; 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"*151x3*74x46
pt="Sustav vodjen diskretnim PID regulatorom"
px="Vijeme (sec)"
pax=0
pf=H
pb=3,-1
pbx=10,0
pbY=0,0
pbX=0,0
pm=10,1
pb.0=3,-1
pL.0="Diskretni PID - Zeigler-Nichols kont"
pb.1=2,0
pL.1="Diskretni PID - Takahashi"
pb.2=0,0
pb.3=2,0
pL.3="Kontinuirani PID - Zeigler-Nichols"
N.2="summingJunction"*48x18
N.3="gain"(1)*76x29<R>
N.4="step"(0,1)*36x11
N.5="summingJunction"*80x17#3,1
N.6="const"(0.1)*23x5
N.7="const"(2.225)*21x15
N.8="const"(0.55625)*21x20
N.9="const"(10)*22x25
N.10="label"*24x3
n="T"
N.11="label"*22x13
n="Ti"
N.12="label"*22x18
n="Td"
N.13="label"*23x23
n="N"
N.14="gain"(3.6)*102x19
N.15="variable"*6x243
n=":Derivative Gain"
N.16="label"*147x51
n="SUSTAV VOĐENJA S DISKRETNIM PID REGULATOROM"
Of=-21,0,400,0,0,0,18,"Times New Roman"
N.17="label"*142x111
n="SUSTAV VOĐENJA S KONTINUIRANIM PID REGULATOROM"
Of=-21,0,400,0,0,0,18,"Times New Roman"
N.18="label"*24x7
n="K"
N.19="const"(3.6)*22x9
N.20="transferFunction"*56x17
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=0.04494
Xn="1 0 "
Xd="1 -1 "
XF=0,0,0,0,0,0,0,0,0,0
N.21="summingJunction"*72x6#3,1<R>
N.22="gain"(1)*49x2
N.23="transferFunction"*94x8<R>
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=0.357429
Xn="1 -1 "
Xd="1 -.357429 "
XF=0,0,0,0,0,0,0,0,0,0
N.24="transferFunction"*108x76
n="vabcd.m"
Xi="0 "
Xg=1
Xn="1 "
Xd="1 3 2 0 "
XF=0,0,0,0,0,0,0,0,0,0
N.25="step"(0,1)*30x77
N.26="gain"(1)*82x90<R>
N.27="summingJunction"*50x77
N.28="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.29="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.30="summingJunction"*76x34#3,1<M>
N.31="label"*6x56<M>
n="Feedback"
N.32="variable"*61x67<M>
n=":Proportional Gain"
N.33="label"*43x64<M>
n="==== Parameters ===="
N.34="variable"*61x70<M>
n=":Integral Gain"
N.35="variable"*61x74<M>
n=":Derivative Gain"
N.36="const"(3.6)*43x67<M>
N.37="const"(2.225)*43x70<M>
N.38="const"(0.55625)*43x74<M>
N.39="*"*89x46<M>
N.40="*"*44x49<M>
N.41="variable"*56x52<M>
n=":Proportional Gain"
N.42="variable"*5x29<M>
n=":Integral Gain"
N.43="variable"*21x48<M>
n=":Derivative Gain"
N.44="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.45="summingJunction"*36x30<M>
N.46="integrator"(0,1,0)*32x38<MR>
N.47="/"*91x31<M>
N.48="label"*5x26<M>
n="Input signal"
N.49="label"*136x25<M>
n="Output signal"
N.50="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.51="variable"*61x32<M>
n=":time constant"
N.52="label"*12x49<M>
