You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
 
 
 
 
 
 

1143 lines
32 KiB

Model {
Name "vloop_test"
Version 8.0
MdlSubVersion 0
GraphicalInterface {
NumRootInports 0
NumRootOutports 2
Outport {
BusObject ""
BusOutputAsStruct "off"
Name "qd"
}
Outport {
BusObject ""
BusOutputAsStruct "off"
SignalName "qd*"
Name "qd*"
}
ParameterArgumentNames ""
ComputedModelVersion "1.13"
NumModelReferences 0
NumTestPointedSignals 0
}
SavedCharacterEncoding "ISO-8859-1"
SaveDefaultBlockParams on
ScopeRefreshTime 0.035000
OverrideScopeRefreshTime on
DisableAllScopes off
DataTypeOverride "UseLocalSettings"
DataTypeOverrideAppliesTo "AllNumericTypes"
MinMaxOverflowLogging "UseLocalSettings"
MinMaxOverflowArchiveMode "Overwrite"
FPTRunName "Run 1"
MaxMDLFileLineLength 120
InitFcn "G = 107.815;"
Object {
$PropName "BdWindowsInfo"
$ObjectID 1
$ClassName "Simulink.BDWindowsInfo"
Object {
$PropName "WindowsInfo"
$ObjectID 2
$ClassName "Simulink.WindowInfo"
IsActive [1]
Location [1154.0, 551.0, 749.0, 475.0]
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 [715.0, 301.0]
ZoomFactor [1.0]
Offset [0.0, 0.0]
}
}
}
Created "Tue Jul 7 06:47:01 2009"
Creator "pic"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "corkep"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Sun Jan 27 11:35:31 2013"
RTWModifiedTimeStamp 281187295
ModelVersionFormat "1.%<AutoIncrement:13>"
ConfigurationManager "customverctrl"
SampleTimeColors off
SampleTimeAnnotations off
LibraryLinkDisplay "all"
WideLines on
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"
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
TryForcingSFcnDF off
Object {
$PropName "DataLoggingOverride"
$ObjectID 6
$ClassName "Simulink.SimulationData.ModelLoggingInfo"
model_ "vloop_test"
Array {
Type "Cell"
Dimension 1
Cell "vloop_test"
PropName "logAsSpecifiedByModels_"
}
Array {
Type "Cell"
Dimension 1
Cell ""
PropName "logAsSpecifiedByModelsSSIDs_"
}
}
RecordCoverage off
CovPath "/"
CovSaveName "covdata"
CovMetricSettings "dw"
CovNameIncrementing off
CovHtmlReporting on
CovForceBlockReductionOff on
covSaveCumulativeToWorkspaceVar on
CovSaveSingleToWorkspaceVar on
CovCumulativeVarName "covCumulativeData"
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
BufferReuse on
ShowModelReferenceBlockVersion off
ShowModelReferenceBlockIO off
Array {
Type "Handle"
Dimension 1
Simulink.ConfigSet {
$ObjectID 7
Version "1.12.1"
Array {
Type "Handle"
Dimension 8
Simulink.SolverCC {
$ObjectID 8
Version "1.12.1"
StartTime "0.0"
StopTime "1.0"
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 "ode15s"
SolverName "ode15s"
SolverJacobianMethodControl "auto"
ShapePreserveControl "DisableAll"
ZeroCrossControl "UseLocalSettings"
ZeroCrossAlgorithm "Nonadaptive"
AlgebraicLoopSolver "TrustRegion"
SolverResetMethod "Fast"
PositivePriorityOrder off
AutoInsertRateTranBlk off
SampleTimeConstraint "Unconstrained"
InsertRTBMode "Whenever possible"
}
Simulink.DataIOCC {
$ObjectID 9
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
SaveState off
SignalLogging on
DSMLogging on
InspectSignalLogs off
SaveTime on
ReturnWorkspaceOutputs off
StateSaveName "xout"
TimeSaveName "tout"
OutputSaveName "yout"
SignalLoggingName "logsout"
DSMLoggingName "dsmout"
OutputOption "RefineOutputTimes"
OutputTimes "[]"
ReturnWorkspaceOutputsName "out"
Refine "1"
}
Simulink.OptimizationCC {
$ObjectID 10
Version "1.12.1"
Array {
Type "Cell"
