📄 chap1_11.mdl
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MaskVariables "Kp=@1;Ki=@2;Kd=@3;T=@4;U_m=@5;"
MaskDisplay "disp('Discrete PID')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "0.5|0.001|0.001|0.001|10"
System {
Name "Normal Discrete\nPID Controller"
Location [90, 104, 713, 605]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "e(k)"
Position [15, 128, 45, 142]
}
Block {
BlockType Gain
Name "Gain"
Position [200, 121, 240, 149]
Gain "Kp"
}
Block {
BlockType Gain
Name "Gain1"
Position [250, 168, 315, 202]
Gain "Kd/T"
}
Block {
BlockType Gain
Name "Gain2"
Position [285, 68, 335, 102]
Gain "Ki"
}
Block {
BlockType Gain
Name "Gain3"
Position [100, 70, 135, 100]
Gain "T"
}
Block {
BlockType Saturate
Name "Saturation"
Position [395, 113, 450, 157]
UpperLimit "U_m"
LowerLimit "-U_m"
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1]
Position [345, 125, 365, 145]
ShowName off
IconShape "round"
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [150, 175, 170, 195]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [160, 75, 180, 95]
ShowName off
IconShape "round"
Inputs "++|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType UnitDelay
Name "Unit Delay"
Position [100, 205, 135, 245]
SampleTime "-1"
}
Block {
BlockType UnitDelay
Name "Unit Delay1"
Position [195, 25, 230, 65]
Orientation "left"
SampleTime "-1"
}
Block {
BlockType Outport
Name "u(k)"
Position [485, 128, 515, 142]
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [15, 0]
DstBlock "Sum"
DstPort 1
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Line {
SrcBlock "Sum3"
SrcPort 1
Points [70, 0; 0, 0]
Branch {
DstBlock "Gain2"
DstPort 1
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Branch {
Points [0, -40]
DstBlock "Unit Delay1"
DstPort 1
}
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Line {
SrcBlock "Unit Delay1"
SrcPort 1
Points [-20, 0]
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Gain3"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Saturation"
SrcPort 1
DstBlock "u(k)"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "e(k)"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
Points [0, 50]
Branch {
DstBlock "Sum1"
DstPort 1
}
Branch {
Points [0, 40]
DstBlock "Unit Delay"
DstPort 1
}
}
Branch {
Points [0, -50]
DstBlock "Gain3"
DstPort 1
}
Branch {
DstBlock "Gain"
DstPort 1
}
}
Line {
SrcBlock "Unit Delay"
SrcPort 1
Points [20, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [35, 0]
DstBlock "Sum"
DstPort 3
}
Annotation {
Name "\\int e(k) dt"
Position [287, 43]
TeXMode on
}
Annotation {
Name "Normal Discrete PID Controller"
Position [436, 236]
TeXMode on
FontName "Arial"
FontSize 14
FontWeight "bold"
}
Annotation {
Name "e(k-1)"
Position [169, 237]
}
Annotation {
Name "\\int e(k-1) dt"
Position [157, 38]
TeXMode on
}
}
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [585, 153, 615, 187]
Location [155, 232, 496, 448]
Open on
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "1"
YMin "-10"
YMax "10"
DataFormat "StructureWithTime"
}
Block {
BlockType Step
Name "Step"
Position [125, 165, 155, 195]
Time "0"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [185, 170, 205, 190]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [360, 154, 480, 206]
Numerator "[523500]"
Denominator "[1 87.35 10470 0]"
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Normal Discrete\nPID Controller"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
Points [35, 0]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 70; -325, 0]
DstBlock "Sum"
DstPort 2
}
}
Line {
SrcBlock "Step"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, -75; 355, 0; 0, 55]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Normal Discrete\nPID Controller"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Annotation {
Position [422, 273]
}
}
}
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