; VisSim Block Diagram Format (VBDF)
; Copyright ©1989-1999 Visual Solutions
POa="Darko Stipanicev"
PV=3.000
PS=0
PE=10
PP=0.001
PI=173
PX=0.001
PN=1e-006
PL=5
PT=1e-005
Pn=-10,6,16,"Times New Roman"
Pc=81
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="plot"*152x5*74x46
pt="Sustav vodjen diskretnim PID regulatorom"
px="Vijeme (sec)"
pax=0
pf=H
pb=2,0
pbx=10,0
pbY=0,0
pbX=0,0
pm=10,1
pb.0=2,0
pL.0="Diskretni PID - Zeigler-Nichols kont"
pb.1=1,0
pL.1="Diskretni PID - Takahashi"
pb.2=0,0
pb.3=2,0
pL.3="Kontinuirani PID - Zeigler-Nichols"
N.2="const"(0.1)*23x5
N.3="const"(0.3)*22x15
N.4="const"(0.075)*21x20
N.5="const"(10)*22x25
N.6="label"*24x3
n="T"
N.7="label"*23x12
n="Ti"
N.8="label"*22x18
n="Td"
N.9="label"*23x23
n="N"
N.10="variable"*6x243
n=":Derivative Gain"
N.11="label"*142x52
n="SUSTAV VOĐENJA S DISKRETNIM PID REGULATOROM - Reakcijska krivulja"
Of=-21,0,400,0,0,0,18,"Times New Roman"
N.12="label"*22x94
n="SUSTAV VOĐENJA S KONTINUIRANIM PID REGULATOROM - Reakcijska krivulja"
Of=-21,0,400,0,0,0,18,"Times New Roman"
N.13="label"*24x7
n="K"
N.14="const"(5.928)*22x9
N.15="step"(0,1)*30x77
N.16="gain"(1)*82x90<R>
N.17="summingJunction"*50x77
N.18="plot"*154x62*74x46
pt="Sustav vodjen kontinuiranim PID regulatorom"
px="Time (sec)"
pax=0
pf=H
pb=2,0
pbx=10,0
pbY=0,0
pbX=0,0
pm=-1,0
pb.0=0,0
pb.1=2,0
pb.2=0,0
pb.3=0,0
N.19="Compound"*69x76#3,1<C>
n="PID regulator"
Ms=3200,0,0,6000,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.20="summingJunction"*76x34#3,1<M>
N.21="label"*6x56<M>
n="Feedback"
N.22="variable"*61x67<M>
n=":Proportional Gain"
N.23="label"*43x64<M>
n="==== Parameters ===="
N.24="variable"*61x70<M>
n=":Integral Gain"
N.25="variable"*61x74<M>
n=":Derivative Gain"
N.26="const"(5.928)*43x67<M>
N.27="const"(0.3)*43x70<M>
N.28="const"(0.075)*43x74<M>
N.29="*"*89x46<M>
N.30="*"*44x49<M>
N.31="variable"*56x52<M>
n=":Proportional Gain"
N.32="variable"*5x29<M>
n=":Integral Gain"
N.33="variable"*21x48<M>
n=":Derivative Gain"
N.34="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.35="summingJunction"*36x30<M>
N.36="integrator"(0,1,0)*32x38<MR>
N.37="/"*91x31<M>
N.38="label"*5x26<M>
n="Input signal"
N.39="label"*136x25<M>
n="Output signal"
N.40="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.41="variable"*61x32<M>
n=":time constant"
N.42="label"*12x49<M>
n="==== Parameters ===="
N.43="variable"*26x53<M>
n=":time constant"
N.44="const"(0.01)*7x53<M>
N.45="integrator"(0,0,0)*53x28<M>
N.46="1/X"*28x29<M>
N.47="*"*42x27<M>
N.48="label"*86x33
n="Parametri podeseni Takahashijevom procedurom"
Of=-19,0,400,0,0,0,18,"Times New Roman"
N.49="transferFunction"*98x39<R>
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=0.5525
