; 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=69
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"*170x2*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="Diskretni PID - modifikacija D clana"
pb.1=2,0
pL.1="Diskretni PID - modifikacija toka sign."
pb.2=0,0
pb.3=2,0
pL.3="Sustav vodjen kontinuiranim PID"
N.2="summingJunction"*40x18
N.3="gain"(1)*76x29<R>
N.4="step"(0,1)*28x11
N.5="transferFunction"*118x17
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.6="summingJunction"*71x17#3,1
N.7="const"(0.1)*5x39
N.8="const"(0.3)*5x44
N.9="const"(0.075)*5x49
N.10="const"(10)*5x54
N.11="label"*6x37
n="T"
N.12="label"*6x42
n="Ti"
N.13="label"*6x47
n="Td"
N.14="label"*6x52
n="N"
N.15="gain"(4.88)*91x19
N.16="summingJunction"*76x34#3,1<M>
N.17="label"*6x56<M>
n="Feedback"
N.18="variable"*61x67<M>
n=":Proportional Gain"
N.19="label"*43x64<M>
n="==== Parameters ===="
N.20="variable"*61x70<M>
n=":Integral Gain"
N.21="variable"*61x74<M>
n=":Derivative Gain"
N.22="const"(4.88)*43x67<M>
N.23="const"(0.3)*43x70<M>
N.24="const"(0.075)*43x74<M>
N.25="*"*89x46<M>
N.26="*"*44x49<M>
N.27="variable"*56x52<M>
n=":Proportional Gain"
N.28="variable"*5x29<M>
n=":Integral Gain"
N.29="variable"*21x48<M>
n=":Derivative Gain"
N.30="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.31="summingJunction"*36x30<M>
N.32="integrator"(0,1,0)*32x38<MR>
N.33="/"*91x31<M>
N.34="label"*5x26<M>
n="Input signal"
N.35="label"*136x25<M>
n="Output signal"
N.36="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.37="variable"*61x32<M>
n=":time constant"
N.38="label"*12x49<M>
n="==== Parameters ===="
N.39="variable"*26x53<M>
n=":time constant"
N.40="const"(0.01)*7x53<M>
N.41="integrator"(0,0,0)*53x28<M>
N.42="transferFunction"*101x78
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.43="transferFunction"*38x65
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.44="step"(0,1)*16x79
N.45="gain"(1)*68x92<R>
N.46="summingJunction"*36x79
N.47="plot"*159x63*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.48="1/X"*28x29<M>
N.49="*"*42x27<M>
N.50="variable"*6x243
n=":Derivative Gain"
N.51="label"*136x51
n="SUSTAV VOŠENJA S DISKRETNIM PID REGULATOROM"
Of=-21,0,400,0,0,0,18,"Times New Roman"
N.52="label"*18x98
n="SUSTAV VOŠENJA S KONTINUIRANIM PID REGULATOROM"
Of=-21,0,400,0,0,0,18,"Times New Roman"
N.53="Compound"*55x78#3,1<C>
n="PID regulator"
Ms=3200,0,0,6000,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.54="label"*6x58
n="K"
N.55="const"(4.88)*5x60
N.56="transferFunction"*95x42
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)*31x42
N.58="gain"(1)*81x57<R>
N.59="summingJunction"*44x43
N.60="transferFunction"*52x46
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.61="transferFunction"*53x34
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.62="gain"(4.88)*84x41
N.63="summingJunction"*75x39#3,1
N.64="transferFunction"*51x17
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.65="summingJunction"*72x6#3,1<R>
N.66="gain"(0.2)*45x2
N.67="transferFunction"*94x8<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.68="label"*86x3
n="Modifikacija toka referentnog signala "
Of=-19,0,400,0,0,0,18,"Times New Roman"
N.69="label"*83x36
n="Modifikacija derivacijskog clana"
Of=-19,0,400,0,0,0,18,"Times New Roman"
I.1.i1=56.o1
I.1.i2=5.o1
I.1.i4=42.o1
I.2.i1=4.o1
f2.2.i=-
I.2.i2=3.o1
I.3.i1=5.o1
I.5.i1=15.o1
I.6.i1=65.o1
I.6.i2=64.o1
I.15.i1=6.o1
I.16.i1=41.o1
I.16.i2=53.i2
I.16.i3=30.o1
I.18.i1=22.o1
I.20.i1=23.o1
I.21.i1=24.o1
I.25.i1=16.o1
I.25.i2=27.o1
I.26.i1=29.o1
I.26.i2=53.i3
G.30=31,32,33,34,35,36,37,38,39,40,
I.30.o1=33.o1
I.30.i1=26.o1
I.31.i1=30.i1
f31.2.i=-
I.31.i2=32.o1
I.32.i1=33.o1
f33.1.i=ll
I.33.i1=31.o1
f33.2.i=lr
I.33.i2=37.o1
I.39.i1=40.o1
I.41.i1=49.o1
I.42.i1=53.o1
I.43.i1=44.o1
I.45.i1=42.o1
I.46.i1=44.o1
f46.2.i=-
I.46.i2=45.o1
I.47.i1=43.o1
I.47.i2=42.o1
I.48.i1=28.o1
I.49.i1=53.i1
I.49.i2=48.o1
G.53=16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,41,48,49,
I.53.o1=25.o1
I.53.i1=46.o1
I.53.i2=46.o1
I.53.i3=46.o1
I.56.i1=62.o1
I.58.i1=56.o1
I.59.i1=57.o1
f59.2.i=-
I.59.i2=58.o1
I.60.i1=59.o1
I.61.i1=59.o1
I.62.i1=63.o1
I.63.i1=61.o1
I.63.i2=59.o1
I.63.i3=60.o1
I.64.i1=2.o1
f65.1.i=-
I.65.i1=5.o1
I.65.i2=66.o1
f65.3.i=-
I.65.i3=67.o1
I.66.i1=4.o1
I.67.i1=5.o1
cEOF