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Calculo Pid
Calculo Pid
Kp=1.2* /(K * )=
0 0 0 (constante proporc
Yo -220.812107
-206.398
-191.431975
-176.100925
-160.039825
-142.518625
-126.0925
-111.126475
-95.795425
-79.734325
-62.213125
u0 -53.0875
t0 -53.0602845
u1 -52.8979451
-52.7248544
-52.5855109
-51.7494501
-50.6347022
-48.4052066
-45.787
-44.691925
-43.231825
-40.311625
-38.4865
-37.391425
-35.931325
-33.011125
-31.186
-30.090925
-28.630825
-25.710625
-23.8855
-23.520475
-22.790425
-21.330325
-18.410125
-16.219975
-15.489925
-14.029825
-11.109625
-8.919475
-8.189425
-6.729325
-3.809125
-1.618975
0.571175
3.491375
5.681525
7.871675
10.791875
12.982025
15.172175
18.092375
20.282525
22.472675
25.392875
27.583025
29.773175
32.693375
34.883525
37.073675
39.993875
41.819
42.184025
44.374175
47.294375
49.484525
51.674675
54.594875
56.785025
57.515075
58.975175
61.895375
64.815575
69.195875
72.116075
76.496375
79.416575
83.796875
86.717075
88.177175
91.097375
94.017575
98.397875
101.318075
105.698375
108.618575
112.998875
115.919075
120.299375
122.1245
124.679675
130.520075
137.090525
142.200875
146.581175
152.421575
159.722075
167.022575
168.482675
174.323075
181.623575
186.003875
190.384175
197.684675
202.43
204.985175
217.396025
218.126075
232.727075
234.187175
max pendiente b= -220.995175 entonces Y=(146,01*t)-220,999 248.788175
251.708375
266.309375
268.1345
277.990175
282.7355
291.131075
297.701525
299.891675
313.032575
321.793175
329.093675
334.934075
343.694675
346.614875
350.995175
358.295675
363.041
365.596175
372.896675
378.007025
380.197175
387.497675
393.338075
394.798175
402.098675
409.399175
416.699675
424.000175
426.920375
431.300675
438.601175
443.3465
445.901675
453.202175
458.312525
460.502675
467.803175
473.643575
475.103675
482.404175
489.704675
497.005175
507.225875
517.446575
523.652
526.207175
538.618025
539.348075
548.108675
553.949075
561.249575
570.010175
583.151075
587.531375
591.911675
603.9575
605.052575
613.813175
618.923525
626.954075
634.254575
635.714675
648.855575
650.315675
657.616175
667.836875
670.757075
679.517675
684.263
692.658575
699.229025
701.419175
714.560075
729.161075
730.621175
743.762075
748.142375
758.363075
764.5685
772.964075
779.534525
787.565075
794.865575
802.166075
810.926675
816.767075
828.447875
831.368075
844.874
845.969075
859.840025
860.570075
875.171075
891.232175
905.833175
908.753375
920.434175
925.1795
935.035175
940.145525
949.636175
955.476575
964.237175
971.537675
978.838175
989.058875
993.439175
1005.485
1008.04018
1020.45103
1022.64118
1035.78208
1037.24218
1051.84318
1066.44418
1069.36438
1081.04518
1085.7905
1095.64618
1100.75653
1110.24718
1116.08758
1124.84818
1132.14868
1139.44918
1149.66988
1154.05018
1166.096
1168.65118
1181.06203
1183.25218
1196.39308
1197.85318
1212.45418
1227.05518
1229.97538
1241.65618
1246.4015
1256.25718
1261.36753
1273.77838
1276.69858
1290.2045
1292.75968
1305.17053
1310.28088
1320.50158
1326.707
1336.56268
1341.67303
1354.08388
1357.00408
1370.51
1373.06518
1385.47603
1390.58638
1400.80708
1407.0125
1416.86818
1421.97853
1434.38938
1437.30958
1450.8155
1453.37068
1465.78153
1470.89188
1481.11258
1487.318
1497.17368
1502.28403
1514.69488
1517.61508
1531.121
1533.67618
1546.08703
1551.19738
1561.41808
1567.6235
1577.47918
1582.58953
1595.00038
1597.92058
1611.4265
1613.98168
1626.39253
1631.50288
1641.72358
1647.929
1657.78468
1662.89503
1675.30588
1678.22608
1691.732
1694.28718
1706.69803
1711.80838
1722.02908
1728.2345
1738.09018
1743.20053
1755.61138
1758.53158
1772.0375
1774.59268
1787.00353
1792.11388
1802.33458
1808.54
1818.39568
1823.50603
1835.91688
1838.83708
1852.343
1854.89818
1867.30903
1872.41938
1882.64008
1888.8455
1898.70118
1903.81153
1916.22238
1919.14258
1932.6485
1935.20368
1947.61453
1952.72488
1962.94558
1969.151
1979.00668
1984.11703
1996.52788
1999.44808
2012.954
2015.50918
2027.92003
2033.03038
2043.25108
2049.4565
2059.31218
2064.42253
2076.83338
2079.75358
2093.2595
2095.81468
2108.22553
2113.33588
2123.55658
2129.762
2139.61768
2144.72803
2157.13888
2160.05908
2173.565
2176.12018
