; VisSim Block Diagram Format (VBDF)
; Copyright ©1989-1999 Visual Solutions
POa="Darko Stipanicev"
PV=3.000
PS=0
PE=3
PP=0.01
PI=173
PX=0.01
PN=1e-006
PL=5
PT=1e-005
Pn=-10,6,16,"Times New Roman"
Pc=137
Po=0.01,50,664,0
Ppl=0
Ppp=0
Ppt=0
Ppf=1
Pe=0
PD=1600x1200
Pf=0x0
Ps=3200,0,0,6000,0,0
PM=1,1,1,1
N.1="step"(0,1)*39x10
N.2="label"*93x7
n="Kontinuirani PID"
Of=-19,0,400,0,0,0,18,"Times New Roman"
N.3="Compound"*72x10#3,1<C>
n="PID regulator"
Ms=3200,0,0,6000,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.4="summingJunction"*76x34#3,1<M>
N.5="label"*6x56<M>
n="Feedback"
N.6="variable"*61x67<M>
n=":Proportional Gain"
N.7="label"*43x64<M>
n="==== Parameters ===="
N.8="variable"*61x70<M>
n=":Integral Gain"
N.9="variable"*61x74<M>
n=":Derivative Gain"
N.10="const"(4.16)*43x67<M>
N.11="const"(1.3495)*43x70<M>
N.12="const"(0.0713)*43x74<M>
N.13="*"*89x46<M>
N.14="*"*44x49<M>
N.15="variable"*56x52<M>
n=":Proportional Gain"
N.16="variable"*5x29<M>
n=":Integral Gain"
N.17="variable"*21x48<M>
n=":Derivative Gain"
N.18="Compound"*54x40#1,1<MC>
n="     d
    ----
      dt
Derivative"
Ms=1359,0,0,939,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.19="summingJunction"*36x30<M>
N.20="integrator"(0,3,0)*32x38<MR>
N.21="/"*91x31<M>
N.22="label"*5x26<M>
n="Input signal"
N.23="label"*136x25<M>
n="Output signal"
N.24="comment"*3x0*120x15<M>
C="Derivative Model:	

This model is used to take the derivative of a signal using a lag filter.  The derivative is valid for frequencies up to (1/ time constant).  For higher frequencies the time constant must be decreased.

Limitations: 
1.  time constant > 0
2.  Simulation stepsize must be less than the time constant for stability."
N.25="variable"*61x32<M>
n=":time constant"
N.26="label"*12x49<M>
n="==== Parameters ===="
N.27="variable"*26x53<M>
n=":time constant"
N.28="const"(0.01)*7x53<M>
N.29="integrator"(0,2,0)*53x28<M>
N.30="1/X"*28x29<M>
N.31="*"*42x27<M>
N.32="summingJunction"*53x11
N.33="gain"(1)*85x20<R>
N.34="transferFunction"*105x10
n="vabcd.m"
Xi="0 "
Xg=1.68
Xn="1 "
Xd=".231 1.3 1 "
XF=0,0,0,0,0,0,0,0,0,0
N.35="plot"*140x11*79x46
pt="Odziv kontinuirani PID reg."
px="Time (sec)"
pax=0
pf=H
pb=2,0
pbx=3,0
pbY=0,0
pbX=0,0
pm=30,1
pb.0=2,0
pL.0="Minimizacija ISTE kriterija"
pb.1=2,0
pL.1="Zeigler-Nichols"
pb.2=2,0
pL.2="Chien - Hranes - Resewichu slijedni"
pb.3=2,0
pL.3="Cohen-Coonu"
N.36="transferFunction"*107x31
n="vabcd.m"
Xi="0 "
Xg=1.68
Xn="1 "
Xd=".231 1.3 1 "
XF=0,0,0,0,0,0,0,0,0,0
N.37="gain"(1)*87x41<R>
N.38="summingJunction"*55x32
N.39="Compound"*74x31#3,1<C>
n="PID regulator"
Ms=3200,0,0,6000,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.40="summingJunction"*76x34#3,1<M>
N.41="label"*6x56<M>
n="Feedback"
N.42="variable"*61x67<M>
n=":Proportional Gain"
N.43="label"*43x64<M>
n="==== Parameters ===="
N.44="variable"*61x70<M>
n=":Integral Gain"
N.45="variable"*61x74<M>
n=":Derivative Gain"
N.46="const"(5.928)*43x67<M>
N.47="const"(0.3)*43x70<M>
N.48="const"(0.063)*43x74<M>
N.49="*"*89x46<M>
N.50="*"*44x49<M>
N.51="variable"*56x52<M>
n=":Proportional Gain"
N.52="variable"*5x29<M>
n=":Integral Gain"
N.53="variable"*21x48<M>
n=":Derivative Gain"
N.54="Compound"*54x40#1,1<MC>
n="     d
    ----
      dt
Derivative"
Ms=1359,0,0,939,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.55="summingJunction"*36x30<M>
N.56="integrator"(0,1,0)*32x38<MR>
N.57="/"*91x31<M>
N.58="label"*5x26<M>
n="Input signal"
N.59="label"*136x25<M>
n="Output signal"
N.60="comment"*3x0*120x15<M>
C="Derivative Model:	

