax "10.07"
SaveName "ScopeData5"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Step
Name "Vi tri dat 1"
Position [65, 40, 95, 70]
Time "0"
After "10"
SampleTime "0"
}
Block {
BlockType Sin
Name "Vi tri dat 2"
Position [935, 490, 965, 520]
SineType "Time based"
Amplitude "10"
SampleTime "0"
}
Block {
BlockType Reference
Name "XY Graph Sin"
Ports [2]
Position [835, 540, 865, 575]
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\nDK toc do"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Vi tri"
DstPort 1
}
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, 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 "Tich phan 1"
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 "Tich phan 2"
DstPort 1
}
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [0, 5]
DstBlock "Tich phan 1"
DstPort 1
}
Line {
SrcBlock "Khau quan tinh\nbac nhat"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "Sum4"
DstPort 2
}
Branch {
Points [0, 105]
Branch {
Points [0, 105]
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 [45, 0]
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Vi phan"
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 "Bo dieu\nkhien mo"
DstPort 1
}
Line {
SrcBlock "Bo dieu\nkhien mo"
SrcPort 1
DstBlock "Chuan hoa U"
DstPort 1
}
Line {
SrcBlock "Tich phan 2"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 165; -880, 0]
DstBlock "Sum3"
DstPort 2
}
}
Line {
SrcBlock "Vi phan"
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
DstBlock "Khuech dai"
DstPort 1
}
Line {
SrcBlock "Chuan hoa Lamda"
SrcPort 1
Points [25, 0]
Branch {
Points [0, -60]
DstBlock "Mux1"
DstPort 3
}
Branch {
DstBlock "Scope3"
DstPort 1
}
}
Line {
SrcBlock "Lamda"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Chuan hoa Lamda"
DstPort 1
}
Line {
SrcBlock "Vi tri dat 1"
SrcPort 1
Points [15, 0; 0, 50]
Branch {
Points [-60, 0]
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [845, 0]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Momen\nquan tinh J"
SrcPort 1
DstBlock "Momen\ndong co"
DstPort 1
}
}
}
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