Dimension 6
Cell "PassReuseOutputArgsAs"
Cell "PassReuseOutputArgsThreshold"
Cell "ZeroExternalMemoryAtStartup"
Cell "ZeroInternalMemoryAtStartup"
Cell "OptimizeModelRefInitCode"
Cell "NoFixptDivByZeroProtection"
PropName "DisabledProps"
}
BlockReduction on
BooleanDataType on
ConditionallyExecuteInputs on
InlineParams off
UseIntDivNetSlope off
UseFloatMulNetSlope off
UseSpecifiedMinMax off
InlineInvariantSignals off
OptimizeBlockIOStorage on
BufferReuse on
EnhancedBackFolding off
StrengthReduction off
ExpressionFolding on
BooleansAsBitfields off
BitfieldContainerType "uint_T"
EnableMemcpy on
MemcpyThreshold 64
PassReuseOutputArgsAs "Structure reference"
ExpressionDepthLimit 2147483647
FoldNonRolledExpr on
LocalBlockOutputs on
RollThreshold 5
SystemCodeInlineAuto off
StateBitsets off
DataBitsets off
UseTempVars off
ZeroExternalMemoryAtStartup on
ZeroInternalMemoryAtStartup on
InitFltsAndDblsToZero off
NoFixptDivByZeroProtection off
EfficientFloat2IntCast off
EfficientMapNaN2IntZero on
OptimizeModelRefInitCode off
LifeSpan "inf"
MaxStackSize "Inherit from target"
BufferReusableBoundary on
SimCompilerOptimization "Off"
AccelVerboseBuild off
ParallelExecutionInRapidAccelerator on
}
Simulink.DebuggingCC {
$ObjectID 11
Version "1.12.1"
RTPrefix "error"
ConsistencyChecking "none"
ArrayBoundsChecking "none"
SignalInfNanChecking "none"
SignalRangeChecking "none"
ReadBeforeWriteMsg "UseLocalSettings"
WriteAfterWriteMsg "UseLocalSettings"
WriteAfterReadMsg "UseLocalSettings"
AlgebraicLoopMsg "warning"
ArtificialAlgebraicLoopMsg "warning"
SaveWithDisabledLinksMsg "warning"
SaveWithParameterizedLinksMsg "warning"
CheckSSInitialOutputMsg on
UnderspecifiedInitializationDetection "Classic"
MergeDetectMultiDrivingBlocksExec "none"
CheckExecutionContextPreStartOutputMsg off
CheckExecutionContextRuntimeOutputMsg off
SignalResolutionControl "UseLocalSettings"
BlockPriorityViolationMsg "warning"
MinStepSizeMsg "warning"
TimeAdjustmentMsg "none"
MaxConsecutiveZCsMsg "error"
MaskedZcDiagnostic "warning"
IgnoredZcDiagnostic "warning"
SolverPrmCheckMsg "warning"
InheritedTsInSrcMsg "warning"
DiscreteInheritContinuousMsg "warning"
MultiTaskDSMMsg "error"
MultiTaskCondExecSysMsg "error"
MultiTaskRateTransMsg "error"
SingleTaskRateTransMsg "none"
TasksWithSamePriorityMsg "warning"
SigSpecEnsureSampleTimeMsg "warning"
CheckMatrixSingularityMsg "none"
IntegerOverflowMsg "warning"
Int32ToFloatConvMsg "warning"
ParameterDowncastMsg "error"
ParameterOverflowMsg "error"
ParameterUnderflowMsg "none"
ParameterPrecisionLossMsg "warning"
ParameterTunabilityLossMsg "warning"
FixptConstUnderflowMsg "none"
FixptConstOverflowMsg "none"
FixptConstPrecisionLossMsg "none"
UnderSpecifiedDataTypeMsg "none"
UnnecessaryDatatypeConvMsg "none"
VectorMatrixConversionMsg "none"
InvalidFcnCallConnMsg "error"
FcnCallInpInsideContextMsg "UseLocalSettings"
SignalLabelMismatchMsg "none"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
SFcnCompatibilityMsg "none"
FrameProcessingCompatibilityMsg "warning"
UniqueDataStoreMsg "none"
BusObjectLabelMismatch "warning"
RootOutportRequireBusObject "warning"
AssertControl "UseLocalSettings"
EnableOverflowDetection off
ModelReferenceIOMsg "none"
ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error"
ModelReferenceVersionMismatchMessage "none"
ModelReferenceIOMismatchMessage "none"
ModelReferenceCSMismatchMessage "none"
UnknownTsInhSupMsg "warning"
