; VisSim Block Diagram Format (VBDF)
; Copyright ©1989-1999 Visual Solutions
POa="Darko Stipanicev"
PV=3.000
PS=0
PE=10
PP=0.01
PI=173
PX=0.01
PN=1e-006
PL=5
PT=1e-005
Pn=-10,6,16,"Times New Roman"
Pc=93
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"*116x3*74x46
pt="Sustav vošrn kontinuiranim i diskretnim 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="Odziv sustava koji se vodi"
pb.1=2,0
pL.1="Sustav vodjen diskretnim PID"
pb.2=0,0
pb.3=2,0
pL.3="Sustav vodjen kontinuiranim PID"
N.2="summingJunction"*40x18
N.3="gain"(1)*77x32<R>
N.4="gain"(2)*32x44
N.5="step"(0,1)*28x11
N.6="transferFunction"*50x4
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.7="transferFunction"*91x17
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.8="summingJunction"*71x17#3,1
N.9="const"(0.1)*5x39
N.10="const"(0.3)*5x44
N.11="const"(0.075)*5x49
N.12="const"(10)*5x54
N.13="label"*6x37
n="T"
N.14="label"*6x42
n="Ti"
N.15="label"*6x47
n="Td"
N.16="label"*6x52
n="N"
N.17="/"*46x41
N.18="display"(0.16666666666667)*54x42
n="6.66667e-3"
Oe=6
Ox=1
Ov=0
N.19="*"*46x50
N.20="gain"(2)*32x50
N.21="gain"(4.88)*80x19
N.22="summingJunction"*48x57
N.23="display"(1.304347826087)*67x53
n="0"
Oe=6
Ox=1
Ov=0
N.24="/"*60x52
N.25="*"*27x58
N.26="/"*60x66
N.27="display"(0.73913043478261)*68x67
n="0"
Oe=6
Ox=1
Ov=0
N.28="summingJunction"*45x65
N.29="summingJunction"*76x34#3,1<M>
N.30="label"*6x56<M>
n="Feedback"
N.31="variable"*61x67<M>
n=":Proportional Gain"
N.32="label"*43x64<M>
n="==== Parameters ===="
N.33="variable"*61x70<M>
n=":Integral Gain"
N.34="variable"*61x74<M>
n=":Derivative Gain"
N.35="const"(4.88)*43x67<M>
N.36="const"(0.3)*43x70<M>
N.37="const"(0.075)*43x74<M>
N.38="*"*89x46<M>
N.39="*"*44x49<M>
N.40="variable"*56x52<M>
n=":Proportional Gain"
N.41="variable"*5x29<M>
n=":Integral Gain"
N.42="variable"*21x48<M>
n=":Derivative Gain"
N.43="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.44="summingJunction"*36x30<M>
N.45="integrator"(0,1,0)*32x38<MR>
N.46="/"*91x31<M>
N.47="label"*5x26<M>
n="Input signal"
N.48="label"*136x25<M>
n="Output signal"
N.49="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.50="variable"*61x32<M>
n=":time constant"
N.51="label"*12x49<M>
n="==== Parameters ===="
N.52="variable"*26x53<M>
n=":time constant"
N.53="const"(0.01)*7x53<M>
N.54="integrator"(0,0,0)*53x28<M>
N.55="transferFunction"*86x90
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.56="transferFunction"*30x77
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.57="step"(0,1)*8x91
N.58="gain"(1)*60x104<R>
N.59="summingJunction"*28x91
N.60="plot"*113x75*74x46
px="Time (sec)"
pax=0
pf=S
pb=2,0
pbx=10,0
pbY=0,0
pbX=0,0
pm=-1,0
pb.0=2,0
pb.1=2,0
pb.2=0,0
pb.3=0,0
N.61="1/X"*28x29<M>
N.62="*"*42x27<M>
N.63="step"(0,1)*36x131
N.64="plot"*122x125*67x39
px="Time (sec)"
pax=0
pf=H
pb=200,0
pbx=10,0
pbY=0,0
pbX=0,0
pm=-1,0
pb.0=0,0
pb.1=200,0
pb.2=200,0
pb.3=0,0
N.65="summingJunction"*84x156#3,1
N.66="gain"(4.88)*94x158
N.67="transferFunction"*65x148
n="vabcd.m"
Xi="0 "
Xg=1
Xn="1 "
