Model { Name "Ex3_4_v2" Version 4.00 SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off RecordCoverage off CovPath "/" CovSaveName "covdata" CovNameIncrementing off CovHtmlReporting on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Tue Oct 07 21:09:40 2008" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "heidi" ModifiedDateFormat "%" LastModifiedDate "Wed Oct 14 15:57:44 2009" ModelVersionFormat "1.%" ConfigurationManager "none" SimParamPage "Solver" StartTime "0.0" StopTime "0.01" SolverMode "Auto" Solver "ode45" RelTol "1e-6" AbsTol "auto" Refine "1" MaxStep "auto" MinStep "auto" MaxNumMinSteps "-1" InitialStep "auto" FixedStep "auto" MaxOrder 5 OutputOption "RefineOutputTimes" OutputTimes "[]" LoadExternalInput off ExternalInput "[t, u]" SaveTime on TimeSaveName "tout" SaveState off StateSaveName "xout" SaveOutput on OutputSaveName "yout" LoadInitialState off InitialState "xInitial" SaveFinalState off FinalStateName "xFinal" SaveFormat "Array" LimitDataPoints on MaxDataPoints "1000" Decimation "1" AlgebraicLoopMsg "warning" MinStepSizeMsg "warning" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" InheritedTsInSrcMsg "warning" SingleTaskRateTransMsg "none" MultiTaskRateTransMsg "error" IntegerOverflowMsg "warning" CheckForMatrixSingularity "none" UnnecessaryDatatypeConvMsg "none" Int32ToFloatConvMsg "warning" SignalLabelMismatchMsg "none" LinearizationMsg "none" VectorMatrixConversionMsg "none" SfunCompatibilityCheckMsg "none" BlockPriorityViolationMsg "warning" ArrayBoundsChecking "none" ConsistencyChecking "none" ZeroCross on Profile off SimulationMode "normal" RTWSystemTargetFile "grt.tlc" RTWOptions "-aExtMode=0 -aForceParamTrailComments=0 -aInlineInv" "ariantSignals=0 -aLocalBlockOutputs=1 -aLogVarNameModifier=\"rt_\" -aRTWVerbo" "se=1 -aRollThreshold=5 -aShowEliminatedStatements=1" RTWInlineParameters off RTWRetainRTWFile off RTWTemplateMakefile "grt_default_tmf" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off TLCProfiler off TLCDebug off TLCCoverage off AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" ExtModeMexFile "ext_comm" ExtModeBatchMode off ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeLogAll on OptimizeBlockIOStorage on BufferReuse on ParameterPooling on BlockReductionOpt off BooleanDataType off BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "Ex3_4_v2" Location [160, 129, 1261, 785] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "automatic" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on ReportName "simulink-default.rpt" Block { BlockType Derivative Name "Derivative" Position [380, 260, 410, 290] } Block { BlockType Gain Name "Gain" Position [150, 220, 180, 250] Gain "K" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain1" Position [230, 150, 260, 180] Gain "1/Ti" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain2" Position [230, 260, 260, 290] Gain "Td" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain3" Position [420, 465, 450, 495] Gain "K" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain4" Position [215, 410, 245, 440] Gain "Td/T" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain5" Position [240, 520, 270, 550] Gain "1+2*(Td/T)" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain6" Position [275, 465, 305, 495] Gain "(1+T/Ti+Td/T)" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [340, 150, 370, 180] ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [665, 206, 670, 244] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" Ports [2, 1] Position [755, 451, 760, 489] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" Ports [2, 1] Position [795, 376, 800, 414] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Scope Name "Scope" Ports [1] Position [835, 209, 865, 241] Floating off Location [188, 365, 512, 604] Open off NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } Grid "on" TimeRange "5" YMin "0" YMax "2" SaveToWorkspace off SaveName "ScopeData" DataFormat "StructureWithTime" LimitDataPoints off MaxDataPoints "5000" Decimation "1" SampleInput on SampleTime "0.00001" } Block { BlockType Scope Name "Scope1" Ports [1] Position [895, 454, 925, 486] Floating off Location [747, 288, 1071, 527] Open off NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } Grid "on" TimeRange "5" YMin "0" YMax "2" SaveToWorkspace off SaveName "ScopeData1" DataFormat "StructureWithTime" LimitDataPoints off MaxDataPoints "5000" Decimation "1" SampleInput on SampleTime "T" } Block { BlockType Scope Name "Scope2" Ports [1] Position [855, 379, 885, 411] Floating off Location [-1279, 56, 1, 1023] Open on NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } Grid "on" TimeRange "5" YMin "0" YMax "2" SaveToWorkspace off SaveName "ScopeData2" DataFormat "StructureWithTime" LimitDataPoints off MaxDataPoints "5000" Decimation "1" SampleInput on SampleTime "0.00001" } Block { BlockType Step Name "Step" Position [35, 220, 65, 250] Time "0" Before "0" After "1" SampleTime "0" VectorParams1D on } Block { BlockType Step Name "Step1" Position [35, 465, 65, 495] Time "0" Before "0" After "1" SampleTime "T" VectorParams1D on } Block { BlockType Sum Name "Sum" Ports [3, 1] Position [415, 210, 435, 230] ShowName off IconShape "round" Inputs "+++" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [105, 225, 125, 245] ShowName off IconShape "round" Inputs "|+-" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum2" Ports [3, 1] Position [380, 470, 400, 490] ShowName off IconShape "round" Inputs "++-" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [105, 470, 125, 490] ShowName off IconShape "round" Inputs "|+-" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [470, 470, 490, 490] ShowName off IconShape "round" Inputs "++|" SaturateOnIntegerOverflow on } Block { BlockType TransferFcn Name "Suodatus" Position [285, 256, 360, 294] Numerator "[1]" Denominator "[Td/10 1]" Realization "auto" AbsoluteTolerance "auto" } Block { BlockType ToWorkspace Name "To Workspace" Position [830, 300, 890, 330] VariableName "Ex_3_4" MaxDataPoints "inf" Decimation "1" SampleTime "0.00001" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace1" Position [840, 540, 900, 570] VariableName "Ex_3_4d" MaxDataPoints "inf" Decimation "1" SampleTime "0.00001" SaveFormat "Array" } Block { BlockType TransferFcn Name "Transfer Fcn" Position [495, 216, 585, 254] Numerator "[360000]" Denominator "[1 660 36000]" Realization "auto" AbsoluteTolerance "auto" } Block { BlockType TransferFcn Name "Transfer Fcn2" Position [630, 461, 720, 499] Numerator "[360000]" Denominator "[1 660 36000]" Realization "auto" AbsoluteTolerance "auto" } Block { BlockType UnitDelay Name "Unit Delay" Position [495, 400, 530, 440] Orientation "left" NamePlacement "alternate" X0 "0" SampleTime "T" } Block { BlockType UnitDelay Name "Unit Delay1" Position [320, 515, 355, 555] X0 "0" SampleTime "T" } Block { BlockType UnitDelay Name "Unit Delay2" Position [270, 405, 305, 445] NamePlacement "alternate" X0 "0" SampleTime "T" } Block { BlockType UnitDelay Name "Unit Delay3" Position [340, 405, 375, 445] NamePlacement "alternate" X0 "0" SampleTime "T" } Block { BlockType ZeroOrderHold Name "Zero-Order\nHold" Position [570, 461, 605, 499] SampleTime "T" } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Step" SrcPort 1 Points [0, 0; 5, 0] Branch { DstBlock "Sum1" DstPort 1 } Branch { Points [0, -90; 545, 0; 0, 70] DstBlock "Mux" DstPort 1 } } Line { SrcBlock "Mux" SrcPort 1 Points [0, 0; 35, 0] Branch { Points [0, 90; 45, 0] Branch { DstBlock "To Workspace" DstPort 1 } Branch { Points [0, 0; 0, 70] DstBlock "Mux2" DstPort 1 } } Branch { DstBlock "Scope" DstPort 1 } } Line { SrcBlock "Transfer Fcn" SrcPort 1 Points [0, 0; 45, 0] Branch { DstBlock "Mux" DstPort 2 } Branch { Points [0, 105; -520, 0] DstBlock "Sum1" DstPort 2 } } Line { SrcBlock "Sum3" SrcPort 1 Points [0, 0; 60, 0] Branch { DstBlock "Gain6" DstPort 1 } Branch { Points [0, 0] Branch { Points [0, -55] DstBlock "Gain4" DstPort 1 } Branch { Points [0, 55] DstBlock "Gain5" DstPort 1 } } } Line { SrcBlock "Step1" SrcPort 1 Points [0, 0; 5, 0] Branch { DstBlock "Sum3" DstPort 1 } Branch { Points [0, -105; 665, 0] DstBlock "Mux1" DstPort 1 } } Line { SrcBlock "Mux1" SrcPort 1 Points [0, 0; 10, 0] Branch { Points [35, 0] Branch { DstBlock "Scope1" DstPort 1 } Branch { Points [0, 85] DstBlock "To Workspace1" DstPort 1 } } Branch { Points [0, -65] DstBlock "Mux2" DstPort 2 } } Line { SrcBlock "Transfer Fcn2" SrcPort 1 Points [0, 0; 10, 0] Branch { Points [0, 0] DstBlock "Mux1" DstPort 2 } Branch { Points [0, 105; -620, 0] DstBlock "Sum3" DstPort 2 } } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "Scope2" DstPort 1 } Line { SrcBlock "Unit Delay" SrcPort 1 Points [-10, 0] DstBlock "Sum4" DstPort 1 } Line { SrcBlock "Sum4" SrcPort 1 Points [0, 0; 55, 0] Branch { Points [0, -60] DstBlock "Unit Delay" DstPort 1 } Branch { Points [0, 0] DstBlock "Zero-Order\nHold" DstPort 1 } } Line { SrcBlock "Unit Delay3" SrcPort 1 Points [10, 0] DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Unit Delay2" SrcPort 1 DstBlock "Unit Delay3" DstPort 1 } Line { SrcBlock "Gain4" SrcPort 1 DstBlock "Unit Delay2" DstPort 1 } Line { SrcBlock "Gain6" SrcPort 1 DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "Gain3" DstPort 1 } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [30, 0] DstBlock "Sum2" DstPort 3 } Line { SrcBlock "Gain5" SrcPort 1 DstBlock "Unit Delay1" DstPort 1 } Line { SrcBlock "Gain3" SrcPort 1 DstBlock "Sum4" DstPort 2 } Line { SrcBlock "Zero-Order\nHold" SrcPort 1 DstBlock "Transfer Fcn2" DstPort 1 } Line { SrcBlock "Integrator" SrcPort 1 Points [50, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 Points [0, -15; 15, 0] Branch { DstBlock "Sum" DstPort 2 } Branch { Points [0, 55] DstBlock "Gain2" DstPort 1 } Branch { Points [0, -55] DstBlock "Gain1" DstPort 1 } } Line { SrcBlock "Derivative" SrcPort 1 Points [10, 0] DstBlock "Sum" DstPort 3 } Line { SrcBlock "Gain2" SrcPort 1 DstBlock "Suodatus" DstPort 1 } Line { SrcBlock "Gain1" SrcPort 1 DstBlock "Integrator" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [30, 0; 0, 15] DstBlock "Transfer Fcn" DstPort 1 } Line { SrcBlock "Suodatus" SrcPort 1 DstBlock "Derivative" DstPort 1 } Annotation { Position [758, 163] Text "T=0.0003;\nK=5;\nTi=0.003;\nTd=0.0008;" FontName "Arial" FontSize 14 } Annotation { Position [442, 79] Text "Jatkuva-aikainen ja diskreetti PID-säädin" FontName "Arial" FontSize 18 FontWeight "bold" } } }