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Ajuste Controlador Proporcional
Ajuste Controlador Proporcional
T p=0.72 h
T =5 ( 0.72 )
T =3.6 h
Se procedió a transformar a minutos
h∗( 60 ) min
T p=0.72 =43.2 min
1h
T =5 T p
T =5 ( 43.2 )
T =216 min
Kg
Kg
K p =1.069
1
Kg
Kg
Kg
Kg
K p =0.002784
2
Kg
min
Kg
Kg
K p =0.00041
3
Kg
min
Modelo 1
d
dCH S d d
43.2 2
+C 4 =1.069 C1 H S + 0.002784 F 1d −0.00041 F 3d
dt H 2S 2
VM: F 3
VP:C 1H S ; F 12
VC: C H 2 S
Kg
Transmisor: (0.001-0.99)
Kg
Constante de la válvula
d
F3 6.14 Kg / min Kg/ min
Kv= d
= =−1.023
P v
−6 psig psig
Tp 43.2 min
T V= → TV = → T V =14.4 min
3 3
Tp 43.2 min
T T= → T T= → T T =8.64 min
2 5
Tp 43.2 min
D= → D= → D=5.4 min
6 8
CH S( s) 1.069
2
=
C1 H 2 S(s ) 43.2 S+1
CH S( s ) 002784
2
=
F 1(s) 43.2 S+1
CH S( s ) −0.00041
2
=
F 3(s) 43.2 S+1
Dinámica en válvula
d
d F3 d d
TV + F 3 =K V PV
dt
d
d F3 d d
14.4 + F 3=−1.023 PV
dt
F 3( s ) −1.023
=
P V (s) 14.4 S+1
dPdT d d
TT + P T =K T C H S
dt 2
dPdT d d
8.64 + PT =12.133 C H S
dt 2
8.64 S PT(s) + PT(s )=12.133 C H 2 S(s)
P T ( s) 12.133
=
CH 2 S(s) 8.64 S +1
Tiempo muerto
D
Ѕ 1−
− DЅ 2
e =
D
1+ Ѕ
2
5.4
1− Ѕ
−5.4 Ѕ 2 1−2.7 Ѕ
e = → e−2.7 Ѕ=
5.4 1+2.7 Ѕ
1+ Ѕ
2
a. Proceso + válvula instantánea + transmisor instantáneo + sin tiempo muerto
F 1( Ѕ )
12.133 0.002784 +
43.2 Ѕ +1 +
+
+
-
B(Ѕ)=K cU
1+ K cU G M =0
( Ѕ)
[ 1+ K cU ( −0.00041
43.2 S +1 )
(−1.023 ) ( 12.133 )=0
]
Resolviendo
Donde Ѕ=iW U
( 43.2i W U +1 ) +0.0051 K cU =0
Parte imaginaria
rad
43.2 W u =0 →W u =0
min
Parte real
psig
0.0051 K cU +1=0→ K cU =−196.1
psig
2π 2π
PU = → PU = =∞
Wu 0
12.133 F 1( Ѕ ) +
0.002784
+
43.2 Ѕ +1 +
+
-
B(Ѕ)=K cU
1+ K cU G M =0
( Ѕ)
[ 1+ K cU ( −0.00041
43.2 S +1 ) (−1.023 ) (
8.64 S+1 ) ]
12.133
=0
Resolviendo
( 43.2 Ѕ+1 ) (8.64 S+ 1)+0.0051 K cU =0
2
373.25 S + 51.84 S +1+0.0051 K cU
Donde Ѕ=iW U
2
373.25 iW u +51.84 i W u +1+0.0051 K cU =0
Aplicando propiedades
2
−373.25 W u +51.84 iW u+1+ 0.0051 K cU =0
Parte imaginaria
rad
51.84 W u =0 →W u=0
min
Parte real
2 psig
−373.25 W u +0.0051 K cU +1=0→ K cU =−196.1
psig
2π 2π
PU = → PU = =∞
Wu 0
12.133 F 1( Ѕ ) +
0.002784
+
43.2 Ѕ +1 +
+
-
1−2.7 S
1+2.7 S
B(Ѕ)=K cU
1+ K cU G M =0
( Ѕ)
[ 1+ K cU ( −0.00041
43.2 Ѕ +1 )
(−1.023 ) (
8.64 S+1 )( 1+2.7 S ) ]
12.133 1−2.7 S
=0
Resolviendo
( 43.2 Ѕ+1 ) (8.64 S+ 1)(2.7 S+1)+0.0051(1−2.7 S) K cU =0
Donde Ѕ=iW U
Parte imaginaria
De la parte imaginaria
54.54−1.01 x 103 W U 2
K cU = … (Ec .1)
0.014
Parte real
2
−1166.4 W U +1+0.0051 K cU … ( Ec .2 )
Sustituyendo 1 en 2
( )
3 2
2 54.54−1.01 x 10 W U
−513.22 W U + 0.0051 +1=0
0.014
2 2
−513.22 W U −367.93 W U +19.88+1=0
2
−881.15 W U +20.88=0
WU=
