Model { Name "PID" Version 7.8 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.25" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "windows-1250" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" FPTRunName "Run 1" MaxMDLFileLineLength 120 Created "Fri Nov 02 17:33:02 2007" Creator "kha" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "ais5" ModifiedDateFormat "%" LastModifiedDate "Tue Jan 05 19:00:09 2016" RTWModifiedTimeStamp 373920938 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "none" 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 "external" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off 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 10000 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 1 Version "1.11.1" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.11.1" StartTime "0.0" StopTime "99999" AbsTol "auto" FixedStep "0.002" 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" ConcurrentTasks off Solver "ode5" SolverName "ode5" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" } Simulink.DataIOCC { $ObjectID 3 Version "1.11.1" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints off MaxDataPoints "100000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveCompleteFinalSimState off SaveFormat "StructureWithTime" 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 4 Version "1.11.1" Array { Type "Cell" Dimension 8 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "NoFixptDivByZeroProtection" Cell "OptimizeModelRefInitCode" Cell "BooleansAsBitfields" Cell "PassReuseOutputArgsAs" Cell "PassReuseOutputArgsThreshold" Cell "UseSpecifiedMinMax" 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 on NoFixptDivByZeroProtection off EfficientFloat2IntCast off EfficientMapNaN2IntZero on OptimizeModelRefInitCode off LifeSpan "inf" MaxStackSize "Inherit from target" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off AccelParallelForEachSubsystem on } Simulink.DebuggingCC { $ObjectID 5 Version "1.11.1" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "none" 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 "Use local settings" 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" } Simulink.HardwareCC { $ObjectID 6 Version "1.11.1" 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 7 Version "1.11.1" 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 8 Version "1.11.1" 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 9 Version "1.11.1" Array { Type "Cell" Dimension 8 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" Cell "GenerateTraceReport" Cell "GenerateTraceReportSl" Cell "GenerateTraceReportSf" Cell "GenerateTraceReportEml" Cell "GenerateSLWebview" Cell "GenerateCodeMetricsReport" PropName "DisabledProps" } SystemTargetFile "rtcon.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on TemplateMakefile "rtcon_vc.tmf" Description "RT-CON (Visual C/C++)" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ProcessScript "rtcon_make_rtw_hook" ConfigAtBuild off RTWUseLocalCustomCode off RTWUseSimCustomCode off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateSLWebview off GenerateCodeMetricsReport off RTWCompilerOptimization "Off" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 10 Version "1.11.1" Array { Type "Cell" Dimension 21 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" Cell "IgnoreTestpoints" Cell "InsertPolySpaceComments" Cell "MATLABFcnDesc" Cell "CustomSymbolStrFcnArg" Cell "ReqsInCode" PropName "DisabledProps" } ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off MATLABFcnDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$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 InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.STFCustomTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Version "1.11.1" Array { Type "Cell" Dimension 16 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "PortableWordSizes" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "GeneratePreprocessorConditionals" Cell "CPPClassGenCompliant" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" TargetFunctionLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" CodeExecutionProfiling off ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant off ParMdlRefBuildCompliant off CompOptLevelCompliant off ConcurrentExecutionCompliant off 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" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off SystemTargetFile "rtcon.tlc" DialogCategory 0 Array { Type "Handle" Dimension 1 Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 12 Version "1.11.1" Array { Type "Cell" Dimension 16 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "PortableWordSizes" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "GeneratePreprocessorConditionals" Cell "CPPClassGenCompliant" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" TargetFunctionLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" CodeExecutionProfiling off ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant off ParMdlRefBuildCompliant off CompOptLevelCompliant off ConcurrentExecutionCompliant off 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" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off UseMalloc off ExtMode on ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "rtcon_ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off RTWCAPIRootIO off GenerateASAP2 off } PropName "Components" } CustomProperty { DataType "slbool" Name "StartupMessage" Value off } CustomProperty { DataType "slbool" Name "LinkRTDACUSB" Value off } CustomProperty { DataType "slbool" Name "LinkRTDACPCI" Value on } } PropName "Components" } } PropName "Components" } Name "Configuration" ExtraOptions "-aGenerateTraceInfo=0 -aIgnoreTestpoints=0 " CurrentDlgPage "Code Generation/Interface" ConfigPrmDlgPosition [ 400, 125, 1281, 863 ] } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Arial" FontSize 9 FontWeight "normal" FontAngle "normal" } BlockParameterDefaults { Block { BlockType ArithShift BitShiftNumberSource "Dialog" BitShiftNumber "0" BinPtShiftNumber "0" BitShiftDirection "Bidirectional" DiagnosticForOORShift "None" CheckOORBitShift off } Block { BlockType Clock DisplayTime off Decimation "10" } 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 DataTypeConversion OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via back propagation" LockScale off ConvertRealWorld "Real World Value (RWV)" RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType Derivative CoefficientInTFapproximation "inf" } Block { BlockType DiscreteIntegrator IntegratorMethod "Integration: Forward Euler" gainval "1.0" ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" InitialConditionMode "State and output" SampleTime "1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow off LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off IgnoreLimit off StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType DiscreteTransferFcn Numerator "[1]" Denominator "[1 0.5]" InputProcessing "Elements as channels (sample based)" InitialStates "0" SampleTime "1" a0EqualsOne off NumCoefMin "[]" NumCoefMax "[]" DenCoefMin "[]" DenCoefMax "[]" OutMin "[]" OutMax "[]" StateDataTypeStr "Inherit: Same as input" NumCoefDataTypeStr "Inherit: Inherit via internal rule" DenCoefDataTypeStr "Inherit: Inherit via internal rule" NumProductDataTypeStr "Inherit: