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950 lines
26 KiB
950 lines
26 KiB
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|
|
PropName "Components"
|
|
}
|
|
Name "Configuration"
|
|
CurrentDlgPage "Simulation Target/Custom Code"
|
|
ConfigPrmDlgPosition " [ 280, 124, 1160, 754 ] "
|
|
}
|
|
PropName "ConfigurationSets"
|
|
}
|
|
Simulink.ConfigSet {
|
|
$PropName "ActiveConfigurationSet"
|
|
$ObjectID 1
|
|
}
|
|
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"
|
|
}
|
|
BlockParameterDefaults {
|
|
Block {
|
|
BlockType BusCreator
|
|
Inputs "4"
|
|
DisplayOption "none"
|
|
UseBusObject off
|
|
BusObject "BusObject"
|
|
NonVirtualBus off
|
|
}
|
|
Block {
|
|
BlockType Constant
|
|
Value "1"
|
|
VectorParams1D on
|
|
SamplingMode "Sample based"
|
|
OutMin "[]"
|
|
OutMax "[]"
|
|
OutDataTypeMode "Inherit from 'Constant value'"
|
|
OutDataType "fixdt(1,16,0)"
|
|
ConRadixGroup "Use specified scaling"
|
|
OutScaling "[]"
|
|
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 "[]"
|
|
ParameterDataTypeMode "Same as input"
|
|
ParameterDataType "fixdt(1,16,0)"
|
|
ParameterScalingMode "Best Precision: Matrix-wise"
|
|
ParameterScaling "[]"
|
|
ParamDataTypeStr "Inherit: Same as input"
|
|
OutMin "[]"
|
|
OutMax "[]"
|
|
OutDataTypeMode "Same as input"
|
|
OutDataType "fixdt(1,16,0)"
|
|
OutScaling "[]"
|
|
OutDataTypeStr "Inherit: Same as input"
|
|
LockScale off
|
|
RndMeth "Floor"
|
|
SaturateOnIntegerOverflow on
|
|
SampleTime "-1"
|
|
}
|
|
Block {
|
|
BlockType Outport
|
|
Port "1"
|
|
UseBusObject off
|
|
BusObject "BusObject"
|
|
BusOutputAsStruct off
|
|
PortDimensions "-1"
|
|
VarSizeSig "Inherit"
|
|
SampleTime "-1"
|
|
OutMin "[]"
|
|
OutMax "[]"
|
|
DataType "auto"
|
|
OutDataType "fixdt(1,16,0)"
|
|
OutScaling "[]"
|
|
OutDataTypeStr "Inherit: auto"
|
|
LockScale off
|
|
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"
|
|
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_test2"
|
|
Location [713, 239, 1422, 536]
|
|
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 33
|
|
Block {
|
|
BlockType BusCreator
|
|
Name "Bus\nCreator"
|
|
SID 1
|
|
Ports [2, 1]
|
|
Position [535, 27, 540, 98]
|
|
ShowName off
|
|
Inputs "2"
|
|
DisplayOption "bar"
|
|
}
|
|
Block {
|
|
BlockType Gain
|
|
Name "Gain"
|
|
SID 2
|
|
Position [180, 150, 220, 180]
|
|
ForegroundColor "red"
|
|
ShowName off
|
|
Gain "1/G"
|
|
ParameterDataTypeMode "Inherit via internal rule"
|
|
ParameterDataType "fixdt(1, 16)"
|
|
ParameterScaling "2^0"
|
|
ParamDataTypeStr "Inherit: Inherit via internal rule"
|
|
OutDataTypeMode "Inherit via internal rule"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
SaturateOnIntegerOverflow off
|
|
}
|
|
Block {
|
|
BlockType SignalGenerator
|
|
Name "Signal\nGenerator"
|
|
SID 24
|
|
Ports [0, 1]
|
|
Position [110, 65, 140, 95]
|
|
WaveForm "sawtooth"
|
|
Frequency "2"
|
|
Port {
|
|
PortNumber 1
|
|
Name "qd*"
|
|
RTWStorageClass "Auto"
|
|
DataLoggingNameMode "SignalName"
|
|
}
|
|
}
|
|
Block {
|
|
BlockType Scope
|
|
Name "qd error"
|
|
SID 4
|
|
Ports [1]
|
|
Position [575, 114, 605, 146]
|
|
