如何绘制具有两个相变量的线性控制系统的并行标准形式（具有两个积分器）的 Tikz 图？

Question

我需要帮助来绘制具有两个相变量的线性控制系统的并行标准形式（带有两个积分器）的 Tikz 图。

我附上了平行标准形式的图表。

非常感谢您的帮助 - 谢谢！

Answer 1

随着最近的 Ti钾Z ，使用库arrows.meta、chains和positioning：quotes

\documentclass[border=3.141592]{standalone}
\usepackage{tikz}
\usetikzlibrary{arrows.meta,
                chains,
                positioning,
                quotes}

\begin{document}

    \begin{tikzpicture}[
node distance = 3mm and 6mm,
  start chain = A going right,
  start chain = B going right,
   arr/.style = {-{Straight Barb[scale=0.8]}},
every edge/.style = {draw, arr},
every edge quotes/.append style = {auto, inner ysep=1pt, font=\footnotesize},
   lbl/.style = {pos=0.95, #1, inner sep=2pt, xshift=-1pt, font=\tiny},
 lbl/.default = left,
   box/.style = {draw, semithick, minimum size = 1em},
   int/.style = {draw, semithick, minimum height = 4ex,
                 font=\Huge, node contents={$\int$},
                },
   sum/.style = {circle, draw, semithick, minimum size = 1em,
                 inner sep=0pt, font=\large, node contents={$+$},
                },
                    ]
    \begin{scope}[nodes={fill=red!30, on chain=A}]
\coordinate (aux);  % A-1
\node[sum];         % A-2
\node[int];
\node[box] {$2$};
\node[sum];
\coordinate[right=13mm of A-5] (aux);
\node[box, below=of A-3] {$-1$};
    \end{scope}
%
\path   (A-1) edge["$u$"] coordinate (aux1)
              node[lbl, above] {$-$}   (A-2)
        (A-2) edge["$\dot{x}_1$"]   (A-3)
        (A-3) edge        coordinate (aux2) (A-4)
        (A-4) edge                  (A-5)
        (A-5) edge["$2x_1-x_2$"]    (A-6);
\draw[arr]  (aux2) |- (A-7);
\draw[arr]  (A-7) -| (A-2) node[lbl] {$+$};
%%%%
    \begin{scope}[nodes={fill=red!30, on chain=B}]
\node[sum, below=13mm of A-2];   % B-1
\node[int];
\node[box] {$-1$};
\node[box, below=of B-2] {$-2$};
    \end{scope}
%
\path   (B-1) edge["$\dot{x}_2$"]   (B-2)
        (B-2) edge["$x_2$"] coordinate (aux3) (B-3);
\draw[arr]  (aux1) |- (B-1)  node[lbl=above] {$-$};
\draw[arr]  (B-3)  -| (A-5) node[lbl] {$+$};
\draw[arr]  (aux3) |- (B-4);
\draw[arr]  (B-4)  -| (B-1) node[lbl] {$+$};
    \end{tikzpicture}
\end{document}