Model { Name "zn2_template" Version 7.2 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.54" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "windows-1252" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" Created "Wed Jul 21 14:17:46 2010" Creator "rpm" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "rpm" ModifiedDateFormat "%" LastModifiedDate "Fri Jul 22 17:40:23 2016" RTWModifiedTimeStamp 0 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes 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 "normal" 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 covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on CovModelRefEnable "Off" ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 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 "1.5.1" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.5.1" StartTime "0.0" StopTime "20" AbsTol "auto" FixedStep "0.01" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "SingleTasking" Solver "ode1" SolverName "ode1" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" 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CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Version "1.5.1" Array { Type "Cell" Dimension 16 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "CPPClassGenCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "PortableWordSizes" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" 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"Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" CurrentDlgPage "Solver" ConfigPrmDlgPosition " [ 200, 197, 1080, 827 ] " } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } 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" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } BlockParameterDefaults { Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" 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AbsoluteTolerance "auto" IgnoreLimit off ZeroCross on ContinuousStateAttributes "''" } Block { BlockType Outport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" 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 RandomNumber Mean "0" Variance "1" Seed "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" MinMaxOverflowLogging "UseLocalSettings" } 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 ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" FixptAsFi off } Block { BlockType TransferFcn Numerator "[1]" Denominator "[1 2 1]" AbsoluteTolerance "auto" ContinuousStateAttributes "''" Realization "auto" } Block { BlockType ZeroPole Zeros "[1]" Poles "[0 1]" Gain "[1]" AbsoluteTolerance "auto" ContinuousStateAttributes "''" } } System { Name "zn2_template" Location [95, 89, 1210, 556] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Gain Name "1/Ti" Position [530, 211, 565, 249] NamePlacement "alternate" Gain "1/Ti" ParameterDataTypeMode "Inherit via internal rule" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType TransferFcn Name "D aproximado\n(parâmetros Td e N)" Position [550, 282, 610, 318] Numerator "[-Td 0]" Denominator "[Td/N 1]" } Block { BlockType Reference Name "IDENTIFICAÇÃO (Ctrl P)\nou\nCONTROLE (Ctrl PID)" Ports [2, 1] Position [750, 142, 780, 178] NamePlacement "alternate" SourceBlock "simulink/Signal\nRouting/Manual Switch" SourceType "Manual Switch" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" sw "1" action "0" varsize off } Block { BlockType Integrator Name "Integrador" Ports [1, 1] Position [590, 215, 620, 245] NamePlacement "alternate" } Block { BlockType Gain Name "KP" Position [685, 246, 720, 284] Gain "KP" ParameterDataTypeMode "Inherit via internal rule" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Ku" Position [545, 131, 580, 169] Gain "Ku" ParameterDataTypeMode "Inherit via internal rule" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "PLANTA\n(modelo desconhecido)" Ports [1, 1] Position [860, 127, 960, 193] BackgroundColor "lightBlue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "PLANTA\n(modelo desconhecido)" Location [994, 526, 1492, 826] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "U" Position [65, 118, 95, 132] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Sum Name "... um pouco\nde ruído." Ports [2, 1] Position [365, 110, 395, 140] IconShape "round" Inputs "++|" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType RandomNumber Name "ruído branco\ngaussiano" Position [325, 60, 355, 90] NamePlacement "alternate" Variance "0.001" SampleTime "0" } Block { BlockType ZeroPole Name "É uma planta de terceira\nordem com ..." Position [170, 108, 285, 142] Zeros "[]" Poles "[-1 -2 -3]" Gain "[2]" } Block { BlockType Outport Name "Y" Position [445, 118, 475, 132] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock "U" SrcPort 1 DstBlock "É uma planta de terceira\nordem com ..." DstPort 1 } Line { SrcBlock "... um pouco\nde ruído." SrcPort 1 DstBlock "Y" DstPort 1 } Line { SrcBlock "ruído branco\ngaussiano" SrcPort 1 Points [20, 0] DstBlock "... um pouco\nde ruído." DstPort 1 } Line { SrcBlock "É uma planta de terceira\nordem com ..." SrcPort 1 DstBlock "... um pouco\nde ruído." DstPort 2 } } } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [465, 140, 485, 160] ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [465, 220, 485, 240] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType ToWorkspace Name "To Workspace" Position [1000, 151, 1035, 169] BackgroundColor "green" ShowName off VariableName "Y" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace2" Position [860, 101, 895, 119] BackgroundColor "green" ShowName off VariableName "U" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Step Name "degrau unitário" Position [345, 135, 375, 165] NamePlacement "alternate" Time "0" SampleTime "0" } Block { BlockType Sum Name "soma" Ports [3, 1] Position [645, 215, 660, 315] ShowName off Inputs "+++" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^-10" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Line { SrcBlock "IDENTIFICAÇÃO (Ctrl P)\nou\nCONTROLE (Ctrl PID)" SrcPort 1 Points [55, 0] Branch { Points [0, -50] DstBlock "To Workspace2" DstPort 1 } Branch { DstBlock "PLANTA\n(modelo desconhecido)" DstPort 1 } } Line { SrcBlock "degrau unitário" SrcPort 1 Points [10, 0] Branch { Points [0, 0; 0, 80] DstBlock "Sum2" DstPort 1 } Branch { DstBlock "Sum1" DstPort 2 } } Line { SrcBlock "KP" SrcPort 1 Points [10, 0] DstBlock "IDENTIFICAÇÃO (Ctrl P)\nou\nCONTROLE (Ctrl PID)" DstPort 2 } Line { SrcBlock "soma" SrcPort 1 DstBlock "KP" DstPort 1 } Line { SrcBlock "Integrador" SrcPort 1 DstBlock "soma" DstPort 1 } Line { SrcBlock "1/Ti" SrcPort 1 DstBlock "Integrador" DstPort 1 } Line { SrcBlock "Sum2" SrcPort 1 Points [20, 0] Branch { DstBlock "1/Ti" DstPort 1 } Branch { Points [0, 35] DstBlock "soma" DstPort 2 } } Line { SrcBlock "D aproximado\n(parâmetros Td e N)" SrcPort 1 DstBlock "soma" DstPort 3 } Line { SrcBlock "PLANTA\n(modelo desconhecido)" SrcPort 1 Points [10, 0] Branch { DstBlock "To Workspace" DstPort 1 } Branch { Points [0, 205; -465, 0] Branch { Points [-35, 0] DstBlock "Sum2" DstPort 2 } Branch { Points [0, -65] DstBlock "D aproximado\n(parâmetros Td e N)" DstPort 1 } } Branch { Points [0, -80; -500, 0] DstBlock "Sum1" DstPort 1 } } Line { SrcBlock "Ku" SrcPort 1 DstBlock "IDENTIFICAÇÃO (Ctrl P)\nou\nCONTROLE (Ctrl PID)" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Ku" DstPort 1 } Annotation { Name "ZN2_TEMPLATE\n\nNÃO MODIFIQUE O ARQUIVO ORIGINAL!\nSalve uma cópia em sua pasta.\n\nO modelo cria u" "ma variável \"t\" no workspace\ndo Matlab com o tempo em segundos e variáveis\n\"U\" (entrada da planta) e \"Y\"" " (saída da planta).\n\nUse a chave para escolher entre identificação\nou controle e use o comando\n\n>> plot(t,U" ",t,Y)\n\npara avaliar os resultados.\n\nPara sintonizar o PID use o método de Z-N\nno domínio da frequência, var" "iando Ku.\n\nAs variáveis \"KP\", \"Ti\", \"Td\" e \"N\" do Matlab\ncontêm a sintonia do controlador.\n(é necess" "ário criá-las para que não haja\nerros na simulação, mesmo se não\nforem usadas)." Position [162, 198] DropShadow on FontName "Arial" FontSize 12 } Annotation { Name " PID\n\n\n\n\n \n\n \n\n\n \n \n\n" "\n " " " Position [415, 288] HorizontalAlignment "left" BackgroundColor "yellow" } } }