ModelReferenceDataLoggingMessage "warning"
ModelReferenceSymbolNameMessage "warning"
ModelReferenceExtraNoncontSigs "error"
StateNameClashWarn "warning"
SimStateInterfaceChecksumMismatchMsg "warning"
SimStateOlderReleaseMsg "error"
InitInArrayFormatMsg "warning"
StrictBusMsg "Warning"
BusNameAdapt "WarnAndRepair"
NonBusSignalsTreatedAsBus "none"
LoggingUnavailableSignals "error"
BlockIODiagnostic "none"
SFUnusedDataAndEventsDiag "warning"
SFUnexpectedBacktrackingDiag "warning"
SFInvalidInputDataAccessInChartInitDiag "warning"
SFNoUnconditionalDefaultTransitionDiag "warning"
SFTransitionOutsideNaturalParentDiag "warning"
SFUnconditionalTransitionShadowingDiag "warning"
SFUndirectedBroadcastEventsDiag "warning"
SFTransitionActionBeforeConditionDiag "warning"
}
Simulink.HardwareCC {
$ObjectID 12
Version "1.12.1"
ProdBitPerChar 8
ProdBitPerShort 16
ProdBitPerInt 32
ProdBitPerLong 32
ProdBitPerFloat 32
ProdBitPerDouble 64
ProdBitPerPointer 32
ProdLargestAtomicInteger "Char"
ProdLargestAtomicFloat "None"
ProdIntDivRoundTo "Undefined"
ProdEndianess "Unspecified"
ProdWordSize 32
ProdShiftRightIntArith on
ProdHWDeviceType "32-bit Generic"
TargetBitPerChar 8
TargetBitPerShort 16
TargetBitPerInt 32
TargetBitPerLong 32
TargetBitPerFloat 32
TargetBitPerDouble 64
TargetBitPerPointer 32
TargetLargestAtomicInteger "Char"
TargetLargestAtomicFloat "None"
TargetShiftRightIntArith on
TargetIntDivRoundTo "Undefined"
TargetEndianess "Unspecified"
TargetWordSize 32
TargetTypeEmulationWarnSuppressLevel 0
TargetPreprocMaxBitsSint 32
TargetPreprocMaxBitsUint 32
TargetHWDeviceType "Specified"
TargetUnknown off
ProdEqTarget on
}
Simulink.ModelReferenceCC {
$ObjectID 13
Version "1.12.1"
UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
CheckModelReferenceTargetMessage "error"
EnableParallelModelReferenceBuilds off
ParallelModelReferenceErrorOnInvalidPool on
ParallelModelReferenceMATLABWorkerInit "None"
ModelReferenceNumInstancesAllowed "Multi"
PropagateVarSize "Infer from blocks in model"
ModelReferencePassRootInputsByReference on
ModelReferenceMinAlgLoopOccurrences off
PropagateSignalLabelsOutOfModel off
SupportModelReferenceSimTargetCustomCode off
}
Simulink.SFSimCC {
$ObjectID 14
Version "1.12.1"
SimCustomInitializer "if ~exist(tau_d)\n tau_d = 0\nend"
SFSimEnableDebug on
SFSimOverflowDetection on
SFSimEcho on
SimBlas on
SimCtrlC on
SimExtrinsic on
SimIntegrity on
SimUseLocalCustomCode off
SimParseCustomCode on
SimBuildMode "sf_incremental_build"
}
Simulink.RTWCC {
$BackupClass "Simulink.RTWCC"
$ObjectID 15
Version "1.12.1"
Array {
Type "Cell"
Dimension 6
Cell "IncludeHyperlinkInReport"
Cell "GenerateTraceInfo"
Cell "GenerateTraceReport"
Cell "GenerateTraceReportSl"
Cell "GenerateTraceReportSf"
Cell "GenerateTraceReportEml"
PropName "DisabledProps"
}
SystemTargetFile "grt.tlc"
GenCodeOnly off
MakeCommand "make_rtw"
GenerateMakefile on
PackageGeneratedCodeAndArtifacts off
TemplateMakefile "grt_default_tmf"
GenerateReport off
SaveLog off
RTWVerbose on
RetainRTWFile off
ProfileTLC off
TLCDebug off
TLCCoverage off
TLCAssert off
ProcessScriptMode "Default"
ConfigurationMode "Optimized"
ConfigAtBuild off
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 {
$ObjectID 16
Version "1.12.1"
Array {
Type "Cell"
Dimension 17
Cell "IgnoreCustomStorageClasses"
Cell "IgnoreTestpoints"
Cell "InsertBlockDesc"
Cell "SFDataObjDesc"
Cell "SimulinkDataObjDesc"
Cell "DefineNamingRule"
Cell "SignalNamingRule"