This model is used to take the derivative of a signal using a lag filter.  The derivative is valid for frequencies up to (1/ time constant).  For higher frequencies the time constant must be decreased.

Limitations: 
1.  time constant > 0
2.  Simulation stepsize must be less than the time constant for stability."
N.61="variable"*61x32<M>
n=":time constant"
N.62="label"*12x49<M>
n="==== Parameters ===="
N.63="variable"*26x53<M>
n=":time constant"
N.64="const"(0.01)*7x53<M>
N.65="integrator"(0,0,0)*53x28<M>
N.66="1/X"*28x29<M>
N.67="*"*42x27<M>
N.68="label"*91x27
n="Kontinuirani PID"
Of=-19,0,400,0,0,0,18,"Times New Roman"
N.69="step"(0,1)*41x31
N.70="transferFunction"*107x54
n="vabcd.m"
Xi="0 "
Xg=1.68
Xn="1 "
Xd=".231 1.3 1 "
XF=0,0,0,0,0,0,0,0,0,0
N.71="gain"(1)*87x64<R>
N.72="summingJunction"*55x55
N.73="Compound"*74x54#3,1<C>
n="PID regulator"
Ms=3200,0,0,6000,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.74="summingJunction"*76x34#3,1<M>
N.75="label"*6x56<M>
n="Feedback"
N.76="variable"*61x67<M>
n=":Proportional Gain"
N.77="label"*43x64<M>
n="==== Parameters ===="
N.78="variable"*61x70<M>
n=":Integral Gain"
N.79="variable"*61x74<M>
n=":Derivative Gain"
N.80="const"(4.693)*43x67<M>
N.81="const"(1.6932)*43x70<M>
N.82="const"(0.0705)*43x74<M>
N.83="*"*89x46<M>
N.84="*"*44x49<M>
N.85="variable"*56x52<M>
n=":Proportional Gain"
N.86="variable"*5x29<M>
n=":Integral Gain"
N.87="variable"*21x48<M>
n=":Derivative Gain"
N.88="Compound"*54x40#1,1<MC>
n="     d
    ----
      dt
Derivative"
Ms=1359,0,0,939,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.89="summingJunction"*36x30<M>
N.90="integrator"(0,5,0)*32x38<MR>
N.91="/"*91x31<M>
N.92="label"*5x26<M>
n="Input signal"
N.93="label"*136x25<M>
n="Output signal"
N.94="comment"*3x0*120x15<M>
C="Derivative Model:	

This model is used to take the derivative of a signal using a lag filter.  The derivative is valid for frequencies up to (1/ time constant).  For higher frequencies the time constant must be decreased.