Xn="1 -1 "
Xd="1 -.5525 "
XF=0,0,0,0,0,0,0,0,0,0
N.50="gain"(1)*50x33
N.51="summingJunction"*76x37#3,1<R>
N.52="transferFunction"*58x48
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=0.03704
Xn="1 0 "
Xd="1 -1 "
XF=0,0,0,0,0,0,0,0,0,0
N.53="gain"(3.001)*95x50
N.54="summingJunction"*83x48#3,1
N.55="step"(0,1)*36x42
N.56="gain"(1)*80x60<R>
N.57="summingJunction"*50x49
N.58="const"(3.001)*23x45
N.59="label"*25x43
n="K"
N.60="label"*24x58
n="N"
N.61="label"*23x53
n="Td"
N.62="label"*23x48
n="Ti"
N.63="label"*25x38
n="T"
N.64="const"(10)*23x60
N.65="const"(1.2346)*22x55
N.66="const"(2.6997)*22x50
N.67="const"(0.1)*24x40
N.68="label"*90x1
n="Parametri podeseni Zeigler - Nicholsom za kontinuirane"
Of=-19,0,400,0,0,0,18,"Times New Roman"
N.69="label"*75x70
n="Parametri podeseni Zeigler - Nicholsom za kontinuirane"
Of=-19,0,400,0,0,0,18,"Times New Roman"
N.70="transferFunction"*100x76
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="transferFunction"*111x48
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.72="transferFunction"*102x7<R>
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=0.0697
Xn="1 -1 "
Xd="1 -.0697 "
XF=0,0,0,0,0,0,0,0,0,0
N.73="gain"(0.2)*53x1
N.74="summingJunction"*80x5#3,1<R>
N.75="transferFunction"*59x16
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=0.3333
Xn="1 0 "
Xd="1 -1 "
XF=0,0,0,0,0,0,0,0,0,0
N.76="gain"(5.928)*99x18
N.77="summingJunction"*79x16#3,1
N.78="transferFunction"*118x16
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.79="step"(0,1)*36x10
N.80="gain"(1)*83x26<R>
N.81="summingJunction"*48x17
I.1.i1=78.o1
I.1.i2=71.o1
I.1.i4=70.o1
I.16.i1=70.o1
I.17.i1=15.o1
f17.2.i=-
I.17.i2=16.o1
I.18.i2=70.o1
G.19=20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,45,46,47,
I.19.o1=29.o1
I.19.i1=17.o1
I.19.i2=17.o1
I.19.i3=17.o1
I.20.i1=45.o1
I.20.i2=19.i2
I.20.i3=34.o1
I.22.i1=26.o1
I.24.i1=27.o1
I.25.i1=28.o1
I.29.i1=20.o1
I.29.i2=31.o1
I.30.i1=33.o1
I.30.i2=19.i3
G.34=35,36,37,38,39,40,41,42,43,44,
I.34.o1=37.o1
I.34.i1=30.o1
I.35.i1=34.i1
f35.2.i=-
I.35.i2=36.o1
I.36.i1=37.o1
f37.1.i=ll
I.37.i1=35.o1
f37.2.i=lr
I.37.i2=41.o1
I.43.i1=44.o1
I.45.i1=47.o1
I.46.i1=32.o1
I.47.i1=19.i1
I.47.i2=46.o1
I.49.i1=71.o1
I.50.i1=55.o1
f51.1.i=-
I.51.i1=71.o1
I.51.i2=50.o1
f51.3.i=-
I.51.i3=49.o1
I.52.i1=57.o1
I.53.i1=54.o1
I.54.i1=51.o1
I.54.i2=52.o1
I.56.i1=71.o1
I.57.i1=55.o1
f57.2.i=-
I.57.i2=56.o1
I.70.i1=19.o1
I.71.i1=53.o1
I.72.i1=78.o1
I.73.i1=79.o1
f74.1.i=-
I.74.i1=78.o1
I.74.i2=73.o1
f74.3.i=-
I.74.i3=72.o1
I.75.i1=81.o1
I.76.i1=77.o1
I.77.i1=74.o1
I.77.i2=75.o1
I.78.i1=76.o1
I.80.i1=78.o1
I.81.i1=79.o1
f81.2.i=-
I.81.i2=80.o1
cEOF