n="==== Parameters ===="
N.53="variable"*26x53<M>
n=":time constant"
N.54="const"(0.01)*7x53<M>
N.55="integrator"(0,0,0)*53x28<M>
N.56="1/X"*28x29<M>
N.57="*"*42x27<M>
N.58="label"*86x33
n="Parametri podeseni Takahashijevom procedurom"
Of=-19,0,400,0,0,0,18,"Times New Roman"
N.59="transferFunction"*98x39<R>
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=0.004836
Xn="1 -1 "
Xd="1 -.004836 "
XF=0,0,0,0,0,0,0,0,0,0
N.60="gain"(1)*50x33
N.61="summingJunction"*76x37#3,1<R>
N.62="transferFunction"*58x48
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=0.007782
Xn="1 0 "
Xd="1 -1 "
XF=0,0,0,0,0,0,0,0,0,0
N.63="gain"(2.0791)*95x50
N.64="summingJunction"*83x48#3,1
N.65="step"(0,1)*36x42
N.66="gain"(1)*80x60<R>
N.67="summingJunction"*50x49
N.68="const"(2.0791)*23x45
N.69="label"*25x43
n="K"
N.70="label"*24x58
n="N"
N.71="label"*23x53
n="Td"
N.72="label"*23x48
n="Ti"
N.73="label"*25x38
n="T"
N.74="const"(10)*23x60
N.75="const"(0.00486)*22x55
N.76="const"(12.8498)*22x50
N.77="const"(0.1)*24x40
N.78="label"*80x3
n="Parametri podeseni Zeigler - Nicholsom za kontinuirane"
Of=-19,0,400,0,0,0,18,"Times New Roman"
N.79="label"*75x70
n="Parametri podeseni Zeigler - Nicholsom za kontinuirane"
Of=-19,0,400,0,0,0,18,"Times New Roman"
N.80="transferFunction"*113x48
n="vabcd.m"
Xi="0 "
Xg=1
Xn="1 "
Xd="1 3 2 0 "
XF=0,0,0,0,0,0,0,0,0,0
N.81="transferFunction"*117x17
n="vabcd.m"
Xi="0 "
Xg=1
Xn="1 "
Xd="1 3 2 0 "
XF=0,0,0,0,0,0,0,0,0,0
I.1.i1=81.o1
I.1.i2=80.o1
I.1.i4=24.o1
I.2.i1=4.o1
f2.2.i=-
I.2.i2=3.o1
I.3.i1=81.o1
I.5.i1=21.o1
I.5.i2=20.o1
I.14.i1=5.o1
I.20.i1=2.o1
f21.1.i=-
I.21.i1=81.o1
I.21.i2=22.o1
f21.3.i=-
I.21.i3=23.o1
I.22.i1=4.o1
I.23.i1=81.o1
I.24.i1=29.o1
I.26.i1=24.o1
I.27.i1=25.o1
f27.2.i=-
I.27.i2=26.o1
I.28.i2=24.o1
G.29=30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,55,56,57,
I.29.o1=39.o1
I.29.i1=27.o1
I.29.i2=27.o1
I.29.i3=27.o1
I.30.i1=55.o1
I.30.i2=29.i2
I.30.i3=44.o1
I.32.i1=36.o1
I.34.i1=37.o1
I.35.i1=38.o1
I.39.i1=30.o1
I.39.i2=41.o1
I.40.i1=43.o1
I.40.i2=29.i3
G.44=45,46,47,48,49,50,51,52,53,54,
I.44.o1=47.o1
I.44.i1=40.o1
I.45.i1=44.i1
f45.2.i=-
I.45.i2=46.o1
I.46.i1=47.o1
f47.1.i=ll
I.47.i1=45.o1
f47.2.i=lr
I.47.i2=51.o1
I.53.i1=54.o1
I.55.i1=57.o1
I.56.i1=42.o1
I.57.i1=29.i1
I.57.i2=56.o1
I.59.i1=80.o1
I.60.i1=65.o1
f61.1.i=-
I.61.i1=80.o1
I.61.i2=60.o1
f61.3.i=-
I.61.i3=59.o1
I.62.i1=67.o1
I.63.i1=64.o1
I.64.i1=61.o1
I.64.i2=62.o1
I.66.i1=80.o1
I.67.i1=65.o1
f67.2.i=-
I.67.i2=66.o1
I.80.i1=63.o1
I.81.i1=14.o1
cEOF