Version 4 SHEET 1 2836 820 WIRE 2512 -352 480 -352 WIRE 2736 -352 2560 -352 WIRE 2512 -288 2512 -352 WIRE 2560 -272 2560 -352 WIRE 1040 -224 912 -224 WIRE 1232 -224 1120 -224 WIRE 1328 -224 1232 -224 WIRE 1504 -224 1408 -224 WIRE 2512 -160 2512 -208 WIRE 2560 -160 2560 -224 WIRE 1232 -144 1232 -224 WIRE 1296 -144 1232 -144 WIRE 1504 -128 1504 -224 WIRE 1504 -128 1360 -128 WIRE 1600 -128 1504 -128 WIRE 1792 -128 1680 -128 WIRE 1296 -112 1232 -112 WIRE 480 -32 480 -352 WIRE 512 -32 480 -32 WIRE 624 -32 592 -32 WIRE 688 -32 624 -32 WIRE 816 -32 768 -32 WIRE 1232 -32 1232 -112 WIRE 624 64 624 -32 WIRE 688 64 624 64 WIRE 816 80 816 -32 WIRE 816 80 752 80 WIRE 832 80 816 80 WIRE 912 80 912 -224 WIRE 912 80 832 80 WIRE 1040 80 912 80 WIRE 1232 80 1120 80 WIRE 1344 80 1232 80 WIRE 1504 80 1408 80 WIRE 512 96 480 96 WIRE 624 96 592 96 WIRE 688 96 624 96 WIRE 1232 160 1232 80 WIRE 1296 160 1232 160 WIRE 1504 176 1504 80 WIRE 1504 176 1360 176 WIRE 1600 176 1504 176 WIRE 1792 176 1792 -128 WIRE 1792 176 1680 176 WIRE 1904 176 1792 176 WIRE 2000 176 1904 176 WIRE 2176 176 2080 176 WIRE 2288 176 2176 176 WIRE 2432 176 2336 176 WIRE 2576 176 2512 176 WIRE 2736 176 2736 -352 WIRE 2736 176 2656 176 WIRE 1296 192 1232 192 WIRE 624 208 624 96 WIRE 688 208 624 208 WIRE 816 208 768 208 WIRE 816 240 816 208 WIRE 1232 240 1232 192 WIRE 2336 240 2336 176 WIRE 2736 240 2736 176 WIRE 1904 256 1904 176 WIRE 1968 256 1904 256 WIRE 2288 256 2288 176 WIRE 2176 272 2176 176 WIRE 2176 272 2032 272 WIRE 1968 288 1904 288 WIRE 480 368 480 96 WIRE 1904 368 1904 288 WIRE 2288 368 2288 304 WIRE 2336 368 2336 320 WIRE 2736 368 2736 304 WIRE 912 384 912 80 WIRE 1040 384 912 384 WIRE 1232 384 1104 384 WIRE 1328 384 1232 384 WIRE 1504 384 1408 384 WIRE 480 416 480 368 WIRE 1232 464 1232 384 WIRE 1296 464 1232 464 WIRE 1504 480 1504 384 WIRE 1504 480 1360 480 WIRE 1600 480 1504 480 WIRE 1792 480 1792 176 WIRE 1792 480 1680 480 WIRE 1296 496 1232 496 WIRE 480 576 480 496 WIRE 1232 576 1232 496 FLAG 480 576 0 FLAG 480 368 rt FLAG 1232 -32 0 FLAG 1232 240 0 FLAG 1232 576 0 FLAG 1904 368 0 FLAG 2288 368 0 FLAG 2336 368 0 FLAG 2736 368 0 FLAG 2560 -160 0 FLAG 2512 -160 0 FLAG 2512 -352 ht FLAG 832 80 et FLAG 1504 -128 Pout FLAG 1504 176 Iout FLAG 1504 480 Dout FLAG 2736 176 ct FLAG 816 240 0 SYMBOL Opamps\\opamp 720 16 R0 SYMATTR InstName U1 SYMATTR Value OPAMP1 SYMBOL res 608 80 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName R3 SYMATTR Value 10K SYMBOL res 784 -48 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName R1 SYMATTR Value 10K SYMBOL voltage 480 400 R0 WINDOW 3 14 106 Left 2 WINDOW 123 0 0 Left 0 WINDOW 39 0 0 Left 0 SYMATTR Value