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111 lines (111 loc) · 2.59 KB
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Copy pathpi_controller.xml
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111 lines (111 loc) · 2.59 KB
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<?xml version="1.0" encoding="utf-8"?>
<System>
<Block BlockType="Inport" Name="setpoint" SID="16">
<P Name="Position">[-20, 403, 10, 417]</P>
<Port>
<P Name="PortNumber">1</P>
<P Name="Name">setpoint</P>
</Port>
</Block>
<Block BlockType="Inport" Name="feedback" SID="18">
<P Name="Position">[-20, 453, 10, 467]</P>
<P Name="Port">2</P>
<Port>
<P Name="PortNumber">1</P>
<P Name="Name">feedback</P>
</Port>
</Block>
<Block BlockType="Sum" Name="Add1" SID="17">
<P Name="Ports">[2, 1]</P>
<P Name="Position">[105, 402, 135, 433]</P>
<P Name="IconShape">rectangular</P>
<P Name="Inputs">+-</P>
</Block>
<Block BlockType="Sum" Name="Add2" SID="22">
<P Name="Ports">[2, 1]</P>
<P Name="Position">[340, 507, 370, 538]</P><P Name="IconShape">rectangular</P>
</Block>
<Block BlockType="Sum" Name="Add3" SID="23">
<P Name="Ports">[2, 1]</P>
<P Name="Position">[430, 412, 460, 443]</P>
<P Name="IconShape">rectangular</P>
<Port>
<P Name="PortNumber">1</P>
<P Name="Name">command</P>
</Port>
</Block>
<Block BlockType="Gain" Name="I_gain" SID="25">
<P Name="Position">[210, 500, 240, 530]</P>
<P Name="Gain">2</P>
</Block>
<Block BlockType="Gain" Name="P_gain" SID="19">
<P Name="Position">[305, 405, 335, 435]</P>
<P Name="Gain">3</P>
</Block>
<Block BlockType="Gain" Name="Ts" SID="26">
<P Name="Position">[270, 500, 310, 530]</P>
<P Name="Gain">0.01</P>
</Block>
<Block BlockType="UnitDelay" Name="Unit Delay1" SID="21">
<P Name="Position">[350, 573, 385, 607]</P>
<P Name="SampleTime">-1</P>
</Block>
<Block BlockType="Outport" Name="command" SID="20">
<P Name="Position">[565, 423, 595, 437]</P>
</Block>
<Line>
<P Name="Name">setpoint</P>
<P Name="Src">16#out:1</P>
<P Name="Dst">17#in:1</P>
</Line>
<Line>
<P Name="Name">feedback</P>
<P Name="Src">18#out:1</P>
<P Name="Points">[43, 0; 0, -35]</P>
<P Name="Dst">17#in:2</P>
</Line>
<Line>
<P Name="Src">17#out:1</P>
<P Name="Points">[51, 0]</P>
<Branch>
<P Name="Points">[0, 95]</P>
<P Name="Dst">25#in:1</P>
</Branch>
<Branch>
<P Name="Dst">19#in:1</P></Branch>
</Line>
<Line>
<P Name="Src">21#out:1</P>
<P Name="Points">[-31, 0; 0, -60]</P>
<P Name="Dst">22#in:2</P>
</Line>
<Line>
<P Name="Src">22#out:1</P>
<P Name="Points">[34, 0]</P>
<Branch>
<P Name="Points">[0, 65]</P>
<P Name="Dst">21#in:1</P>
</Branch>
<Branch>
<P Name="Points">[0, -90]</P>
<P Name="Dst">23#in:2</P>
</Branch>
</Line>
<Line>
<P Name="Src">19#out:1</P>
<P Name="Dst">23#in:1</P>
</Line>
<Line>
<P Name="Name">command</P>
<P Name="Src">23#out:1</P>
<P Name="Dst">20#in:1</P>
</Line>
<Line>
<P Name="Src">25#out:1</P>
<P Name="Dst">26#in:1</P>
</Line>
<Line>
<P Name="Src">26#out:1</P>
<P Name="Dst">22#in:1</P>
</Line>
</System>