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.
2236 lines
53 KiB
2236 lines
53 KiB
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 "%<Auto>"
|
|
LastModifiedBy "corkep"
|
|
ModifiedDateFormat "%<Auto>"
|
|
LastModifiedDate "Sun Jan 27 11:35:19 2013"
|
|
RTWModifiedTimeStamp 281187294
|
|
ModelVersionFormat "1.%<AutoIncrement:18>"
|
|
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
|
|
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 9
|
|
Version "1.12.1"
|
|
Array {
|
|
Type "Cell"
|
|
Dimension 7
|
|
Cell "BooleansAsBitfields"
|
|
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 10
|
|
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 11
|
|
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 12
|
|
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 13
|
|
Version "1.12.1"
|
|
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 14
|
|
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 {
|
|
$ObjectID 15
|
|
Version "1.12.1"
|
|
Array {
|
|
Type "Cell"
|
|
Dimension 19
|
|
Cell "IgnoreCustomStorageClasses"
|
|
Cell "IgnoreTestpoints"
|
|
Cell "InsertBlockDesc"
|
|
Cell "SFDataObjDesc"
|
|
Cell "SimulinkDataObjDesc"
|
|
Cell "DefineNamingRule"
|
|
Cell "SignalNamingRule"
|
|
Cell "ParamNamingRule"
|
|
Cell "InlinedPrmAccess"
|
|
Cell "CustomSymbolStr"
|
|
Cell "CustomSymbolStrGlobalVar"
|
|
Cell "CustomSymbolStrType"
|
|
Cell "CustomSymbolStrField"
|
|
Cell "CustomSymbolStrFcn"
|
|
Cell "CustomSymbolStrFcnArg"
|
|
Cell "CustomSymbolStrBlkIO"
|
|
Cell "CustomSymbolStrTmpVar"
|
|
Cell "CustomSymbolStrMacro"
|
|
Cell "ReqsInCode"
|
|
PropName "DisabledProps"
|
|
}
|
|
ForceParamTrailComments off
|
|
GenerateComments on
|
|
IgnoreCustomStorageClasses on
|
|
IgnoreTestpoints off
|
|
IncHierarchyInIds off
|
|
MaxIdLength 31
|
|
PreserveName off
|
|
PreserveNameWithParent off
|
|
ShowEliminatedStatement off
|
|
OperatorAnnotations off
|
|
IncAutoGenComments off
|
|
SimulinkDataObjDesc off
|
|
SFDataObjDesc off
|
|
MATLABFcnDesc off
|
|
IncDataTypeInIds off
|
|
MangleLength 1
|
|
CustomSymbolStrGlobalVar "$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 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 "Sum"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Sum2"
|
|
SrcPort 1
|
|
DstBlock "voltage\namplifier\ngain"
|
|
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]
|
|
Branch {
|
|
DstBlock "Sum2"
|
|
DstPort 2
|
|
}
|
|
Branch {
|
|
Points [10, 0]
|
|
DstBlock "integral"
|
|
DstPort 1
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "voltage\namplifier\ngain"
|
|
SrcPort 1
|
|
DstBlock "voltage\nlimit"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
Name "applied\nvoltage"
|
|
Labels [0, 0]
|
|
SrcBlock "voltage\nlimit"
|
|
SrcPort 1
|
|
DstBlock "Sum3"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
Name "nett\nvoltage"
|
|
Labels [-1, 0]
|
|
SrcBlock "Sum3"
|
|
SrcPort 1
|
|
DstBlock "Motor\nimpedance"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
Name "motor\ncurrent"
|
|
Labels [-1, 0]
|
|
SrcBlock "Motor\nimpedance"
|
|
SrcPort 1
|
|
DstBlock "Gain"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
Name "tau"
|
|
Labels [0, 0]
|
|
SrcBlock "Gain"
|
|
SrcPort 1
|
|
Points [30, 0]
|
|
Branch {
|
|
DstBlock "Sum1"
|
|
DstPort 2
|
|
}
|
|
Branch {
|
|
Points [0, 55]
|
|
DstBlock "tau"
|
|
DstPort 1
|
|
}
|
|
}
|
|
Line {
|
|
Name "back EMF"
|
|
Labels [0, 0]
|
|
SrcBlock "Gain1"
|
|
SrcPort 1
|
|
Points [-185, 0]
|
|
DstBlock "Sum3"
|
|
DstPort 2
|
|
}
|
|
}
|
|
}
|
|
Annotation {
|
|
SID "82"
|
|
Position [131, 168]
|
|
}
|
|
Annotation {
|
|
SID "83"
|
|
Position [131, 168]
|
|
}
|
|
Annotation {
|
|
SID "84"
|
|
Position [131, 168]
|
|
}
|
|
}
|
|
}
|
|
MatData {
|
|
NumRecords 3
|
|
DataRecord {
|
|
Tag DataTag0
|
|
Data " %)30 . B 8 ( @ % \" $ ! 0 % 0 $P $ 3 :&%S26"
|
|
"YH97)I=&5D3W!T:6]N #@ # & \" D\" !0 @ ! 0 $ @ ! $ "
|
|
}
|
|
DataRecord {
|
|
Tag DataTag1
|
|
Data " %)30 . B 8 ( @ % \" $ ! 0 % 0 $P $ 3 :&%S26"
|
|
"YH97)I=&5D3W!T:6]N #@ # & \" D\" !0 @ ! 0 $ @ ! $ "
|
|
}
|
|
DataRecord {
|
|
Tag DataTag2
|
|
Data " %)30 . B 8 ( @ % \" $ ! 0 % 0 $P $ 3 :&%S26"
|
|
"YH97)I=&5D3W!T:6]N #@ # & \" D\" !0 @ ! 0 $ @ ! $ "
|
|
}
|
|
}
|