Limitations: 
1.  time constant > 0
2.  Simulation stepsize must be less than the time constant for stability."
N.95="variable"*61x32<M>
n=":time constant"
N.96="label"*12x49<M>
n="==== Parameters ===="
N.97="variable"*26x53<M>
n=":time constant"
N.98="const"(0.01)*7x53<M>
N.99="integrator"(0,4,0)*53x28<M>
N.100="1/X"*28x29<M>
N.101="*"*42x27<M>
N.102="label"*89x50
n="Kontinuirani PID"
Of=-19,0,400,0,0,0,18,"Times New Roman"
N.103="step"(0,1)*41x54
N.104="step"(0,1)*46x77
N.105="label"*94x73
n="Kontinuirani PID"
Of=-19,0,400,0,0,0,18,"Times New Roman"
N.106="Compound"*79x77#3,1<C>
n="PID regulator"
Ms=3200,0,0,6000,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.107="summingJunction"*76x34#3,1<M>
N.108="label"*6x56<M>
n="Feedback"
N.109="variable"*61x67<M>
n=":Proportional Gain"
N.110="label"*43x64<M>
n="==== Parameters ===="
N.111="variable"*61x70<M>
n=":Integral Gain"
N.112="variable"*61x74<M>
n=":Derivative Gain"
N.113="const"(6.736)*43x67<M>
N.114="const"(0.3515)*43x70<M>
N.115="const"(0.053376)*43x74<M>
N.116="*"*89x46<M>
N.117="*"*44x49<M>
N.118="variable"*56x52<M>
n=":Proportional Gain"
N.119="variable"*5x29<M>
n=":Integral Gain"
N.120="variable"*21x48<M>
n=":Derivative Gain"
N.121="Compound"*54x40#1,1<MC>
n="     d
    ----
      dt
Derivative"
Ms=1359,0,0,939,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.122="summingJunction"*36x30<M>
N.123="integrator"(0,7,0)*32x38<MR>
N.124="/"*91x31<M>
N.125="label"*5x26<M>
n="Input signal"
N.126="label"*136x25<M>
n="Output signal"
N.127="comment"*3x0*120x15<M>
C="Derivative Model:	

This model is used to take the derivative of a signal using a lag filter.  The derivative is valid for frequencies up to (1/ time constant).  For higher frequencies the time constant must be decreased.