√ 20.88
881.15
rad rad
W U =0.154 ( P ) ;W U =−0.154 min ( PV
min V 1 2
)
3 2
54.54−1.01 x 10 ( 0.154 ) psig
K cU = =2184.77
0.014 psig
2π 2π
PU = → PU = =40.8 min
Wu 0.154
Ajuste del controlador
CP CPI CPID
Kc ( )
psig
psig
Kcu
2
=1092.385
Kcu
2.2
=993.08
Kcu
1.7
=1285.16
Pu Pu
T I ( min ) ------ =34 =20.4
1.2 2
Pu
T D ( min ) ------ ------ =5.1
8
12.133 F 1( Ѕ ) +
0.002784
+
43.2 Ѕ +1 +
+
-
B(Ѕ)=K cU
1+ K cU G M =0
( Ѕ)
[ 1+ K cU ( −0.00041
43.2 Ѕ +1 14.4 S+1 )
)( −1.023
( 12.133 )=0
]
Resolviendo
Donde Ѕ=iW U
2
662.08 iW U +57.6 i W U +1+0.0051 K cU =0
Aplicando propiedades
2
−662.08 W U +57.6 i W U + 1+ 0.0051 K cU =0
Parte imaginaria
rad
57.6 W u=0→ W u =0
min
Parte real
psig
−662.08 W 2U +0.0051 K cU +1=0→ K cU =−196.1
psig
2π 2π
PU = → PU = =∞
Wu 0
12.133 F 1( Ѕ ) +
0.002784
+
43.2 Ѕ +1 +
+
-
1−2.7 S
1+2.7 S
B(Ѕ)=K cU
1+ K cU G M =0
( Ѕ)
[ 1+ K cU ( −0.00041 )( −1.023
43.2 Ѕ +1 14.4 S+1 ) ( 12.133 ) (
1+2.7 S ) ]
1−2.7 S
=0
Resolviendo
( 43.2 Ѕ+1 ) (14.4 S+1)(2.7 S+1)+ 0.0051(1−2.7 S)K cU =0
Donde Ѕ=iW U
3 3 2
1.68 x 10 iW U +777.6 i W U +60.3 iW U +1+0.0051 K cU −0.01 4 iW U K cU =0
Aplicando propiedades
3 3 2
−1.68 x 10 iW U −777.6 W U +60.3 iW U +1+0.0051 K cU −0.01 4 i W U K cU =0
Parte imaginaria
De la parte imaginaria
3 2
60.3−1.68 x 10 W U
K cU = … (Ec .1)
0.01 4
Parte real
2
−777.6 W U +1+0.0051 K cU … ( Ec .2 )
Sustituyendo 1 en 2
( )
3 2
260.3−1.68 x 10 W U
−777.6 W U +0.0051 +1=0
0.01 4
2 2
−777.6 W U −612 W U +21.97+1=0
2
1389.6−W U +22.97=0
WU=
√ 22.97
1389.6
rad rad
W U =0.129 ( P ) ; W U =−0.129 min ( PV
min V 1 2
)
3 2
60.3−1.68 x 10 ( 0.129 ) psig
K cU = =2310.22
0.01 4 psig
2π 2π
PU = → PU = =48.71min
Wu 0.129
Kc ( psig
psig )
Kcu
2
=1155.11
Kcu
2.2
=1050.1
Kcu
1.7
=1358.95
Pu Pu
T I ( min ) ------ =40.592 =24.355
1.2 2
Pu
T D ( min ) ------ ------ =6.089
8
12.133 F 1( Ѕ ) +
0.002784
+
43.2 Ѕ +1 +
+
-
B(Ѕ)=K cU
1+ K cU G M =0 ( Ѕ)
[ 1+ K cU
43.2 Ѕ +1 )( 14.4 S+1 )( 8.64 S+ 1 ) ]
( −0.00041 −1.023 12.133
=0
Resolviendo
( 43.2 Ѕ+1 ) (14.4 S+1)(8.64 S+1)+0.0051 K cU =0
Donde Ѕ=iW U
3 3 3 2
5.37 x 10 i W U + 1.12 x 10 iW U + 66.24 iW U +1+ 0.0051 K cU =0
Aplicando propiedades
3 3 3 2
−5.37 x 10 iW U −1.12 x 10 W U +66.24 iW U + 1+ 0.0051 K cU =0
Parte imaginaria
3 3
(−5.37 x 10 W u +66.24 W u=0) ÷W u
WU=
√ 66.24
5.37 x 10
3
rad rad
W U =0.111
min
( PV ) ;W U =−0.111
1
(P
min V 2
)
Parte real
3 2
1.12 x 10 ( 0.111 ) −1 psig
K cU = =2705.79
0.0051 psig
2π 2π
PU = → PU = =56.61 min
Wu 0.111
CP CPI CPID
Kc ( psig
psig )
Kcu
2
=1352.895
Kcu
2.2
=1229.905
Kcu
1.7
=1591.641
Pu Pu
T I ( min ) ------ =47.175 =28.305
1.2 2
Pu
T D ( min ) ------ ------ =7.07625
8