Xd="1 0 "
XF=0,0,0,0,0,0,0,0,0,0
N.68="transferFunction"*57x166
n="vabcd.m"
Xi="0 "
Xg=1
Xn="1 0 "
Xd="1 133.333 "
XF=0,0,0,0,0,0,0,0,0,0
N.69="step"(0,1)*36x158
N.70="*"*57x149
N.71="1/X"*47x146
N.72="variable"*6x243
n=":Derivative Gain"
N.73="*"*48x167
N.74="label"*32x173
n="N"
N.75="const"(10)*35x172
N.76="transferFunction"*54x12
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=0.16666
Xn="1 1 "
Xd="1 -1 "
XF=0,0,0,0,0,0,0,0,0,0
N.77="transferFunction"*48x24
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=1.3043
Xn="1 -1 "
Xd="1 .73913 "
XF=0,0,0,0,0,0,0,0,0,0
N.78="label"*61x40
n="T/2Ti"
N.79="label"*69x50
n="2NTd/(NT+2Td)"
N.80="label"*69x64
n="(NT-2Td)/(NT+2Td)"
N.81="label"*97x52
n="SUSTAV VOŠENJA S DISKRETNIM PID REGULATOROM"
Of=-21,0,400,0,0,0,18,"Times New Roman"
N.82="label"*10x110
n="SUSTAV VOŠENJA S KONTINUIRANIM PID REGULATOROM"
Of=-21,0,400,0,0,0,18,"Times New Roman"
N.83="Compound"*47x90#3,1<C>
n="PID regulator"
Ms=3200,0,0,6000,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.84="label"*30x144
n="Ti"
N.85="const"(0.3)*32x146
N.86="label"*33x177
n=" KONTINUIRANI PID REGULATOR"
Of=-21,0,400,0,0,0,18,"Times New Roman"
N.87="label"*39x119
n="DISKRETNI PID REGULATOR"
Of=-21,0,400,0,0,0,18,"Times New Roman"
N.88="label"*6x58
n="K"
N.89="const"(4.88)*5x60
N.90="transferFunction"*49x136
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=1.3043
Xn="1 -1 "
Xd="1 .73913 "
XF=0,0,0,0,0,0,0,0,0,0
N.91="transferFunction"*50x124
n="vabcd.m"
XD=0.1
Xi="0 "
Xg=0.16666
Xn="1 1 "
Xd="1 -1 "
XF=0,0,0,0,0,0,0,0,0,0
N.92="gain"(4.88)*81x131
N.93="summingJunction"*72x129#3,1
I.1.i1=6.o1
I.1.i2=7.o1
I.1.i4=55.o1
I.2.i1=5.o1
f2.2.i=-
I.2.i2=3.o1
I.3.i1=7.o1
I.4.i1=10.o1
I.6.i1=5.o1
I.7.i1=21.o1
I.8.i1=76.o1
I.8.i2=2.o1
I.8.i3=77.o1
f17.1.i=ll
I.17.i1=9.o1
f17.2.i=lr
I.17.i2=4.o1
I.18.i1=17.o1
I.19.i1=20.o1
I.19.i2=12.o1
I.20.i1=11.o1
I.21.i1=8.o1
I.22.i1=20.o1
I.22.i2=25.o1
I.23.i1=24.o1
f24.1.i=ll
I.24.i1=19.o1
f24.2.i=lr
I.24.i2=22.o1
I.25.i1=9.o1
I.25.i2=12.o1
f26.1.i=ll
I.26.i1=28.o1
f26.2.i=lr
I.26.i2=22.o1
I.27.i1=26.o1
I.28.i1=25.o1
f28.2.i=-
I.28.i2=20.o1
I.29.i1=54.o1
I.29.i2=83.i2
I.29.i3=43.o1
I.31.i1=35.o1
I.33.i1=36.o1
I.34.i1=37.o1
I.38.i1=29.o1
I.38.i2=40.o1
I.39.i1=42.o1
I.39.i2=83.i3
G.43=44,45,46,47,48,49,50,51,52,53,
I.43.o1=46.o1
I.43.i1=39.o1
I.44.i1=43.i1
f44.2.i=-
I.44.i2=45.o1
I.45.i1=46.o1
f46.1.i=ll
I.46.i1=44.o1
f46.2.i=lr
I.46.i2=50.o1
I.52.i1=53.o1
I.54.i1=62.o1
I.55.i1=83.o1
I.56.i1=57.o1
I.58.i1=55.o1
I.59.i1=57.o1
f59.2.i=-
I.59.i2=58.o1
I.60.i1=56.o1
I.60.i2=55.o1
I.61.i1=41.o1
I.62.i1=83.i1
I.62.i2=61.o1
I.64.i2=92.o1
I.64.i3=66.o1
I.65.i1=67.o1
I.65.i2=69.o1
I.65.i3=68.o1
I.66.i1=65.o1
I.67.i1=70.o1
I.68.i1=73.o1
I.70.i1=71.o1
I.70.i2=69.o1
I.71.i1=85.o1
I.73.i1=69.o1
I.73.i2=75.o1
I.76.i1=2.o1
I.77.i1=2.o1
G.83=29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,54,61,62,
I.83.o1=38.o1
I.83.i1=59.o1
I.83.i2=59.o1
I.83.i3=59.o1
I.90.i1=63.o1
I.91.i1=63.o1
I.92.i1=93.o1
I.93.i1=91.o1
I.93.i2=63.o1
I.93.i3=90.o1
cEOF