📄 compare_fuzzy_pid.mdl
字号:
BlockType Mux
Name "Mux4"
Ports [2, 1]
Position [875, 321, 905, 354]
Inputs "2"
}
Block {
BlockType Step
Name "Nhieu do tai-gia toc 1"
Position [580, 315, 610, 345]
Time "5"
After "4063"
SampleTime "0"
}
Block {
BlockType Sin
Name "Nhieu do tai-gia toc 2"
Position [55, 535, 85, 565]
SineType "Time based"
Amplitude "0.04063"
Frequency "8"
SampleTime "0"
}
Block {
BlockType Reference
Name "PD Controller\nDK vi tri"
Ports [1, 1]
Position [210, 395, 240, 425]
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 [605, 120, 635, 150]
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 [490, 395, 520, 425]
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 [675, 386, 695, 419]
Inputs "-+"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [570, 125, 590, 145]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [60, 125, 80, 145]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1]
Position [770, 111, 790, 144]
Inputs "-+"
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1]
Position [440, 400, 460, 420]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum6"
Ports [2, 1]
Position [170, 400, 190, 420]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Integrator
Name "Tich phan 1"
Ports [1, 1]
Position [815, 120, 840, 150]
}
Block {
BlockType Integrator
Name "Tich phan 2"
Ports [1, 1]
Position [880, 120, 905, 150]
}
Block {
BlockType Integrator
Name "Tich phan 3"
Ports [1, 1]
Position [720, 395, 745, 425]
}
Block {
BlockType Integrator
Name "Tich phan 4"
Ports [1, 1]
Position [790, 395, 815, 425]
}
Block {
BlockType Scope
Name "Toc do"
Ports [1]
Position [990, 24, 1020, 56]
Location [5, 53, 1029, 718]
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 "Toc do1"
Ports [1]
Position [925, 324, 955, 356]
Location [5, 53, 1029, 718]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "10"
YMin "-0.0004"
YMax "0.0016"
SaveToWorkspace on
SaveName "Tocdo"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Derivative
Name "Vi phan"
Position [170, 135, 210, 165]
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Scope
Name "Vi tri"
Ports [1]
Position [990, 84, 1020, 116]
Location [5, 53, 1029, 718]
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 [65, 300, 95, 330]
Orientation "left"
Time "0"
After "10"
SampleTime "0"
}
Block {
BlockType Sin
Name "Vi tri dat 2"
Position [55, 475, 85, 505]
Orientation "left"
SineType "Time based"
Amplitude "0.0001"
Frequency "8"
SampleTime "0"
}
Block {
BlockType Scope
Name "Vi tri1"
Ports [1]
Position [925, 394, 955, 426]
Location [1, 49, 1025, 714]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "0.9791666666666667"
YMin "0.881313"
YMax "1.07323"
SaveToWorkspace on
SaveName "Vitri"
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 "Tich phan 2"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [0, 140; -855, 0]
DstBlock "Sum3"
DstPort 2
}
Branch {
Points [0, 0]
Branch {
Points [0, 0]
DstBlock "Mux"
DstPort 2
}
Branch {
Points [45, 0; 0, 325; -110, 0]
DstBlock "Mux3"
DstPort 3
}
}
}
Line {
SrcBlock "PI Controller\nDK toc do"
SrcPort 1
DstBlock "Khau quan tinh\nbac nhat"
DstPort 1
}
Line {
SrcBlock "Vi phan"
SrcPort 1
DstBlock "Chuan hoa Kd"
DstPort 1
}
Line {
SrcBlock "Kp"
SrcPort 1
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
DstBlock "Sum2"
DstPort 1
}
Line {
Labels [2, 0]
SrcBlock "Tich phan 1"
SrcPort 1
Points [5, 0; 10, 0]
Branch {
Points [0, -90]
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 [0, 0; 5, 0]
Branch {
DstBlock "Kd"
DstPort 1
}
Branch {
Points [0, -45]
DstBlock "Kp"
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 "Chuan hoa U"
SrcPort 1
DstBlock "Khuech dai"
DstPort 1
}
Line {
SrcBlock "Chuan hoa Kd"
SrcPort 1
Points [15, 0; 0, -10]
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Chuan hoa Kp"
SrcPort 1
Points [30, 0; 0, 35]
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Khau quan tinh\nbac nhat"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "Sum4"
DstPort 2
}
Branch {
Points [0, 85]
DstBlock "Momen\nquan tinh J"
DstPort 1
}
}
Line {
SrcBlock "Momen\nquan tinh J"
SrcPort 1
DstBlock "Momen\ndong co"
DstPort 1
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock "PI Controller\nDK toc do1"
DstPort 1
}
Line {
SrcBlock "Mux3"
SrcPort 1
DstBlock "Vi tri1"
DstPort 1
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "PD Controller\nDK vi tri"
DstPort 1
}
Line {
SrcBlock "Tich phan 4"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Mux3"
DstPort 2
}
Branch {
Points [0, 140; -655, 0]
DstBlock "Sum6"
DstPort 2
}
}
Line {
SrcBlock "PI Controller\nDK toc do1"
SrcPort 1
DstBlock "Khau quan tinh\nbac nhat1"
DstPort 1
}
Line {
Labels [0, 1]
SrcBlock "PD Controller\nDK vi tri"
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 "Mux4"
DstPort 2
}
}
Line {
SrcBlock "Khau quan tinh\nbac nhat1"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Sum1"
DstPort 2
}
Branch {
Points [0, 85]
DstBlock "Momen\nquan tinh J1"
DstPort 1
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, 5]
DstBlock "Tich phan 3"
DstPort 1
}
Line {
SrcBlock "Mux4"
SrcPort 1
DstBlock "Toc do1"
DstPort 1
}
Line {
SrcBlock "Khuech dai1"
SrcPort 1
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Nhieu do tai-gia toc 1"
SrcPort 1
Points [45, 0]
Branch {
DstBlock "Sum1"
DstPort 1
}
Branch {
Points [0, -240; 95, 0]
DstBlock "Sum4"
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
}
Line {
SrcBlock "Vi tri dat 1"
SrcPort 1
Points [-20, 0]
Branch {
Points [0, -180]
Branch {
Points [0, -75; 885, 0]
DstBlock "Mux"
DstPort 1
}
Branch {
DstBlock "Sum3"
DstPort 1
}
}
Branch {
Points [0, 95]
DstBlock "Khau quan tinh\ntien xu ly"
DstPort 1
}
}
Line {
SrcBlock "Khau quan tinh\ntien xu ly"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Sum6"
DstPort 1
}
Branch {
Points [0, -40; 710, 0]
DstBlock "Mux3"
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 + -