2188.53103
2193.64138
2203.86208
2210.0675
2219.92318
2225.03353
2237.44438
2240.36458
2253.8705
2256.42568
2268.83653
2273.94688
2284.16758
2290.373
2300.22868
2305.33903
2317.74988
2320.67008
2334.176
2336.73118
2349.14203
2354.25238
2364.47308
2370.6785
2380.53418
2385.64453
2398.05538
2400.97558
2414.4815
2417.03668
2429.44753
2434.55788
2444.77858
2450.984
2460.83968
2465.95003
2478.36088
2481.28108
2494.787
2497.34218
2509.75303
2514.86338
2525.08408
2531.2895
2541.14518
2546.25553
2558.66638
2561.58658
2575.0925
2577.64768
2590.05853
2595.16888
2605.38958
2611.595
2621.45068
2626.56103
2638.97188
2641.89208
2655.398
2657.95318
2670.36403
2675.47438
2685.69508
2691.9005
2701.75618
2706.86653
2719.27738
2722.19758
2735.7035
2738.25868
2750.66953
2755.77988
2766.00058
2772.206
2782.06168
2787.17203
2799.58288
2802.50308
2816.009
2818.56418
2830.97503
2836.08538
2846.30608
2852.5115
2862.36718
2867.47753
2879.88838
2882.80858
2896.3145
2898.86968
2911.28053
2916.39088
2926.61158
2932.817
2942.67268
2947.78303
2960.19388
2963.11408
2976.62
2979.17518
2991.58603
2996.69638
3006.91708
3013.1225
3022.97818
3028.08853
3040.49938
3043.41958
3056.9255
3059.48068
3071.89153
3077.00188
3087.22258
3093.428
3103.28368
3108.39403
3120.80488
3123.72508
3137.231
3139.78618
3152.19703
3157.30738
3167.52808
3173.7335
3183.58918
3188.69953
3201.11038
3204.03058
3217.5365
3220.09168
3232.50253
3237.61288
3247.83358
3254.039
3263.89468
3269.00503
3281.41588
3284.33608
3297.842
3300.39718
3312.80803
3317.91838
3328.13908
3334.3445
3344.20018
3349.31053
3361.72138
3364.64158
3378.1475
3380.70268
3393.11353
3398.22388
3408.44458
3414.65
3424.50568
3429.61603
3442.02688
3444.94708
3458.453
3461.00818
3473.41903
3478.52938
3488.75008
3494.9555
3504.81118
3509.92153
3522.33238
3525.25258
3538.7585
3541.31368
3553.72453
3558.83488
3569.05558
3575.261
3585.11668
3590.22703
3602.63788
3605.55808
3619.064
3621.61918
3634.03003
3639.14038
3649.36108
3655.5665
3665.42218
3670.53253
3682.94338
3685.86358
3699.3695
3701.92468
3714.33553
3719.44588
3729.66658
3735.872
3745.72768
3750.83803
3763.24888
3766.16908
3779.675
3782.23018
3794.64103
3799.75138
3809.97208
3816.1775
3826.03318
3831.14353
3843.55438
3846.47458
3859.9805
3862.53568
3874.94653
3880.05688
3890.27758
3896.483
3906.33868
3911.44903
3923.85988
3926.78008
3940.286
3942.84118
3955.25203
3960.36238
3970.58308
3976.7885
3986.64418
3991.75453
4004.16538
4007.08558
4020.5915
4023.14668
4035.55753
4040.66788
4050.88858
4057.094
4066.94968
4072.06003
4084.47088
4087.39108
4100.897
4103.45218
4115.86303
4120.97338
4131.19408
4137.3995
4147.25518
4152.36553
4164.77638
4167.69658
4181.2025
4183.75768
4196.16853
4201.27888
4211.49958
4217.705
4227.56068
4232.67103
4245.08188
4248.00208
4261.508
4264.06318
4276.47403
4281.58438
4291.80508
4298.0105
4307.86618
4312.97653
4325.38738
4328.30758
4341.8135
4344.36868
4356.77953
4361.88988
4372.11058
4378.316
4388.17168
4393.28203
4405.69288
4408.61308
4422.119
4424.67418
4437.08503
4442.19538
4452.41608
4458.6215
4468.47718
4473.58753
4485.99838
4488.91858
4502.4245
4504.97968
4517.39053
4522.50088
4532.72158
4538.927
4548.78268
4553.89303
4566.30388
4569.22408
4582.73
4585.28518
4597.69603
4602.80638
4613.02708
4619.2325
4629.08818
4634.19853
4646.60938
4649.52958
4663.0355
4665.59068
4678.00153
4683.11188
4693.33258
4699.538
4709.39368
4714.50403
4726.91488
4729.83508
4743.341
4745.89618
4758.30703
4763.41738
4773.63808
4779.8435
4789.69918
4794.80953
4807.22038
4810.14058
4823.6465
4826.20168
4838.61253
4843.72288
4853.94358
4860.149
4870.00468
4875.11503
4887.52588
y1 4889.351
0.53731
7.47000
83.881808
/(K * )=
0 0 0 (constante proporcional)
tiempo integral)
ntes del controlador PID son:
/(K * )=
0 0 0 (constante proporcional) Kp= 0.19889
tiempo integral)
T= 0.13433
Chart Title
(NO)ENTRADA OV1(T) SALIDA
1200.00000
1000.00000
800.00000
600.00000
400.00000
200.00000
0.00000
0.00000 5.00000 10.00000 15.00000 20.00000 25.00000 30.00000 35.00000 40.00000
-200.00000
EL MISMO Y0 ENTONCES T1= 1.68750
Este Es el valor de t2= 9.15750
35.00000 40.00000