Library { Name "control" Version 8.0 MdlSubVersion 0 SavedCharacterEncoding "ISO-8859-1" LibraryType "BlockLibrary" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off FPTRunName "Run 1" MaxMDLFileLineLength 120 Object { $PropName "BdWindowsInfo" $ObjectID 1 $ClassName "Simulink.BDWindowsInfo" Object { $PropName "WindowsInfo" $ObjectID 2 $ClassName "Simulink.WindowInfo" IsActive [1] Location [1125.0, 50.0, 1156.0, 860.0] Object { $PropName "ModelBrowserInfo" $ObjectID 3 $ClassName "Simulink.ModelBrowserInfo" Visible [0] DockPosition "Left" Width [50] Height [50] Filter [10] } Object { $PropName "ExplorerBarInfo" $ObjectID 4 $ClassName "Simulink.ExplorerBarInfo" Visible [1] } Object { $PropName "EditorsInfo" $ObjectID 5 $ClassName "Simulink.EditorInfo" IsActive [1] ViewObjType "SimulinkTopLevel" LoadSaveID "0" Extents [1122.0, 698.0] ZoomFactor [1.0] Offset [0.0, 0.0] } } } Created "Sun Apr 4 19:58:29 2010" Creator "corkep" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "corkep" ModifiedDateFormat "%" LastModifiedDate "Sun Jan 27 11:35:19 2013" RTWModifiedTimeStamp 281187294 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "all" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowDesignRanges off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off SimulationMode "normal" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" RecordCoverage off CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on CovForceBlockReductionOff on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeReport off CovReportOnPause on CovModelRefEnable "Off" CovExternalEMLEnable off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 6 Version "1.12.1" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 7 Version "1.12.1" StartTime "0.0" StopTime "10.0" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" EnableConcurrentExecution off ConcurrentTasks off Solver "ode45" SolverName "ode45" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" } Simulink.DataIOCC { $ObjectID 8 Version "1.12.1" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveCompleteFinalSimState off SaveFormat "Array" SignalLoggingSaveFormat "ModelDataLogs" SaveOutput on 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RTWUseLocalCustomCode off RTWUseSimCustomCode off IncludeHyperlinkInReport off LaunchReport off PortableWordSizes off GenerateErtSFunction off CreateSILPILBlock "None" CodeExecutionProfiling off CodeExecutionProfileVariable "executionProfile" CodeProfilingSaveOptions "SummaryOnly" CodeProfilingInstrumentation off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateWebview off GenerateCodeMetricsReport off GenerateCodeReplacementReport off RTWCompilerOptimization "Off" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 15 Version "1.12.1" Array { Type "Cell" Dimension 19 Cell "IgnoreCustomStorageClasses" Cell "IgnoreTestpoints" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell 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"None" SignalNamingRule "None" InsertBlockDesc off InsertPolySpaceComments off SimulinkBlockComments on MATLABSourceComments off EnableCustomComments off InternalIdentifier "Classic" InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 16 Version "1.12.1" Array { Type "Cell" Dimension 16 Cell "GeneratePreprocessorConditionals" Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "CPPClassGenCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "PortableWordSizes" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" CodeReplacementLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on ParMdlRefBuildCompliant on CompOptLevelCompliant on ConcurrentExecutionCompliant on IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Disable all" CombineOutputUpdateFcns off CombineSignalStateStructs off SuppressErrorStatus off ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on SupportVariableSizeSignals off EnableShiftOperators on ParenthesesLevel "Nominal" ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off GRTInterface on UseMalloc off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off RTWCAPIRootIO off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 920, 197, 1800, 827 ] } PropName "ConfigurationSets" } ExplicitPartitioning off BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } MaskDefaults { SelfModifiable "off" IconFrame "on" IconOpaque "on" RunInitForIconRedraw "off" IconRotate "none" PortRotate "default" IconUnits "autoscale" } MaskParameterDefaults { Evaluate "on" Tunable "on" NeverSave "off" Internal "off" ReadOnly "off" Enabled "on" Visible "on" ToolTip "on" } BlockParameterDefaults { Block { BlockType Delay DelayLengthSource "Dialog" DelayLength "2" DelayLengthUpperLimit "100" InitialConditionSource "Dialog" InitialCondition "0.0" ExternalReset "None" PreventDirectFeedthrough off DiagnosticForOutOfRangeDelayLength "None" RemoveProtectionDelayLength off InputProcessing "Elements as channels (sample based)" UseCircularBuffer off SampleTime "-1" StateMustResolveToSignalObject off CodeGenStateStorageClass "Auto" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParamDataTypeStr "Inherit: Same as input" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Inport Port "1" OutputFunctionCall off OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchInputForFeedbackSignals off Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" IgnoreLimit off ZeroCross on ContinuousStateAttributes "''" } Block { BlockType Outport Port "1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" SourceOfInitialOutputValue "Dialog" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Saturate UpperLimitSource "Dialog" UpperLimit "0.5" LowerLimitSource "Dialog" LowerLimit "-0.5" LinearizeAsGain on ZeroCross on SampleTime "-1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off CheckFcnCallInpInsideContextMsg off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" SFBlockType "NONE" Variant off GeneratePreprocessorConditionals off } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on AccumDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType TransferFcn Numerator "[1]" Denominator "[1 2 1]" AbsoluteTolerance "auto" ContinuousStateAttributes "''" Realization "auto" } } System { Name "control" Location [1125, 50, 2281, 910] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" SIDHighWatermark "191" Block { BlockType SubSystem Name "vloop" SID "24" Ports [2, 4] Position [110, 67, 160, 168] ZOrder -9 DropShadow on LibraryVersion "*1.13" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off Object { $PropName "MaskObject" $ObjectID 17 $ClassName "Simulink.Mask" Array { Type "Simulink.MaskParameter" Dimension 7 Object { $ObjectID 18 Type "edit" Name "J" Prompt "Inertia (J)" Value "372e-6" } Object { $ObjectID 19 Type "edit" Name "B" Prompt "Viscous friction coefficient (B)" Value "817e-6" } Object { $ObjectID 20 Type "edit" Name "Km" Prompt "Motor torque constant" Value "0.228" } Object { $ObjectID 21 Type "edit" Name "tau_max" Prompt "Torque limit (tau_max)" Value "0.9" } Object { $ObjectID 22 Type "edit" Name "Kv" Prompt "Proportional gain (Kv)" Value "1" } Object { $ObjectID 23 Type "edit" Name "Ki" Prompt "Integral gain (Ki)" Value "5" } Object { $ObjectID 24 Type "edit" Name "T" Prompt "Sample interval (T)" Value "0.001" } PropName "Parameters" } } System { Name "vloop" Location [1199, 44, 2042, 510] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "qd*" SID "175" Position [25, 113, 55, 127] ZOrder -1 IconDisplay "Port number" } Block { BlockType Inport Name "tau_d" SID "176" Position [435, 33, 465, 47] ZOrder -2 Port "2" IconDisplay "Port number" } Block { BlockType Integrator Name "Integrator" SID "177" Ports [2, 1] Position [225, 152, 255, 183] ZOrder -3 ExternalReset "level" LimitOutput on UpperSaturationLimit "1" LowerSaturationLimit "-1" } Block { BlockType Gain Name "Ki" SID "178" Position [295, 150, 325, 180] ZOrder -4 Gain "Ki" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Km" SID "179" Position [400, 105, 430, 135] ZOrder -5 ForegroundColor "blue" Gain "Km" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Kv" SID "180" Position [295, 105, 325, 135] ZOrder -6 Gain "Kv" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum" SID "181" Ports [2, 1] Position [100, 110, 120, 130] ZOrder -7 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" SID "182" Ports [2, 1] Position [530, 110, 550, 130] ZOrder -8 ForegroundColor "blue" ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" SID "183" Ports [2, 1] Position [350, 110, 370, 130] ZOrder -9 ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Delay Name "control\ntime" SID "184" Ports [1, 1] Position [160, 103, 185, 137] ZOrder -10 UserDataPersistent on UserData "DataTag0" InputPortMap "u0" DelayLength "1" InputProcessing "Inherited" SampleTime "T" } Block { BlockType TransferFcn Name "motor" SID "185" Position [580, 101, 645, 139] ZOrder -11 ForegroundColor "blue" Denominator "[J B]" ContinuousStateAttributes "'qd'" Port { PortNumber 1 Name "qd" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Saturate Name "torque\nlimit" SID "186" Ports [1, 1] Position [450, 105, 480, 135] ZOrder -12 ForegroundColor "blue" InputPortMap "u0" UpperLimit "tau_max" LowerLimit "-tau_max" } Block { BlockType Outport Name "qd" SID "187" Position [720, 113, 750, 127] ZOrder -13 IconDisplay "Port number" } Block { BlockType Outport Name "qd error" SID "188" Position [150, 33, 180, 47] ZOrder -14 Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "tau" SID "189" Position [720, 193, 750, 207] ZOrder -15 Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "integral" SID "190" Position [720, 253, 750, 267] ZOrder -16 Port "4" IconDisplay "Port number" } Line { SrcBlock "Ki" SrcPort 1 Points [30, 0] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Integrator" SrcPort 1 Points [0, -5; 10, 0] Branch { Points [0, 95] DstBlock "integral" DstPort 1 } Branch { DstBlock "Ki" DstPort 1 } } Line { SrcBlock "Kv" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "Km" DstPort 1 } Line { SrcBlock "Km" SrcPort 1 DstBlock "torque\nlimit" DstPort 1 } Line { Labels [0, 0] SrcBlock "qd*" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "control\ntime" SrcPort 1 Points [20, 0] Branch { DstBlock "Integrator" DstPort 1 } Branch { DstBlock "Kv" DstPort 1 } } Line { SrcBlock "torque\nlimit" SrcPort 1 Points [15, 0] Branch { Points [0, 80] DstBlock "tau" DstPort 1 } Branch { DstBlock "Sum1" DstPort 2 } } Line { SrcBlock "tau_d" SrcPort 1 Points [70, 0] DstBlock "Sum1" DstPort 1 } Line { Name "qd" Labels [0, 0] SrcBlock "motor" SrcPort 1 Points [20, 0] Branch { DstBlock "qd" DstPort 1 } Branch { Points [0, 105; -560, 0] DstBlock "Sum" DstPort 2 } } Line { SrcBlock "Sum" SrcPort 1 Points [5, 0] Branch { Points [0, -80] DstBlock "qd error" DstPort 1 } Branch { DstBlock "control\ntime" DstPort 1 } } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "motor" DstPort 1 } Annotation { SID "191" Name "tau_m" Position [505, 116] ForegroundColor "blue" } } } Block { BlockType SubSystem Name "vloop_ff" SID "41" Ports [3, 3] Position [265, 65, 315, 165] ZOrder -2 DropShadow on MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off Object { $PropName "MaskObject" $ObjectID 25 $ClassName "Simulink.Mask" Array { Type "Simulink.MaskParameter" Dimension 7 Object { $ObjectID 26 Type "edit" Name "J" Prompt "Inertia (J)" Value "372e-6" } Object { $ObjectID 27 Type "edit" Name "B" Prompt "Viscous friction coefficient (B)" Value "817e-6" } Object { $ObjectID 28 Type "edit" Name "Km" Prompt "Motor torque constant" Value "0.228" } Object { $ObjectID 29 Type "edit" Name "tau_max" Prompt "Torque limit (tau_max)" Value "0.9" } Object { $ObjectID 30 Type "edit" Name "Kv" Prompt "Proportional gain (Kv)" Value "1" } Object { $ObjectID 31 Type "edit" Name "Ki" Prompt "Integral gain (Ki)" Value "0" } Object { $ObjectID 32 Type "edit" Name "T" Prompt "Sample interval (T)" Value "0.001" } PropName "Parameters" } } System { Name "vloop_ff" Location [229, 359, 1129, 826] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "qd*" SID "42" Position [25, 113, 55, 127] ZOrder -1 IconDisplay "Port number" } Block { BlockType Inport Name "tau_d" SID "43" Position [480, 33, 510, 47] ZOrder -2 Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "tau_ff" SID "59" Position [25, 203, 55, 217] ZOrder -3 ForegroundColor "red" Port "3" IconDisplay "Port number" } Block { BlockType Integrator Name "Integrator" SID "45" Ports [1, 1] Position [225, 150, 255, 180] ZOrder -4 } Block { BlockType Gain Name "Kff" SID "58" Position [295, 194, 345, 226] ZOrder -5 ForegroundColor "red" Gain "1/Km" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Ki" SID "44" Position [295, 150, 325, 180] ZOrder -6 Gain "Ki" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Km" SID "46" Position [445, 105, 475, 135] ZOrder -7 ForegroundColor "blue" Gain "Km" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Kv" SID "47" Position [295, 105, 325, 135] ZOrder -8 Gain "Kv" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum" SID "48" Ports [2, 1] Position [100, 110, 120, 130] ZOrder -9 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" SID "49" Ports [2, 1] Position [575, 110, 595, 130] ZOrder -10 ForegroundColor "blue" ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" SID "50" Ports [2, 1] Position [350, 110, 370, 130] ZOrder -11 ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum3" SID "57" Ports [2, 1] Position [395, 110, 415, 130] ZOrder -12 ForegroundColor "red" ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Delay Name "control\ntime" SID "51" Ports [1, 1] Position [160, 103, 185, 137] ZOrder -13 UserDataPersistent on UserData "DataTag1" InputPortMap "u0" DelayLength "1" InputProcessing "Inherited" SampleTime "T" } Block { BlockType TransferFcn Name "motor" SID "52" Position [625, 101, 690, 139] ZOrder -14 ForegroundColor "blue" Denominator "[J B]" ContinuousStateAttributes "'qd'" Port { PortNumber 1 Name "qd" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Saturate Name "torque\nlimit" SID "53" Ports [1, 1] Position [495, 105, 525, 135] ZOrder -15 ForegroundColor "blue" InputPortMap "u0" UpperLimit "tau_max" LowerLimit "-tau_max" } Block { BlockType Outport Name "qd" SID "54" Position [765, 113, 795, 127] ZOrder -16 IconDisplay "Port number" } Block { BlockType Outport Name "qd error" SID "55" Position [150, 33, 180, 47] ZOrder -17 Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "tau" SID "56" Position [765, 193, 795, 207] ZOrder -18 Port "3" IconDisplay "Port number" } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "motor" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [5, 0] Branch { DstBlock "control\ntime" DstPort 1 } Branch { Points [0, -80] DstBlock "qd error" DstPort 1 } } Line { Name "qd" Labels [0, 0] SrcBlock "motor" SrcPort 1 Points [20, 0] Branch { DstBlock "qd" DstPort 1 } Branch { Points [0, 130; -605, 0] DstBlock "Sum" DstPort 2 } } Line { SrcBlock "tau_d" SrcPort 1 Points [70, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "torque\nlimit" SrcPort 1 Points [15, 0] Branch { DstBlock "Sum1" DstPort 2 } Branch { Points [0, 80] DstBlock "tau" DstPort 1 } } Line { SrcBlock "control\ntime" SrcPort 1 Points [20, 0] Branch { DstBlock "Kv" DstPort 1 } Branch { DstBlock "Integrator" DstPort 1 } } Line { Labels [0, 0] SrcBlock "qd*" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Km" SrcPort 1 DstBlock "torque\nlimit" DstPort 1 } Line { SrcBlock "Kv" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Integrator" SrcPort 1 DstBlock "Ki" DstPort 1 } Line { SrcBlock "Ki" SrcPort 1 Points [30, 0] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "Sum3" DstPort 1 } Line { SrcBlock "Sum3" SrcPort 1 DstBlock "Km" DstPort 1 } Line { SrcBlock "Kff" SrcPort 1 Points [55, 0] DstBlock "Sum3" DstPort 2 } Line { SrcBlock "tau_ff" SrcPort 1 DstBlock "Kff" DstPort 1 } Annotation { SID "79" Name "tau_m" Position [550, 116] ForegroundColor "blue" } Annotation { SID "80" Name "feedforward path" Position [182, 222] ForegroundColor "red" } Annotation { SID "81" Name "feedback path" Position [297, 262] } } } Block { BlockType SubSystem Name "vloop_voltage" SID "163" Ports [2, 4] Position [405, 70, 465, 175] ZOrder -3 DropShadow on MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off Object { $PropName "MaskObject" $ObjectID 33 $ClassName "Simulink.Mask" Array { Type "Simulink.MaskParameter" Dimension 10 Object { $ObjectID 34 Type "edit" Name "J" Prompt "Inertia (K)" Value "372e-6" } Object { $ObjectID 35 Type "edit" Name "B" Prompt "Viscous friction coefficient (B)" Value "817e-6" } Object { $ObjectID 36 Type "edit" Name "Km" Prompt "Motor torque constant" Value "0.228" } Object { $ObjectID 37 Type "edit" Name "tau_max" Prompt "Voltage limit (tau_max)" Value "20" } Object { $ObjectID 38 Type "edit" Name "Rm" Prompt "Motor resistance (Rm)" Value "0.1" } Object { $ObjectID 39 Type "edit" Name "Lm" Prompt "Motor inductance (Lm)" Value "0.1" } Object { $ObjectID 40 Type "edit" Name "Ka" Prompt "Amplifier gain (Ka)" Value "10" } Object { $ObjectID 41 Type "edit" Name "Kv" Prompt "Proportional