Model { Name "PIDerik" Version 5.0 SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ExecutionOrder off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Fri Dec 23 10:42:29 2005" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "WinXp" ModifiedDateFormat "%" LastModifiedDate "Fri Dec 23 11:09:21 2005" ModelVersionFormat "1.%" ConfigurationManager "None" SimParamPage "Solver" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off 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 ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on RTWExpressionDepthLimit 5 SimulationMode "normal" Solver "ode4" SolverMode "Auto" StartTime "0.0" StopTime "0.2" MaxOrder 5 MaxStep "auto" MinStep "auto" MaxNumMinSteps "-1" InitialStep "auto" FixedStep "0.001" RelTol "1e-3" AbsTol "auto" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" LoadExternalInput off ExternalInput "[t, u]" LoadInitialState off InitialState "xInitial" SaveTime on TimeSaveName "tout" SaveState off StateSaveName "xout" SaveOutput on OutputSaveName "yout" SaveFinalState off FinalStateName "xFinal" SaveFormat "Array" Decimation "1" LimitDataPoints on MaxDataPoints "1000" SignalLoggingName "sigsOut" ConsistencyChecking "none" ArrayBoundsChecking "none" AlgebraicLoopMsg "warning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" CheckForMatrixSingularity "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SfunCompatibilityCheckMsg "none" RTWInlineParameters off BlockReductionOpt on BooleanDataType on ConditionallyExecuteInputs on ParameterPooling on OptimizeBlockIOStorage on ZeroCross on AssertionControl "UseLocalSettings" ProdHWDeviceType "Microprocessor" ProdHWWordLengths "8,16,32,32" RTWSystemTargetFile "grt.tlc" RTWTemplateMakefile "grt_default_tmf" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off RTWRetainRTWFile off TLCProfiler off TLCDebug off TLCCoverage off TLCAssertion off BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Derivative } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ShowAdditionalParam off ParameterDataTypeMode "Same as input" ParameterDataType "sfix(16)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "2^0" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType Inport Port "1" PortDimensions "-1" SampleTime "-1" ShowAdditionalParam off LatchInput off DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" ZeroCross on } Block { BlockType Outport Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Step Time "1" Before "0" After "1" SampleTime "-1" VectorParams1D on ZeroCross on } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" ShowAdditionalParam off InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" } Block { BlockType TransferFcn Numerator "[1]" Denominator "[1 2 1]" AbsoluteTolerance "auto" Realization "auto" } } 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 "PIDerik" Location [195, 193, 775, 475] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType ToWorkspace Name "Arus Jangkar" Position [470, 25, 530, 55] VariableName "arus" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [370, 215, 400, 245] } Block { BlockType ToWorkspace Name "Kecepatan Sudut" Position [470, 85, 530, 115] VariableName "omega" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType SubSystem Name "MOTOR DC" Ports [1, 2] Position [320, 59, 420, 101] TreatAsAtomicUnit off System { Name "MOTOR DC" Location [311, 227, 901, 618] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 168, 55, 182] } Block { BlockType Gain Name "Kb" Position [365, 261, 415, 299] Orientation "left" Gain "0.06" } Block { BlockType Gain Name "Km" Position [335, 156, 385, 194] Gain "0.017" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [135, 165, 155, 185] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType TransferFcn Name "Transfer Fcn" Position [205, 152, 285, 198] Denominator "[0.0086 3.2]" } Block { BlockType TransferFcn Name "Transfer Fcn1" Position [435, 152, 515, 198] Denominator "[0.000003 0]" } Block { BlockType Outport Name "arus" Position [545, 78, 575, 92] } Block { BlockType Outport Name "omega" Position [565, 168, 595, 182] Port "2" } Line { SrcBlock "Transfer Fcn" SrcPort 1 Points [10, 0] Branch { DstBlock "Km" DstPort 1 } Branch { Points [0, -90] DstBlock "arus" DstPort 1 } } Line { SrcBlock "Km" SrcPort 1 DstBlock "Transfer Fcn1" DstPort 1 } Line { SrcBlock "Transfer Fcn1" SrcPort 1 Points [0, 0; 10, 0] Branch { Points [0, 105] DstBlock "Kb" DstPort 1 } Branch { DstBlock "omega" DstPort 1 } } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Transfer Fcn" DstPort 1 } Line { SrcBlock "Kb" SrcPort 1 Points [-215, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Sum" DstPort 1 } } } Block { BlockType SubSystem Name "MOTOR DC1" Ports [1, 1] Position [165, 59, 265, 101] ShowName off TreatAsAtomicUnit off System { Name "MOTOR DC1" Location [311, 227, 901, 618] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 168, 55, 182] } Block { BlockType TransferFcn Name "1/Ki" Position [140, 158, 200, 202] Numerator "[0]" Denominator "[10]" } Block { BlockType TransferFcn Name "1/Ki1" Position [140, 263, 200, 307] ShowName off Numerator "[0]" Denominator "[1]" } Block { BlockType Derivative Name "Derivative" Position [250, 270, 280, 300] } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [240, 165, 270, 195] } Block { BlockType Gain Name "Kp" Position [195, 66, 245, 104] Gain "0.6" } Block { BlockType Sum Name "Sum" Ports [3, 1] Position [375, 165, 395, 185] ShowName off IconShape "round" Inputs "|+++" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Outport Name "tegangan" Position [565, 168, 595, 182] } Line { SrcBlock "Kp" SrcPort 1 Points [75, 0; 0, 75; 39, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "Integrator" SrcPort 1 Points [0, 5; 89, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Derivative" SrcPort 1 Points [100, 0] DstBlock "Sum" DstPort 3 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "tegangan" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 Points [30, 0] Branch { Points [0, -90] DstBlock "Kp" DstPort 1 } Branch { Points [0, 5] DstBlock "1/Ki" DstPort 1 } Branch { Points [0, 110] DstBlock "1/Ki1" DstPort 1 } } Line { SrcBlock "1/Ki" SrcPort 1 DstBlock "Integrator" DstPort 1 } Line { SrcBlock "1/Ki1" SrcPort 1 DstBlock "Derivative" DstPort 1 } Annotation { Name "Pengendali P" Position [217, 52] } Annotation { Name "Pengendali I" Position [226, 147] } Annotation { Name "Kd" Position [185, 297] } Annotation { Name "Pengendali D" Position [215, 246] } } } Block { BlockType ToWorkspace Name "Pembuat Waktu" Position [470, 215, 530, 245] VariableName "time" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Step Name "Step1" Position [270, 215, 300, 245] Time "0" SampleTime "0" } Block { BlockType Step Name "Step2" Position [25, 65, 55, 95] Time "0" SampleTime "0" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [90, 70, 110, 90] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Line { SrcBlock "MOTOR DC" SrcPort 1 Points [15, 0; 0, -30] DstBlock "Arus Jangkar" DstPort 1 } Line { SrcBlock "Step1" SrcPort 1 DstBlock "Integrator" DstPort 1 } Line { SrcBlock "Integrator" SrcPort 1 DstBlock "Pembuat Waktu" DstPort 1 } Line { SrcBlock "MOTOR DC" SrcPort 2 Points [15, 0; 0, 10] Branch { DstBlock "Kecepatan Sudut" DstPort 1 } Branch { Points [0, 75; -340, 0] DstBlock "Sum" DstPort 2 } } Line { SrcBlock "MOTOR DC1" SrcPort 1 DstBlock "MOTOR DC" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "MOTOR DC1" DstPort 1 } Line { SrcBlock "Step2" SrcPort 1 DstBlock "Sum" DstPort 1 } Annotation { Name "Pengendali PID" Position [217, 113] } } }