PULSE(0 1 0 0.05ms 0 2s) SYMATTR InstName V1 SYMBOL Opamps\\opamp 1328 -192 R0 SYMATTR InstName U2 SYMATTR Value OPAMP1 SYMBOL Opamps\\opamp 1328 416 R0 SYMATTR InstName U3 SYMATTR Value OPAMP1 SYMBOL Opamps\\opamp 1328 112 R0 SYMATTR InstName U4 SYMATTR Value OPAMP1 SYMBOL res 1424 -240 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName RP2 SYMATTR Value 10K SYMBOL res 1136 -240 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName RP1 SYMATTR Value 10K SYMBOL res 1424 368 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName RD SYMATTR Value 10K SYMBOL res 1136 64 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName RI SYMATTR Value 10K SYMBOL cap 1408 64 R90 WINDOW 0 0 32 VBottom 2 WINDOW 3 32 32 VTop 2 SYMATTR InstName CI SYMATTR Value 16.23nF SYMBOL cap 1104 368 R90 WINDOW 0 0 32 VBottom 2 WINDOW 3 32 32 VTop 2 SYMATTR InstName CD SYMATTR Value 5.5nF SYMBOL res 1696 -144 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName R5 SYMATTR Value 10K SYMBOL res 1696 160 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName R6 SYMATTR Value 10K SYMBOL res 1696 464 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName R7 SYMATTR Value 10K SYMBOL Opamps\\opamp 2000 208 R0 SYMATTR InstName U5 SYMATTR Value OPAMP1 SYMBOL res 2096 160 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName RP SYMATTR Value 176K SYMBOL e 2336 224 R0 SYMATTR InstName E1 SYMATTR Value 1 SYMBOL res 2528 160 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName R14 SYMATTR Value 5 SYMBOL ind 2560 192 R270 WINDOW 0 32 56 VTop 2 WINDOW 3 5 56 VBottom 2 SYMATTR InstName L1 SYMATTR Value 3.3mH SYMBOL cap 2720 240 R0 SYMATTR InstName C3 SYMATTR Value 10µF SYMBOL e 2512 -304 M0 SYMATTR InstName E2 SYMATTR Value 1 SYMBOL res 608 -48 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName R2 SYMATTR Value 10K SYMBOL res 784 192 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName R4 SYMATTR Value 10K TEXT 2448 496 Left 2 !.include opamp.txt TEXT 2448 536 Left 2 !.tran 0 5ms 0 0.05ms TEXT 504 344 Left 2 ;Degrau Unitário TEXT 568 -408 Left 2 ;Diferenciador TEXT 568 -376 Left 2 ;E(s) = R(s) - C(s) TEXT 904 -408 Left 2 ;Controlador PID TEXT 2280 56 Left 2 ;Sistema TEXT 2280 -408 Left 2 ;Sensor TEXT 1208 -256 Left 2 ;k = 1 TEXT 1192 48 Left 2 ;Ti = RI*CI TEXT 1168 352 Left 2 ;Td = RD*CD TEXT 1816 144 Left 2 ;Kp = RP/R5,6,7 TEXT 2280 88 Left 2 ;G(s) TEXT 2280 -376 Left 2 ;H(s) = C(s) TEXT 904 -376 Left 2 ;Gc(s) = Kp(1 + 1/Ti*s + Td*s) RECTANGLE Normal 864 272 416 -432 2 RECTANGLE Normal 2240 608 880 -432 2 RECTANGLE Normal 2832 608 2256 32 2 RECTANGLE Normal 2256 -432 2832 16 2 RECTANGLE Normal 864 608 416 288 2