gain (Kv)" Value "1" } Object { $ObjectID 42 Type "edit" Name "Ki" Prompt "Integral gain (Ki)" Value "1" } Object { $ObjectID 43 Type "edit" Name "T" Prompt "Sample interval (T)" Value "0.001" Evaluate "off" } PropName "Parameters" } } System { Name "vloop_voltage" Location [978, 480, 2096, 933] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "qd*" SID "165" Position [25, 108, 55, 122] ZOrder -1 IconDisplay "Port number" } Block { BlockType Inport Name "tau_d" SID "166" Position [690, 28, 720, 42] ZOrder -2 Port "2" IconDisplay "Port number" } Block { BlockType Gain Name "Gain" SID "171" Position [725, 100, 755, 130] ZOrder -8 ShowName off Gain "Km" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "tau" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Gain Name "Gain1" SID "172" Position [740, 180, 770, 210] ZOrder -8 BlockMirror on ShowName off Gain "Km" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "back EMF" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Integrator Name "Integrator" SID "149" Ports [1, 1] Position [225, 145, 255, 175] ZOrder -10 } Block { BlockType Gain Name "Ki" SID "150" Position [295, 145, 325, 175] ZOrder -11 Gain "Ki" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Kv" SID "152" Position [295, 100, 325, 130] ZOrder -12 Gain "Kv" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType TransferFcn Name "Motor\nimpedance" SID "170" Position [610, 97, 670, 133] ZOrder -9 Denominator "[Lm Rm]" Port { PortNumber 1 Name "motor\ncurrent" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Sum Name "Sum" SID "153" Ports [2, 1] Position [100, 105, 120, 125] ZOrder -14 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" SID "154" Ports [2, 1] Position [810, 105, 830, 125] ZOrder -15 ForegroundColor "blue" ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" SID "155" Ports [2, 1] Position [350, 105, 370, 125] ZOrder -16 ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum3" SID "173" Ports [2, 1] Position [540, 105, 560, 125] ZOrder -18 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "nett\nvoltage" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Delay Name "control\ntime" SID "156" Ports [1, 1] Position [160, 98, 185, 132] ZOrder -19 UserDataPersistent on UserData "DataTag2" InputPortMap "u0" DelayLength "1" InputProcessing "Inherited" SampleTime "T" } Block { BlockType TransferFcn Name "motor" SID "157" Position [855, 96, 920, 134] ZOrder -20 ForegroundColor "blue" Denominator "[J B]" ContinuousStateAttributes "'qd'" Port { PortNumber 1 Name "qd" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Gain Name "voltage\namplifier\ngain" SID "151" Position [405, 100, 435, 130] ZOrder -21 ForegroundColor "blue" Gain "Ka" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Saturate Name "voltage\nlimit" SID "158" Ports [1, 1] Position [460, 100, 490, 130] ZOrder -22 ForegroundColor "blue" InputPortMap "u0" UpperLimit "v_max" LowerLimit "-v_max" Port { PortNumber 1 Name "applied\nvoltage" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Outport Name "qd error" SID "164" Position [150, 28, 180, 42] ZOrder -23 IconDisplay "Port number" } Block { BlockType Outport Name "qd" SID "167" Position [990, 108, 1020, 122] ZOrder -24 Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "tau" SID "168" Position [990, 163, 1020, 177] ZOrder -25 Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "integral" SID "174" Position [385, 188, 415, 202] ZOrder -26 Port "4" IconDisplay "Port number" } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "motor" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [5, 0] Branch { DstBlock "control\ntime" DstPort 1 } Branch { Points [0, -80] DstBlock "qd error" DstPort 1 } } Line { Name "qd" Labels [0, 0] SrcBlock "motor" SrcPort 1 Points [25, 0] Branch { DstBlock "qd" DstPort 1 } Branch { Points [0, 80] Branch { Points [0, 40; -840, 0] DstBlock "Sum" DstPort 2 } Branch { DstBlock "Gain1" DstPort 1 } } } Line { SrcBlock "tau_d" SrcPort 1 Points [95, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "control\ntime" SrcPort 1 Points [20, 0] Branch { DstBlock "Kv" DstPort 1 } Branch { DstBlock "Integrator" DstPort 1 } } Line { Labels [0, 0] SrcBlock "qd*" SrcPort 1 DstBlock 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