; 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=77 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"*159x1*86x57 pt="Sustav vodjen kontinuiranim i diskretnim regulatorom" px="Vijeme (sec)" pax=0 pf=H pb=2,0 pbx=10,0 pbY=0,0 pbX=0,0 pm=20,1 pb.0=2,0 pL.0="Diskr. PID - obe modifik. i zasicenje" pb.1=2,0 pL.1="Diskr. PID - obe mod.. i korek.zasic." pb.2=0,0 pb.3=2,0 pL.3="Sustav vodjen kontinuiranim PID" N.2="summingJunction"*40x18 N.3="gain"(1)*76x29 N.4="transferFunction"*117x15 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.5="summingJunction"*71x17#3,1 N.6="const"(0.1)*5x39 N.7="const"(0.3)*5x44 N.8="const"(0.075)*5x49 N.9="const"(10)*5x54 N.10="label"*6x37 n="T" N.11="label"*6x42 n="Ti" N.12="label"*6x47 n="Td" N.13="label"*6x52 n="N" N.14="gain"(4.88)*91x17 N.15="summingJunction"*76x34#3,1 N.16="label"*6x56 n="Feedback" N.17="variable"*61x67 n=":Proportional Gain" N.18="label"*43x64 n="==== Parameters ====" N.19="variable"*61x70 n=":Integral Gain" N.20="variable"*61x74 n=":Derivative Gain" N.21="const"(4.88)*43x67 N.22="const"(0.3)*43x70 N.23="const"(0.075)*43x74 N.24="*"*89x46 N.25="*"*44x49 N.26="variable"*56x52 n=":Proportional Gain" N.27="variable"*5x29 n=":Integral Gain" N.28="variable"*21x48 n=":Derivative Gain" N.29="Compound"*54x40#1,1 n=" d ---- dt Derivative" Ms=1359,0,0,939,0,0 Ml=0 Mr=0 Mh=0 Mp=0 Mw="" N.30="summingJunction"*36x30 N.31="integrator"(0,1,0)*32x38 N.32="/"*91x31 N.33="label"*5x26 n="Input signal" N.34="label"*136x25 n="Output signal" N.35="comment"*3x0*120x15 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.36="variable"*61x32 n=":time constant" N.37="label"*12x49 n="==== Parameters ====" N.38="variable"*26x53 n=":time constant" N.39="const"(0.01)*7x53 N.40="integrator"(0,0,0)*53x28 N.41="transferFunction"*95x78 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.42="gain"(1)*75x87 N.43="summingJunction"*43x78 N.44="1/X"*28x29 N.45="*"*42x27 N.46="variable"*6x243 n=":Derivative Gain" N.47="label"*27x128 n="SUSTAV VOĐENJA S KONTINUIRANIM PID REGULATOROM" Of=-21,0,400,0,0,0,18,"Times New Roman" N.48="Compound"*62x77#3,1 n="PID regulator" Ms=3200,0,0,6000,0,0 Ml=0 Mr=0 Mh=0 Mp=0 Mw="" N.49="label"*6x58 n="K" N.50="const"(4.88)*5x60 N.51="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.52="summingJunction"*72x6#3,1 N.53="gain"(0.2)*45x2 N.54="transferFunction"*94x8 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.55="label"*88x2 n="Obe modifikacije" Of=-19,0,400,0,0,0,18,"Times New Roman" N.56="step"(0,1)*13x18 N.57="label"*74x34 n="Obe modifikacije + korekcija zasicenja" Of=-19,0,400,0,0,0,18,"Times New Roman" N.58="transferFunction"*97x42 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.59="gain"(0.2)*48x36 N.60="summingJunction"*80x38#3,1 N.61="transferFunction"*69x51 n="vabcd.m" XD=0.1 Xi="0 " Xg=1 Xn="1 0 " Xd="1 -1 " XF=0,0,0,0,0,0,0,0,0,0 N.62="limit"(0,1)*108x51 N.63="gain"(4.88)*93x51 N.64="summingJunction"*86x50 N.65="transferFunction"*119x49 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.66="gain"(1)*80x67 N.67="summingJunction"*38x51 N.68="summingJunction"*97x57 N.69="gain"(0.1)*87x63 N.70="limit"(0,1)*103x17 N.71="summingJunction"*59x52 N.72="gain"(0.3333)*46x52 N.73="plot"*159x60*86x57 pt="Signali upravljanja" px="Time (sec)" pax=0 pf=H pb=1,0 pbx=10,0 pbY=0,0 pbX=0,0 pm=20,1 pb.0=1,0 pL.0="Diskr. PID - obe modifik. i zasicenje" pb.1=1,0 pL.1="Diskr. PID - obe mod.. i korek.zasic." pb.2=0,0 pb.3=1,0 pL.3="Sustav vodjen kontinuiranim PID" N.74="limit"(0,1)*82x80 N.75="label"*83x74 n="Kontinuirani PID" Of=-19,0,400,0,0,0,18,"Times New Roman" N.76="step"(0,1)*20x50 N.77="step"(0,1)*29x77 I.1.i1=4.o1 I.1.i2=65.o1 I.1.i4=41.o1 I.2.i1=56.o1 f2.2.i=- I.2.i2=3.o1 I.3.i1=4.o1 I.4.i1=70.o1 I.5.i1=52.o1 I.5.i2=51.o1 I.14.i1=5.o1 I.15.i1=40.o1 I.15.i2=48.i2 I.15.i3=29.o1 I.17.i1=21.o1 I.19.i1=22.o1 I.20.i1=23.o1 I.24.i1=15.o1 I.24.i2=26.o1 I.25.i1=28.o1 I.25.i2=48.i3 G.29=30,31,32,33,34,35,36,37,38,39, I.29.o1=32.o1 I.29.i1=25.o1 I.30.i1=29.i1 f30.2.i=- I.30.i2=31.o1 I.31.i1=32.o1 f32.1.i=ll I.32.i1=30.o1 f32.2.i=lr I.32.i2=36.o1 I.38.i1=39.o1 I.40.i1=45.o1 I.41.i1=74.o1 I.42.i1=41.o1 I.43.i1=77.o1 f43.2.i=- I.43.i2=42.o1 I.44.i1=27.o1 I.45.i1=48.i1 I.45.i2=44.o1 G.48=15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,40,44,45, I.48.o1=24.o1 I.48.i1=43.o1 I.48.i2=43.o1 I.48.i3=43.o1 I.51.i1=2.o1 f52.1.i=- I.52.i1=4.o1 I.52.i2=53.o1 f52.3.i=- I.52.i3=54.o1 I.53.i1=56.o1 I.54.i1=4.o1 I.58.i1=65.o1 I.59.i1=76.o1 f60.1.i=- I.60.i1=65.o1 I.60.i2=59.o1 f60.3.i=- I.60.i3=58.o1 I.61.i1=71.o1 I.62.i1=63.o1 I.63.i1=64.o1 I.64.i1=60.o1 I.64.i2=61.o1 I.65.i1=62.o1 I.66.i1=65.o1 I.67.i1=76.o1 f67.2.i=- I.67.i2=66.o1 I.68.i1=63.o1 f68.2.i=- I.68.i2=62.o1 I.69.i1=68.o1 I.70.i1=14.o1 I.71.i1=72.o1 f71.2.i=- I.71.i2=69.o1 I.72.i1=67.o1 I.73.i1=70.o1 I.73.i2=62.o1 I.73.i4=74.o1 I.74.i1=48.o1 cEOF