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980 lines
27 KiB
980 lines
27 KiB
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Name "vloop"
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$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 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 Inport
|
|
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"
|
|
LatchByDelayingOutsideSignal off
|
|
LatchByCopyingInsideSignal off
|
|
Interpolate on
|
|
}
|
|
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 Saturate
|
|
UpperLimit "0.5"
|
|
LowerLimit "-0.5"
|
|
LinearizeAsGain on
|
|
ZeroCross on
|
|
SampleTime "-1"
|
|
OutMin "[]"
|
|
OutMax "[]"
|
|
OutDataTypeMode "Same as input"
|
|
OutDataType "fixdt(1,16,0)"
|
|
OutScaling "[]"
|
|
OutDataTypeStr "Inherit: Same as input"
|
|
LockScale off
|
|
RndMeth "Floor"
|
|
}
|
|
Block {
|
|
BlockType Sum
|
|
IconShape "rectangular"
|
|
Inputs "++"
|
|
CollapseMode "All dimensions"
|
|
CollapseDim "1"
|
|
InputSameDT on
|
|
AccumDataTypeStr "Inherit: Inherit via internal rule"
|
|
OutMin "[]"
|
|
OutMax "[]"
|
|
OutDataTypeMode "Same as first input"
|
|
OutDataType "fixdt(1,16,0)"
|
|
OutScaling "[]"
|
|
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 "vloop"
|
|
Location [15, 77, 768, 348]
|
|
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 32
|
|
Block {
|
|
BlockType Inport
|
|
Name "qd*"
|
|
SID 20
|
|
Position [85, 108, 115, 122]
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
|
|
Block {
|
|
BlockType Inport
|
|
Name "tau_d"
|
|
SID 21
|
|
Position [335, 28, 365, 42]
|
|
Port "2"
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
|
|
Block {
|
|
BlockType Gain
|
|
Name "Gain"
|
|
SID 22
|
|
Position [400, 20, 440, 50]
|
|
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 Gain
|
|
Name "Km"
|
|
SID 23
|
|
Position [320, 100, 350, 130]
|
|
Gain "0.228"
|
|
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 Gain
|
|
Name "Kv"
|
|
SID 24
|
|
Position [270, 100, 300, 130]
|
|
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 Sum
|
|
Name "Sum"
|
|
SID 25
|
|
Ports [2, 1]
|
|
Position [160, 105, 180, 125]
|
|
ShowName off
|
|
IconShape "round"
|
|
Inputs "|+-"
|
|
InputSameDT off
|
|
OutDataTypeMode "Inherit via internal rule"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
SaturateOnIntegerOverflow off
|
|
}
|
|
Block {
|
|
BlockType Sum
|
|
Name "Sum1"
|
|
SID 26
|
|
Ports [2, 1]
|
|
Position [450, 105, 470, 125]
|
|
ShowName off
|
|
IconShape "round"
|
|
Inputs "++|"
|
|
InputSameDT off
|
|
OutDataTypeMode "Inherit via internal rule"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
SaturateOnIntegerOverflow off
|
|
}
|
|
Block {
|
|
BlockType Reference
|
|
Name "control\ntime"
|
|
SID 27
|
|
Ports [1, 1]
|
|
Position [220, 98, 245, 132]
|
|
LibraryVersion "1.762"
|
|
SourceBlock "simulink/Discrete/Integer Delay"
|
|
SourceType "Integer Delay"
|
|
vinit "0.0"
|
|
samptime "0.001"
|
|
NumDelays "1"
|
|
}
|
|
Block {
|
|
BlockType TransferFcn
|
|
Name "motor"
|
|
SID 28
|
|
Position [500, 96, 565, 134]
|
|
Denominator "[372e-6 0.817e-3]"
|
|
ContinuousStateAttributes "'qd'"
|
|
Port {
|
|
PortNumber 1
|
|
Name "qd"
|
|
RTWStorageClass "Auto"
|
|
DataLoggingNameMode "SignalName"
|
|
}
|
|
}
|
|
Block {
|
|
BlockType Saturate
|
|
Name "torque\nlimit"
|
|
SID 29
|
|
Position [370, 100, 400, 130]
|
|
UpperLimit "0.9"
|
|
LowerLimit "-0.9"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
|
|
Block {
|
|
BlockType Outport
|
|
Name "qd"
|
|
SID 30
|
|
Position [640, 108, 670, 122]
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
|
|
Block {
|
|
BlockType Outport
|
|
Name "qd error"
|
|
SID 31
|
|
Position [210, 28, 240, 42]
|
|
Port "2"
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
|
|
Block {
|
|
BlockType Outport
|
|
Name "tau"
|
|
SID 32
|
|
Position [640, 188, 670, 202]
|
|
Port "3"
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
|
|
Line {
|
|
SrcBlock "Gain"
|
|
SrcPort 1
|
|
Points [15, 0]
|
|
DstBlock "Sum1"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Sum1"
|
|
SrcPort 1
|
|
DstBlock "motor"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Km"
|
|
SrcPort 1
|
|
DstBlock "torque\nlimit"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Kv"
|
|
SrcPort 1
|
|
DstBlock "Km"
|
|
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 {
|
|
Points [0, 55; -420, 0]
|
|
DstBlock "Sum"
|
|
DstPort 2
|
|
}
|
|
Branch {
|
|
DstBlock "qd"
|
|
DstPort 1
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "tau_d"
|
|
SrcPort 1
|
|
DstBlock "Gain"
|
|
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
|
|
DstBlock "Kv"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
Labels [0, 0]
|
|
SrcBlock "qd*"
|
|
SrcPort 1
|
|
DstBlock "Sum"
|
|
DstPort 1
|
|
}
|
|
Annotation {
|
|
Name "tau_m"
|
|
Position [425, 111]
|
|
}
|
|
}
|
|
}
|