Floating off
|
|
Location [64, 557, 388, 796]
|
|
Open on
|
|
NumInputPorts "1"
|
|
List {
|
|
ListType AxesTitles
|
|
axes1 "%<SignalLabel>"
|
|
}
|
|
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]
|
|
Floating off
|
|
Location [41, 448, 365, 687]
|
|
Open on
|
|
NumInputPorts "1"
|
|
ZoomMode "xonly"
|
|
List {
|
|
ListType AxesTitles
|
|
axes1 "%<SignalLabel>"
|
|
}
|
|
TimeRange "1"
|
|
YMin "0"
|
|
YMax "90"
|
|
DataFormat "StructureWithTime"
|
|
SampleTime "0"
|
|
}
|
|
Block {
|
|
BlockType Scope
|
|
Name "tau"
|
|
SID 6
|
|
Ports [1]
|
|
Position [575, 184, 605, 216]
|
|
Floating off
|
|
Location [142, 586, 466, 825]
|
|
Open on
|
|
NumInputPorts "1"
|
|
List {
|
|
ListType AxesTitles
|
|
axes1 "%<SignalLabel>"
|
|
}
|
|
TimeRange "1"
|
|
YMin "-0.1"
|
|
YMax "0.175"
|
|
SaveName "ScopeData1"
|
|
DataFormat "StructureWithTime"
|
|
SampleTime "0"
|
|
}
|
|
Block {
|
|
BlockType Constant
|
|
Name "tau_d"
|
|
SID 7
|
|
Position [110, 150, 140, 180]
|
|
ForegroundColor "red"
|
|
Value "0"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
|
|
Block {
|
|
BlockType Reference
|
|
Name "vloop_ff"
|
|
SID 33
|
|
Ports [3, 3]
|
|
Position [315, 64, 375, 166]
|
|
DropShadow on
|
|
LibraryVersion "1.11"
|
|
SourceBlock "control/vloop_ff"
|
|
SourceType ""
|
|
ShowPortLabels "FromPortIcon"
|
|
SystemSampleTime "-1"
|
|
FunctionWithSeparateData off
|
|
RTWMemSecFuncInitTerm "Inherit from model"
|
|
RTWMemSecFuncExecute "Inherit from model"
|
|
RTWMemSecDataConstants "Inherit from model"
|
|
RTWMemSecDataInternal "Inherit from model"
|
|
RTWMemSecDataParameters "Inherit from model"
|
|
J "372e-6"
|
|
B "817e-6"
|
|
Km "0.228"
|
|
tau_max "0.9"
|
|
Kv "1"
|
|
Ki "0"
|
|
T "0.001"
|
|
}
|
|
Block {
|
|
BlockType Outport
|
|
Name "qd"
|
|
SID 22
|
|
Position [460, 93, 490, 107]
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
|
|
Block {
|
|
BlockType Outport
|
|
Name "qd*"
|
|
SID 23
|
|
Position [230, 43, 260, 57]
|
|
Port "2"
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
|
|
Line {
|
|
Name "qd*"
|
|
Labels [0, 0]
|
|
SrcBlock "Signal\nGenerator"
|
|
SrcPort 1
|
|
Points [60, 0]
|
|
Branch {
|
|
Points [0, -30]
|
|
DstBlock "qd*"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
Points [80, 0]
|
|
Branch {
|
|
Points [0, -35]
|
|
DstBlock "Bus\nCreator"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
DstBlock "vloop_ff"
|
|
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_ff"
|
|
SrcPort 1
|
|
Points [50, 0]
|
|
Branch {
|
|
DstBlock "Bus\nCreator"
|
|
DstPort 2
|
|
}
|
|
Branch {
|
|
Points [0, 20]
|
|
DstBlock "qd"
|
|
DstPort 1
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "vloop_ff"
|
|
SrcPort 2
|
|
Points [180, 0]
|
|
DstBlock "qd error"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "vloop_ff"
|
|
SrcPort 3
|
|
Points [180, 0]
|
|
DstBlock "tau"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Gain"
|
|
SrcPort 1
|
|
Points [35, 0; 0, -50]
|
|
DstBlock "vloop_ff"
|
|
DstPort 2
|
|
}
|
|
Annotation {
|
|
Name "disturbance torque input"
|
|
Position [166, 207]
|
|
ForegroundColor "red"
|
|
}
|
|
}
|
|
}
|