Inherit via internal rule" DenProductDataTypeStr "Inherit: Inherit via internal rule" NumAccumDataTypeStr "Inherit: Inherit via internal rule" DenAccumDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow off StateMustResolveToSignalObject off RTWStateStorageClass "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 Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } 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 S-Function FunctionName "system" SFunctionModules "''" PortCounts "[]" SFunctionDeploymentMode off } 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 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 Sin SineType "Time based" TimeSource "Use simulation time" Amplitude "1" Bias "0" Frequency "1" Phase "0" Samples "10" Offset "0" SampleTime "-1" VectorParams1D on } Block { BlockType Step Time "1" Before "0" After "1" SampleTime "-1" VectorParams1D on ZeroCross on } 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 Switch Criteria "u2 >= Threshold" Threshold "0" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" AllowDiffInputSizes off } Block { BlockType UnitDelay X0 "0" InputProcessing "Inherited" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" HasFrameUpgradeWarning on } } System { Name "PID" Location [533, 261, 1329, 632] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" SIDHighWatermark "125" Block { BlockType SubSystem Name "Filtr wstepny" SID "63" Ports [1, 1] Position [230, 172, 275, 208] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskPromptString "alpha|Sample Time" MaskStyleString "edit,edit" MaskVariables "alpha=@1;T=@2;" MaskTunableValueString "on,on" MaskCallbackString "|" MaskEnableString "on,on" MaskVisibilityString "on,on" MaskToolTipString "on,on" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "5|0.002" System { Name "Filtr wstepny" Location [2, 70, 1022, 720] 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 "In1" SID "64" Position [25, 38, 55, 52] ShowName off IconDisplay "Port number" } Block { BlockType DiscreteTransferFcn Name "Discrete\nTransfer Fcn" SID "65" Position [90, 29, 140, 71] ShowName off Numerator "[1-exp(-alpha*T)]" Denominator "[1 -exp(-alpha*T)]" SampleTime "T" } Block { BlockType Outport Name "Out1" SID "66" Position [175, 38, 205, 52] ShowName off IconDisplay "Port number" } Line { SrcBlock "Discrete\nTransfer Fcn" SrcPort 1 Points [0, -5] DstBlock "Out1" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 Points [15, 0] DstBlock "Discrete\nTransfer Fcn" DstPort 1 } } } Block { BlockType Reference Name "Manual Switch1" SID "67" Ports [2, 1] Position [305, 147, 335, 183] ShowName off LibraryVersion "1.256" SourceBlock "simulink/Signal\nRouting/Manual Switch" SourceType "Manual Switch" sw "1" action "0" varsize off } Block { BlockType Reference Name "Manual Switch2" SID "68" Ports [2, 1] Position [170, 142, 200, 178] ShowName off LibraryVersion "1.256" SourceBlock "simulink/Signal\nRouting/Manual Switch" SourceType "Manual Switch" sw "1" action "0" varsize off } Block { BlockType Reference Name "Manual Switch3" SID "69" Ports [2, 1] Position [120, 192, 150, 228] ShowName off LibraryVersion "1.256" SourceBlock "simulink/Signal\nRouting/Manual Switch" SourceType "Manual Switch" sw "1" action "0" varsize off } Block { BlockType SubSystem Name "PID_z" SID "70" Ports [1, 1] Position [380, 147, 425, 183] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskPromptString "kp|ki|kd|Sample Time" MaskStyleString "edit,edit,edit,edit" MaskVariables "kp=@1;ki=@2;kd=@3;T=@4;" MaskTunableValueString "on,on,on,on" MaskCallbackString "|||" MaskEnableString "on,on,on,on" MaskVisibilityString "on,on,on,on" MaskToolTipString "on,on,on,on" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "51|128|5.11|0.002" Port { PortNumber 1 Name "u" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } System { Name "PID_z" Location [244, 348, 742, 648] 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 "In1" SID "71" Position [45, 118, 75, 132] ShowName off IconDisplay "Port number" } Block { BlockType DiscreteIntegrator Name "Discrete-Time\nIntegrator" SID "72" Ports [1, 1] Position [180, 200, 215, 240] IntegratorMethod "Integration: Backward Euler" ExternalReset "none" InitialConditionSource "internal" SampleTime "T" ICPrevOutput "DiscIntNeverNeededParam" ICPrevScaledInput "DiscIntNeverNeededParam" } Block { BlockType Gain Name "Gain" SID "73" Position [195, 15, 225, 45] ShowName off Gain "kp" } Block { BlockType Gain Name "Gain1" SID "74" Position [340, 90, 370, 120] ShowName off Gain "kd" } Block { BlockType Gain Name "Gain2" SID "75" Position [275, 90, 315, 120] ShowName off Gain "1/T" } Block { BlockType Gain Name "Gain3" SID "76" Position [305, 205, 335, 235] ShowName off Gain "ki" } Block { BlockType Sum Name "Sum" SID "77" Ports [2, 1] Position [225, 95, 245, 115] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Sum Name "Sum1" SID "78" Ports [3, 1] Position [400, 64, 435, 136] ShowName off Inputs "|+++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType UnitDelay Name "Unit Delay" SID "79" Position [185, 135, 215, 165] ShowName off SampleTime "T" } Block { BlockType Outport Name "Out1" SID "80" Position [450, 83, 480, 97] ShowName off IconDisplay "Port number" } Line { SrcBlock "Gain" SrcPort 1 Points [155, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Gain3" SrcPort 1 Points [20, 0; 0, -100] DstBlock "Sum1" DstPort 3 } Line { SrcBlock "Discrete-Time\nIntegrator" SrcPort 1 DstBlock "Gain3" DstPort 1 } Line { SrcBlock "Gain1" SrcPort 1 DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Sum1" SrcPort 1 Points [0, -10] DstBlock "Out1" DstPort 1 } Line { SrcBlock "Gain2" SrcPort 1 DstBlock "Gain1" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Gain2" DstPort 1 } Line { SrcBlock "Unit Delay" SrcPort 1 Points [15, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "In1" SrcPort 1 Points [50, 0] Branch { Points [0, 95] DstBlock "Discrete-Time\nIntegrator" DstPort 1 } Branch { Points [25, 0] Branch { Points [0, 25] DstBlock "Unit Delay" DstPort 1 } Branch { Points [0, -20] DstBlock "Sum" DstPort 1 } } Branch { Points [0, -95] DstBlock "Gain" DstPort 1 } } } } Block { BlockType Reference Name "Repeating\nSequence" SID "81" Ports [0, 1] Position [50, 158, 85, 192] LibraryVersion "1.256" SourceBlock "simulink/Sources/Repeating\nSequence" SourceType "Repeating table" rep_seq_t "[0 2 4 6 8]" rep_seq_y "[0 0.1 0.1 0 0]" } Block { BlockType SubSystem Name "SMI_ServoSystem" SID "82" Ports [1, 4] Position [450, 75, 560, 250] Permissions "ReadOnly" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskPromptString "Sample Time [s]" MaskStyleString "edit" MaskVariables "stime=@1;" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "0.002" Port { PortNumber 1 Name "pos" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "vel" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "voltage" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "current" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } System { Name "SMI_ServoSystem" Location [2, 82, 1014, 732] 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 "u" SID "83" Position [20, 28, 50, 42] IconDisplay "Port number" } Block { BlockType ArithShift Name "Bitwise\nLogical Operator" SID "84" Ports [1, 1] Position [310, 214, 345, 246] ShowName off InputPortMap "u0" BitShiftNumber "31" } Block { BlockType Reference Name "Bitwise\nLogical Operator2" SID "85" Ports [1, 1] Position [325, 268, 395, 302] ShowName off LibraryVersion "1.256" SourceBlock "simulink/Logic and Bit\nOperations/Bitwise\nOperator" SourceType "Bitwise Operator" logicop "AND" UseBitMask on NumInputPorts "1" BitMask "'7FFFFFFF'" BitMaskRealWorld "Stored Integer" } Block { BlockType Clock Name "Clock" SID "86" Position [40, 230, 60, 250] } Block { BlockType Constant Name "Constant" SID "87" Position [85, 84, 105, 106] ShowName off Value "0" } Block { BlockType Constant Name "Constant1" SID "88" Position [45, 284, 60, 306] ShowName off Value "0" } Block { BlockType DataTypeConversion Name "Data Type Conversion" SID "89" Position [230, 214, 270, 246] ShowName off OutDataTypeStr "uint32" } Block { BlockType DataTypeConversion Name "Data Type Conversion1" SID "90" Position [445, 216, 495, 244] ShowName off OutDataTypeStr "double" } Block { BlockType DataTypeConversion Name "Data Type Conversion2" SID "91" Position [445, 271, 495, 299] ShowName off OutDataTypeStr "double" } Block { BlockType Demux Name "Demux" SID "92" Ports [1, 2] Position [140, 364, 150, 446] BackgroundColor "black" ShowName off Outputs "2" } Block { BlockType Derivative Name "Derivative1" SID "93" Position [720, 165, 750, 195] } Block { BlockType Gain Name "Gain1" SID "94" Position [205, 369, 235, 401] ShowName off Gain "10" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain2" SID "95" Position [365, 212, 420, 248] ShowName off Gain "2^31" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain3" SID "96" Position [70, 20, 100, 50] ShowName off Gain "-1" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain4" SID "97" Position [205, 410, 235, 440] ShowName off Gain "-4/4.85" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain6" SID "98" Position [580, 215, 610, 245] ShowName off Gain "-1" SaturateOnIntegerOverflow off } Block { BlockType Mux Name "Mux" SID "99" Ports [4, 1] Position [195, 46, 200, 99] ShowName off DisplayOption "bar" } Block { BlockType SubSystem Name "RT-DAC\nAnalog Inputs" SID "100" Ports [0, 1] Position [25, 380, 85, 430] ShowPortLabels "none" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskType " Analog Input Module" MaskDescription "RT-DAC PCI Device Driver" MaskHelp "Set up each field for your specific hardware configuration." MaskPromptString "Base Address:|Channel:|Gain:|Sample Time (sec):" MaskStyleString "edit,edit,edit,edit" MaskVariables "BaseAddress=@1;Chan=@2;Gain=@3;T0=@4;" MaskTunableValueString "on,on,on,on" MaskCallbackString "|||" MaskEnableString "on,on,on,on" MaskVisibilityString "on,on,on,on" MaskToolTipString "on,on,on,on" MaskDisplay "plot(0,0,100,100,[90,80,80,11,11],[90,90,20,20,80],[11,80],[80,80],[80,80],[20,14],[80,85,85,80],[4" "5,45,66,66],[45,45,74,74],[20,13,13,20],[15,27,27,15,15],[75,75,26,26,75],[33,48,48,33,33],[75,75,55,55,75],[55,55," "71,71,55],[55,75,75,55,55],[33,41,41,33,33],[50,50,27,27,50],[48,56,56,48,48],[50,50,27,27,50],[62,70,70,62,62],[50" ",50,27,27,50])" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "mex_baseaddress(-1,-1)|[10 11]|[1 1]|stime" System { Name "RT-DAC\nAnalog Inputs" Location [209, 103, 421, 243] 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 S-Function Name "RT-DAC\nAnalog Inputs" SID "101" Ports [0, 1] Position [30, 43, 145, 97] FunctionName "rtdacpci_analoginputs" Parameters "BaseAddress, Chan, Gain, T0" EnableBusSupport off } Block { BlockType Outport Name "Analog\nInputs" SID "102" Position [165, 60, 185, 80] IconDisplay "Port number" InitialOutput "0" } Line { SrcBlock "RT-DAC\nAnalog Inputs" SrcPort 1 DstBlock "Analog\nInputs" DstPort 1 } } } Block { BlockType