CONTROL PI

Z 1=R

1
Z 2=
CS

Z 3=R

R
CS
Zeq=
RCS +1
CS

RCS
Zeq=
( RCS+ 1 ) CS

Vi (S)
I=
Zeq+ Z 3

Vo ( S )=I ( S ) . Z 3

Vi ( S )
Vo ( S )= (Z 3)
Zeq+ Z 3

Vo(S) Z3 R R R(RCS +1) R 2 CS+ R

= = = = = =¿
Vi(S) Zeq+ Z 3 R R+ R ( RCS+1) R+ R( RCS +1) R+ R 2 CS+ R
+R
RCS +1 RCS +1
 R(RCS +1) RCS+1
=
R (1+ RCS+ 1) 2+ RCS

1
S+
RC
G=
2
S+
RC

FUNCIÓN DE TRANSFERENCIA

1 1
S+ S+
RC 2(220) S +2,272
G= = =
2 2 S+ 4,57
S+ S+
RC 2(220)

Kp(S)+ Ki
C=
S

S2 Kp+ ( Kp ( S ) ) 2,272+ Ki 2,272

( C ( S ) ) ( G ( S ) )=
S 2 +S 4,57

NUMERADOR
T=
NUMERADOR+ DENOMINADOR

S2 Kp+S ( Ki +2,272 Kp ) + Ki 2,272

T=
S 2 Kp+ S ( Ki+2,272 Kp )+ Ki 2,272+ S 2+ 4,57 S

S2 Kp+ S ( Ki+ 2,272 Kp ) + Ki 2,272

T=
S ( Ki +2,272 Kp+ 4,57 ) Ki 4,57
S 2 (Kp+ 1)+ +
Kp+1 Kp+1

S 2 Kp+S ( Ki +2,272 Kp ) + Ki 2,272

( kp+1)
T=
S ( Ki+2,272 Kp+ 4,57 ) Ki 4,57
S 2+ +
1 1

W n2
H=
S2 +2 εWnS+W n2

ENTONCES:

Ki+2,272 Kp+ 4,57

=2 εWn+2 εWn kp
1
Ki+¿

Ki 4,57=wn2

Ki=3,1026∗4,57

ln Sp
ε=
√ π 2 +¿ ¿ ¿
ε = 1, 1564

4,5
Wn=
ε (TS)

4,5
Wn=
1,1564 (1.2542)

Wn=3,1026

Kp=2,454