Cell "ParamNamingRule"
Cell "InlinedPrmAccess"
Cell "CustomSymbolStr"
Cell "CustomSymbolStrGlobalVar"
Cell "CustomSymbolStrType"
Cell "CustomSymbolStrField"
Cell "CustomSymbolStrFcn"
Cell "CustomSymbolStrBlkIO"
Cell "CustomSymbolStrTmpVar"
Cell "CustomSymbolStrMacro"
PropName "DisabledProps"
}
ForceParamTrailComments off
GenerateComments on
IgnoreCustomStorageClasses on
IgnoreTestpoints off
IncHierarchyInIds off
MaxIdLength 31
PreserveName off
PreserveNameWithParent off
ShowEliminatedStatement off
OperatorAnnotations off
IncAutoGenComments off
SimulinkDataObjDesc off
SFDataObjDesc off
MATLABFcnDesc off
IncDataTypeInIds off
MangleLength 1
CustomSymbolStrGlobalVar "$R$N$M"
CustomSymbolStrType "$N$R$M"
CustomSymbolStrField "$N$M"
CustomSymbolStrFcn "$R$N$M$F"
CustomSymbolStrFcnArg "rt$I$N$M"
CustomSymbolStrBlkIO "rtb_$N$M"
CustomSymbolStrTmpVar "$N$M"
CustomSymbolStrMacro "$R$N$M"
DefineNamingRule "None"
ParamNamingRule "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 17
Version "1.12.1"
Array {
Type "Cell"
Dimension 15
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 "Simulation Target/Custom Code"
ConfigPrmDlgPosition [ 280, 124, 1160, 754 ]
}
PropName "ConfigurationSets"
}
Simulink.ConfigSet {
$PropName "ActiveConfigurationSet"
$ObjectID 7
}
Object {
$PropName "DataTransfer"
$ObjectID 18
$ClassName "Simulink.GlobalDataTransfer"
DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
DefaultTransitionBetweenContTasks "Ensure deterministic transfer (minimum delay)"
DefaultExtrapolationMethodBetweenContTasks "None"
AutoInsertRateTranBlk [0]
}
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 BusCreator
Inputs "4"
DisplayOption "none"
OutDataTypeStr "Inherit: auto"
NonVirtualBus off
}
Block {
BlockType Constant
Value "1"
VectorParams1D on
SamplingMode "Sample based"
OutMin "[]"
OutMax "[]"
OutDataTypeStr "Inherit: Inherit from 'Constant value'"
LockScale off
SampleTime "inf"
FramePeriod "inf"
PreserveConstantTs off
}
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 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 Scope
ModelBased off
TickLabels "OneTimeTick"
ZoomMode "on"
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "Array"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "-1"
}
Block {
BlockType SignalGenerator
WaveForm "sine"
TimeSource "Use simulation time"
Amplitude "1"
Frequency "1"
Units "Hertz"
VectorParams1D on
}
}
System {
Name "vloop_test"
Location [1154, 551, 1903, 1026]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "portrait"
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 "36"
Block {
BlockType BusCreator
Name "Bus\nCreator"
SID "1"
Ports [2, 1]
Position [535, 27, 540, 98]
ZOrder -1
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Gain
Name "Gain"
SID "2"
Position [180, 170, 220, 200]
ZOrder -2
ForegroundColor "red"
ShowName off
Gain "1/G"
ParamDataTypeStr "Inherit: Inherit via internal rule"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType SignalGenerator
Name "Signal\nGenerator"
SID "24"
Ports [0, 1]
Position [110, 75, 140, 105]
ZOrder -3
WaveForm "square"
Amplitude "50"
Frequency "2"
Port {
PortNumber 1
Name "qd*"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Scope
Name "integral"
SID "36"
Ports [1]
Position [575, 244, 605, 276]
ZOrder -4
Floating off
Location [695, 1467, 1019, 1706]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
FigureColor "[0.5 0.5 0.5]"