SubSystem Name "RT-DAC PCI\nAnalog Outputs" SID "103" Ports [1] Position [225, 50, 285, 100] ShowPortLabels "none" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskType "Analog Output Module" MaskDescription "RT-DAC PCI Device Driver" MaskHelp "Set up each field for your specific hardware configuration." MaskPromptString "Base Address:|Voltage Range|Set Outputs At Termination|Termination Outputs [V]:|Sample Time (se" "c):" MaskStyleString "edit,popup(0V - +10V|-10V - 0V|-10V - +10V),checkbox,edit,edit" MaskVariables "BaseAddress=@1;VoltRange=@2;SetOutputsFlag=@3;SetOutputsValue=@4;T0=@5;" MaskTunableValueString "on,on,on,on,on" MaskCallbackString "||||" MaskEnableString "on,on,on,on,on" MaskVisibilityString "on,on,on,on,on" MaskToolTipString "on,on,on,on,on" MaskDisplay "plot(0,0,100,100,[90,80,80,11,11],[90,90,20,20,80],[11,80],[80,80],[80,80],[20,14],[80,85,85,80],[4" "5,45,66,66],[45,45,74,74],[20,13,13,20],[15,27,27,15,15],[75,75,26,26,75],[33,48,48,33,33],[75,75,55,55,75],[55,55," "71,71,55],[55,75,75,55,55],[33,41,41,33,33],[50,50,27,27,50],[48,56,56,48,48],[50,50,27,27,50],[62,70,70,62,62],[50" ",50,27,27,50])" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "mex_baseaddress(-1,-1)|-10V - +10V|on|[ 0 0 0 0]|stime" System { Name "RT-DAC PCI\nAnalog Outputs" Location [48, 210, 346, 395] 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 "Channel 0\nChannel 1\nChannel 2\nChannel 3" SID "104" Position [40, 65, 60, 85] IconDisplay "Port number" } Block { BlockType S-Function Name "RT-DAC PCI\nAnalog Outputs " SID "105" Ports [1] Position [95, 51, 235, 99] FunctionName "rtdacpci_analogoutputs" Parameters "BaseAddress, VoltRange, SetOutputsFlag, SetOutputsValue, T0" EnableBusSupport off } Line { SrcBlock "Channel 0\nChannel 1\nChannel 2\nChannel 3" SrcPort 1 DstBlock "RT-DAC PCI\nAnalog Outputs " DstPort 1 } } } Block { BlockType SubSystem Name "RT-DAC PCI\nDigital Directions" SID "106" Ports [] Position [480, 380, 540, 430] ShowPortLabels "none" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskType "Digital Directions Module" MaskDescription "RT-DAC PCI Device Driver" MaskHelp "Set up each field for your specific hardware configuration." MaskPromptString "IO Base Address:|Digital IO 7 - Digital IO 0 (I-input, O-output):|Digital IO 15 - Digital IO 8 " "(I-input, O-output):|Digital IO 23 - Digital IO 16 (I-input, O-output):|Digital IO 31 - Digital IO 24 (I-input, O-o" "utput):" MaskStyleString "edit,edit,edit,edit,edit" MaskVariables "BaseAddress=@1;Dir0007=&2;Dir0815=&3;Dir1623=&4;Dir2431=&5;" MaskTunableValueString "on,on,on,on,on" MaskCallbackString "||||" MaskEnableString "on,on,on,on,on" MaskVisibilityString "on,on,on,on,on" MaskToolTipString "on,on,on,on,on" MaskDisplay "plot(0,0,100,100,[90,80,80,11,11],[90,90,20,20,80],[11,80],[80,80],[80,80],[20,14],[80,85,85,80],[4" "5,45,66,66],[45,45,74,74],[20,13,13,20],[15,27,27,15,15],[75,75,26,26,75],[33,48,48,33,33],[75,75,55,55,75],[55,55," "71,71,55],[55,75,75,55,55],[33,41,41,33,33],[50,50,27,27,50],[48,56,56,48,48],[50,50,27,27,50],[62,70,70,62,62],[50" ",50,27,27,50])" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "mex_baseaddress(-1,-1)|IIIIIIII|IIIIIIII|IIIIIIII|IIIIIIII" System { Name "RT-DAC PCI\nDigital Directions" Location [167, 290, 379, 430] 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 S-Function Name "RT-DAC PCI\nDigital Direction" SID "107" Ports [] Position [40, 38, 180, 92] FunctionName "rtdacpci_digitaldirections" Parameters "BaseAddress, Dir0007, Dir0815, Dir1623, Dir2431" EnableBusSupport off } } } Block { BlockType SubSystem Name "RT-DAC PCI\nEncoder" SID "108" Ports [1, 1] Position [65, 140, 125, 190] ShowPortLabels "none" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskType "Incremental Encoders" MaskDescription "RT-DAC PCI Device Driver" MaskHelp "Set up each field for your specific hardware configuration." MaskPromptString "Base Address:|Channel:|Sample Time (sec):" MaskStyleString "edit,popup(0|1|2|3),edit" MaskVariables "BaseAddress=@1;ChannelIdx=@2;T0=@3;" MaskTunableValueString "on,on,on" MaskCallbackString "||" MaskEnableString "on,on,on" MaskVisibilityString "on,on,on" MaskToolTipString "on,on,on" MaskDisplay "plot(0,0,100,100,[90,80,80,11,11],[90,90,20,20,80],[11,80],[80,80],[80,80],[20,14],[80,85,85,80],[4" "5,45,66,66],[45,45,74,74],[20,13,13,20],[15,27,27,15,15],[75,75,26,26,75],[33,48,48,33,33],[75,75,55,55,75],[55,55," "71,71,55],[55,75,75,55,55],[33,41,41,33,33],[50,50,27,27,50],[48,56,56,48,48],[50,50,27,27,50],[62,70,70,62,62],[50" ",50,27,27,50])" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "mex_baseaddress(-1,-1)|0|stime" System { Name "RT-DAC PCI\nEncoder" Location [162, 442, 417, 600] 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 "Reset" SID "109" Position [20, 65, 40, 85] IconDisplay "Port number" } Block { BlockType S-Function Name "RT-DAC PCI\nEncoder" SID "110" Ports [1, 1] Position [75, 48, 170, 102] FunctionName "rtdacpci_encoder" Parameters "BaseAddress, ChannelIdx, T0" EnableBusSupport off } Block { BlockType Outport Name "Encoder\nCounter" SID "111" Position [210, 65, 230, 85] IconDisplay "Port number" InitialOutput "0" } Line { SrcBlock "Reset" SrcPort 1 DstBlock "RT-DAC PCI\nEncoder" DstPort 1 } Line { SrcBlock "RT-DAC PCI\nEncoder" SrcPort 1 DstBlock "Encoder\nCounter" DstPort 1 } } } Block { BlockType Saturate Name "Saturation" SID "112" Ports [1, 1] Position [130, 20, 160, 50] ShowName off InputPortMap "u0" UpperLimit "10" LowerLimit "-10" } Block { BlockType Step Name "Step1" SID "113" Position [15, 150, 45, 180] Time "stime" Before "1" After "0" SampleTime "stime" } Block { BlockType Sum Name "Sum" SID "114" Ports [2, 1] Position [525, 220, 545, 240] ShowName off IconShape "round" Inputs "|-+" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Switch Name "Switch" SID "115" Position [165, 215, 195, 245] Threshold "stime" InputSameDT off } Block { BlockType Gain Name "mm " SID "116" Position [640, 215, 670, 245] Gain "11/4000/1000" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "pos" SID "117" Position [775, 223, 805, 237] IconDisplay "Port number" } Block { BlockType Outport Name "vel" SID "118" Position [780, 173, 810, 187] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "voltage\n" SID "119" Position [310, 378, 340, 392] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "current" SID "120" Position [310, 418, 340, 432] Port "4" IconDisplay "Port number" } Line { SrcBlock "Mux" SrcPort 1 DstBlock "RT-DAC PCI\nAnalog Outputs" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 Points [-5, 0; 25, 0] Branch { Points [0, -15] Branch { Points [0, -15] DstBlock "Mux" DstPort 2 } Branch { DstBlock "Mux" DstPort 3 } } Branch { DstBlock "Mux" DstPort 4 } } Line { SrcBlock "RT-DAC\nAnalog Inputs" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "Gain4" DstPort 1 } Line { SrcBlock "Step1" SrcPort 1 DstBlock "RT-DAC PCI\nEncoder" DstPort 1 } Line { SrcBlock "u" SrcPort 1 DstBlock "Gain3" DstPort 1 } Line { SrcBlock "Saturation" SrcPort 1 Points [0, 15] DstBlock "Mux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "Gain1" DstPort 1 } Line { SrcBlock "Gain6" SrcPort 1 DstBlock "mm " DstPort 1 } Line { SrcBlock "Bitwise\nLogical Operator2" SrcPort 1 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Data Type Conversion" SrcPort 1 Points [0, 0; 5, 0] Branch { DstBlock "Bitwise\nLogical Operator" DstPort 1 } Branch { Points [0, 55] DstBlock "Bitwise\nLogical Operator2" DstPort 1 } } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Gain6" DstPort 1 } Line { SrcBlock "Data Type Conversion2" SrcPort 1 Points [35, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Gain2" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "Bitwise\nLogical Operator" SrcPort 1 DstBlock "Gain2" DstPort 1 } Line { SrcBlock "mm " SrcPort 1 Points [0, 0; 15, 0] Branch { DstBlock "pos" DstPort 1 } Branch { Points [0, -50] DstBlock "Derivative1" DstPort 1 } } Line { SrcBlock "Gain1" SrcPort 1 DstBlock "voltage\n" DstPort 1 } Line { SrcBlock "Gain4" SrcPort 1 DstBlock "current" DstPort 1 } Line { SrcBlock "Derivative1" SrcPort 1 DstBlock "vel" DstPort 1 } Line { SrcBlock "Switch" SrcPort 1 DstBlock "Data Type Conversion" DstPort 1 } Line { SrcBlock "RT-DAC PCI\nEncoder" SrcPort 1 Points [10, 0; 0, 55] DstBlock "Switch" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 Points [75, 0; 0, -55] DstBlock "Switch" DstPort 3 } Line { SrcBlock "Clock" SrcPort 1 Points [40, 0; 0, -10] DstBlock "Switch" DstPort 2 } Line { SrcBlock "Gain3" SrcPort 1 DstBlock "Saturation" DstPort 1 } } } Block { BlockType Scope Name "Scope" SID "125" Ports [6] Position [660, 98, 760, 257] ZOrder -3 Floating off Location [1492, 347, 1816, 805] Open on NumInputPorts "6" List { ListType AxesTitles axes1 "%" axes2 "%" axes3 "%" axes4 "%" axes5 "%" axes6 "%" } 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" } TimeRange "20" YMin "-5~-5~-5~-5~-5~-5" YMax "5~5~5~5~5~5" SaveToWorkspace on DataFormat "StructureWithTime" MaxDataPoints "50000" SampleTime "0" } Block { BlockType Sin Name "Sine Wave1" SID "122" Ports [0, 1] Position [50, 235, 80, 265] Amplitude "0.1" SampleTime "0" } Block { BlockType Step Name "Step" SID "123" Position [50, 85, 80, 115] Time "0" After "0.02" SampleTime "0" } Block { BlockType Sum Name "Sum" SID "124" Ports [2, 1] Position [345, 155, 365, 175] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" } Line { Name "pos" Labels [0, 0] SrcBlock "SMI_ServoSystem" SrcPort 1 Points [40, 0; 0, 70] Branch { Points [0, 130; -250, 0] DstBlock "Sum" DstPort 2 } Branch { DstBlock "Scope" DstPort 3 } } Line { Name "voltage" Labels [0, 0] SrcBlock "SMI_ServoSystem" SrcPort 3 Points [15, 0; 0, 30] DstBlock "Scope" DstPort 5 } Line { Name "vel" Labels [0, 0] SrcBlock "SMI_ServoSystem" SrcPort 2 Points [30, 0; 0, 50] DstBlock "Scope" DstPort 4 } Line { Name "current" Labels [0, 0] SrcBlock "SMI_ServoSystem" SrcPort 4 Points [60, 0; 0, 10] DstBlock "Scope" DstPort 6 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "PID_z" DstPort 1 } Line { SrcBlock "Manual Switch1" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Manual Switch2" SrcPort 1 Points [-5, 0] Branch { Points [10, 0] Branch { Points [0, 30] DstBlock "Filtr wstepny" DstPort 1 } Branch { Points [0, -25; 80, 0] DstBlock "Manual Switch1" DstPort 1 } } Branch { Points [0, -115; 425, 0; 0, 70] DstBlock "Scope" DstPort 1 } } Line { SrcBlock "Filtr wstepny" SrcPort 1 Points [5, 0; 0, -15] DstBlock "Manual Switch1" DstPort 2 } Line { SrcBlock "Manual Switch3" SrcPort 1 DstBlock "Manual Switch2" DstPort 2 } Line { SrcBlock "Sine Wave1" SrcPort 1 Points [20, 0] DstBlock "Manual Switch3" DstPort 2 } Line { SrcBlock "Step" SrcPort 1 Points [70, 0] DstBlock "Manual Switch2" DstPort 1 } Line { SrcBlock "Repeating\nSequence" SrcPort 1 Points [15, 0] DstBlock "Manual Switch3" DstPort 1 } Line { Name "u" Labels [0, 0] SrcBlock "PID_z" SrcPort 1 Points [5, 0] Branch { DstBlock "SMI_ServoSystem" DstPort 1 } Branch { Points [0, -105; 180, 0; 0, 80] DstBlock "Scope" DstPort 2 } } } }