Limitations: 
1.  time constant > 0
2.  Simulation stepsize must be less than the time constant for stability."
N.128="variable"*61x32<M>
n=":time constant"
N.129="label"*12x49<M>
n="==== Parameters ===="
N.130="variable"*26x53<M>
n=":time constant"
N.131="const"(0.01)*7x53<M>
N.132="integrator"(0,6,0)*53x28<M>
N.133="1/X"*28x29<M>
N.134="*"*42x27<M>
N.135="summingJunction"*60x78
N.136="gain"(1)*92x87<R>
N.137="transferFunction"*112x77
n="vabcd.m"
Xi="0 "
Xg=1.68
Xn="1 "
Xd=".231 1.3 1 "
XF=0,0,0,0,0,0,0,0,0,0
G.3=4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,29,30,31,
I.3.o1=13.o1
I.3.i1=32.o1
I.3.i2=32.o1
I.3.i3=32.o1
I.4.i1=29.o1
I.4.i2=3.i2
I.4.i3=18.o1
I.6.i1=10.o1
I.8.i1=11.o1
I.9.i1=12.o1
I.13.i1=4.o1
I.13.i2=15.o1
I.14.i1=17.o1
I.14.i2=3.i3
G.18=19,20,21,22,23,24,25,26,27,28,
I.18.o1=21.o1
I.18.i1=14.o1
I.19.i1=18.i1
f19.2.i=-
I.19.i2=20.o1
I.20.i1=21.o1
f21.1.i=ll
I.21.i1=19.o1
f21.2.i=lr
I.21.i2=25.o1
I.27.i1=28.o1
I.29.i1=31.o1
I.30.i1=16.o1
I.31.i1=3.i1
I.31.i2=30.o1
I.32.i1=1.o1
f32.2.i=-
I.32.i2=33.o1
I.33.i1=34.o1
I.34.i1=3.o1
I.35.i1=36.o1
I.35.i2=34.o1
I.35.i3=70.o1
I.35.i4=137.o1
I.36.i1=39.o1
I.37.i1=36.o1
I.38.i1=69.o1
f38.2.i=-
I.38.i2=37.o1
G.39=40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,65,66,67,
I.39.o1=49.o1
I.39.i1=38.o1
I.39.i2=38.o1
I.39.i3=38.o1
I.40.i1=65.o1
I.40.i2=39.i2
I.40.i3=54.o1
I.42.i1=46.o1
I.44.i1=47.o1
I.45.i1=48.o1
I.49.i1=40.o1
I.49.i2=51.o1
I.50.i1=53.o1
I.50.i2=39.i3
G.54=55,56,57,58,59,60,61,62,63,64,
I.54.o1=57.o1
I.54.i1=50.o1
I.55.i1=54.i1
f55.2.i=-
I.55.i2=56.o1
I.56.i1=57.o1
f57.1.i=ll
I.57.i1=55.o1
f57.2.i=lr
I.57.i2=61.o1
I.63.i1=64.o1
I.65.i1=67.o1
I.66.i1=52.o1
I.67.i1=39.i1
I.67.i2=66.o1
I.70.i1=73.o1
I.71.i1=70.o1
I.72.i1=103.o1
f72.2.i=-
I.72.i2=71.o1
G.73=74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,99,100,101,
I.73.o1=83.o1
I.73.i1=72.o1
I.73.i2=72.o1
I.73.i3=72.o1
I.74.i1=99.o1
I.74.i2=73.i2
I.74.i3=88.o1
I.76.i1=80.o1
I.78.i1=81.o1
I.79.i1=82.o1
I.83.i1=74.o1
I.83.i2=85.o1
I.84.i1=87.o1
I.84.i2=73.i3
G.88=89,90,91,92,93,94,95,96,97,98,
I.88.o1=91.o1
I.88.i1=84.o1
I.89.i1=88.i1
f89.2.i=-
I.89.i2=90.o1
I.90.i1=91.o1
f91.1.i=ll
I.91.i1=89.o1
f91.2.i=lr
I.91.i2=95.o1
I.97.i1=98.o1
I.99.i1=101.o1
I.100.i1=86.o1
I.101.i1=73.i1
I.101.i2=100.o1
G.106=107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,132,133,134,
I.106.o1=116.o1
I.106.i1=135.o1
I.106.i2=135.o1
I.106.i3=135.o1
I.107.i1=132.o1
I.107.i2=106.i2
I.107.i3=121.o1
I.109.i1=113.o1
I.111.i1=114.o1
I.112.i1=115.o1
I.116.i1=107.o1
I.116.i2=118.o1
I.117.i1=120.o1
I.117.i2=106.i3
G.121=122,123,124,125,126,127,128,129,130,131,
I.121.o1=124.o1
I.121.i1=117.o1
I.122.i1=121.i1
f122.2.i=-
I.122.i2=123.o1
I.123.i1=124.o1
f124.1.i=ll
I.124.i1=122.o1
f124.2.i=lr
I.124.i2=128.o1
I.130.i1=131.o1
I.132.i1=134.o1
I.133.i1=119.o1
I.134.i1=106.i1
I.134.i2=133.o1
I.135.i1=104.o1
f135.2.i=-
I.135.i2=136.o1
I.136.i1=137.o1
I.137.i1=106.o1
cEOF