AxesColor "[0 0 0]"
AxesTickColor "[1 1 1]"
LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
LineStyles "-|-|-|-|-|-"
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
ShowLegends off
TimeRange "1"
YMin "-0.1"
YMax "0.175"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "qd error"
SID "4"
Ports [1]
Position [575, 114, 605, 146]
ZOrder -5
Floating off
Location [118, 1175, 442, 1414]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
FigureColor "[0.5 0.5 0.5]"
AxesColor "[0 0 0]"
AxesTickColor "[1 1 1]"
LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
LineStyles "-|-|-|-|-|-"
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
ShowLegends off
TimeRange "1"
YMin "0"
YMax "0.7"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "qd*/qd"
SID "5"
Ports [1]
Position [575, 49, 605, 81]
ZOrder -6
Floating off
Location [212, 1467, 536, 1706]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
FigureColor "[0.5 0.5 0.5]"
AxesColor "[0 0 0]"
AxesTickColor "[1 1 1]"
LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
LineStyles "-|-|-|-|-|-"
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
ShowLegends off
TimeRange "1"
YMin "0"
YMax "90"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "tau"
SID "6"
Ports [1]
Position [575, 184, 605, 216]
ZOrder -7
Floating off
Location [815, 1445, 1139, 1684]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
FigureColor "[0.5 0.5 0.5]"
AxesColor "[0 0 0]"
AxesTickColor "[1 1 1]"
LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
LineStyles "-|-|-|-|-|-"
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
ShowLegends off
TimeRange "1"
YMin "-0.1"
YMax "0.175"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Constant
Name "tau_d"
SID "7"
Position [110, 170, 140, 200]
ZOrder -8
ForegroundColor "red"
Value "0"
}
Block {
BlockType Reference
Name "vloop"
SID "32"
Ports [2, 4]
Position [315, 69, 365, 191]
ZOrder -9
DropShadow on
LibraryVersion "1.18"
SourceBlock "control/vloop"
SourceType ""
J "372e-6"
B "817e-6"
Km "0.228"
tau_max "0.9"
Kv "1"
Ki "5"
T "0.001"
}
Block {
BlockType Outport
Name "qd"
SID "22"
Position [460, 93, 490, 107]
ZOrder -10
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "qd*"
SID "23"
Position [255, 103, 285, 117]
ZOrder -11
Port "2"
IconDisplay "Port number"
}
Line {
Name "qd*"
Labels [0, 0]
SrcBlock "Signal\nGenerator"
SrcPort 1
Points [95, 0]
Branch {
DstBlock "qd*"
DstPort 1
}
Branch {
Points [50, 0]
Branch {
Points [0, -45]
DstBlock "Bus\nCreator"
DstPort 1
}
Branch {
Points [10, 0]
DstBlock "vloop"
DstPort 1
}
}
}
Line {
SrcBlock "Bus\nCreator"
SrcPort 1
DstBlock "qd*/qd"
DstPort 1
}
Line {
SrcBlock "tau_d"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "vloop"
SrcPort 1
Points [0, -5; 60, 0]
Branch {
DstBlock "Bus\nCreator"
DstPort 2
}
Branch {
Points [0, 20]
DstBlock "qd"
DstPort 1
}
}
Line {
SrcBlock "vloop"
SrcPort 2
Points [190, 0]
DstBlock "qd error"
DstPort 1
}
Line {
SrcBlock "vloop"
SrcPort 3
Points [190, 0]
DstBlock "tau"
DstPort 1
}
Line {
Labels [3, 0]
SrcBlock "Gain"
SrcPort 1
Points [10, 0; 0, -25]
DstBlock "vloop"
DstPort 2
}
Line {
SrcBlock "vloop"
SrcPort 4
Points [95, 0; 0, 85]
DstBlock "integral"
DstPort 1
}
Annotation {
SID "33"
Name "disturbance torque input"
Position [166, 227]
ForegroundColor "red"
}
Annotation {
SID "35"
Name "vloop parameters for\nPuma560 shoulder joint\nwith link inertia\nRVC p.205"
Position [326, 239]
}
}
}