12.133 F 1( Ѕ ) +
0.002784
+
43.2 Ѕ +1 +
+
-
1−2.7 S
1+2.7 S
B(Ѕ)=K cU
1+ K cU G M =0
( Ѕ)
[ 1+ K cU
43.2 Ѕ +1 )( 14.4 S+1 )( 8.64 S+ 1 )( 1+ 2.7 S ) ]
( −0.00041 −1.023 12.133 1−2.7 S
=0
Resolviendo
( 43.2 Ѕ+1 ) (14.4 S+1)(8.64 S+1)(2.7 S+1)+ 0.0051 K cU (1−2.7 S)=0
Donde Ѕ=iW U
Aplicando propiedades
3 4 3 3 3 2
14.5 x 10 iW U −8.39 x 10 iW U −1.29 x 10 i W U +68.94 i W U +1+0.0051 K cU −0.01 4 S K cU =0
Parte imaginaria
3 3
(−8.39 x 10 W U +68.94 W U −0.01 4 W U K cU =0)÷W u
3 2
−8.39 x 10 W U +68.94−0.01 4 K cU =0
68.94−8.39 x 103 W 2U
K cU =
0.01 4
Parte real
3 4 3 2
14.5 x 10 i W U −1.29 x 10 i W U +0.0051 K cU +1
( )
3 2
68.94−8.39 x 10 W U
14.5 x 103 i W U4 −1.29 x 103 i W 2U +0.0051 +1=0
0.014
3 4 3 2 3 2
14.5 x 10 i W U −1.29 x 10 i W U −3.06 x 10 W U + 25.11+ 1=0
3 4 3 2
48.37 x 10 i W U −4.3 5 x 10 W U + 26.11=0
Cambio de variable W U =x
x=
3
√
−(−4.35 x 10 ) ± (−4.3 5 x 10 ) −4 × 48.37 x 10 × 26.11
3 3 2
3
2 × 48.37 x 10
x 1=0.0835 x 2=6.47 x 10−3
rad
W U 1=0.289
min
rad
W U 2=−0.289
min
rad
W U 3=0.0 8044
min
rad
W U 4 =−0.08044
min
psig
K cU 1 =−45128.66
psig
psig
K cU 2 =−45128.66
psig
psig
K cU 3 =1046.55
psig
psig
K cU 4=1 046.55
psig
3 2
68.94−8.39 x 10 W U
K cU =
0.014
Se seleccionó WU=0.08044 ya que proporciona el valor positivo de K cU.
2π 2π
PU = → PU = =78.11 min
Wu 0.08044
T p=35.03 h
T =5 ( 35.03 )
T =175.15 h
Se procedió a transformar a minutos
h∗( 60 ) min
T p=35.03 =2101.8 min
1h
T =5 T p
T =5 ( 2101.8 )
T =10509 min
Kg
Kg
K p =10.20
1
Kg
Kg
Kg
Kg
K p =0.038
2
Kg
min
Kg
Kg
K p =0.0426
3
Kg
min
Modelo 2
d CH S6d d d
2101.8 2
+C H S6 =10.20C H S −0.0384 F 4d −0.0426 F 5d
dt 2 2
VM: F 5
VP:C H S ; F 4
2
VC: C H 2 S6
Kg
Transmisor: (0.001-0.99)
Kg
Constante de la válvula
d
F5 1.2748 Kg / min Kg/min
Kv= d
= =−0.2125
P v
−6 psig psig
Tp 2101.8 min
T V= → TV = →T V =700.6 min
3 3
Tp 2101.8 min
T T= → T T= → T T =420.4 min
2 5
Tp 2101.8 min
D= → D= → D=262.73 min
6 8
CH S 6( s) 10.20
2
=
CH 2 S(s) 2101.8 S+1
CH S 6( s) 0.0384
2
=
F 4(s ) 2101.8 S+1
CH S 6( s) −0.0426
2
=
F 5(s) 2101.8 S+1
Dinámica en válvula
d F5d d d
TV + F 5 =K V PV
dt
d F d5 d d
700.6 + F5 =−0.2125 PV
dt
F 5( s ) −0.2125
=
P V (s) 700.6 S+1
dP dT
420.4 + P dT =12.133 C H S6
d
dt 2
P T ( s) 12.133
=
CH 2 S 6(s) 420.4 S +1
Tiempo muerto
D
1− Ѕ
− DЅ 2
e =
D
1+ Ѕ
2
262.73
1− Ѕ
−350.3 Ѕ 2 −131.4 Ѕ 1−131.36 Ѕ
e = →e =
262.73 1+131.36 Ѕ
1+ Ѕ
2
a. Proceso + válvula instantánea + transmisor instantáneo + sin tiempo muerto
F 4 ( Ѕ)
12.133 0.0384 +
2101.8 Ѕ+1 +
+
+
-
B(Ѕ)=K cU
1+ K cU G M =0
( Ѕ)
[ 1+ K cU ( 2101.8 S +1 )
−0.0426
(−0.2125 )( 12.133 )=0
]
Resolviendo
( 2101.8 Ѕ +1 ) +0.11 K cU =0
Donde Ѕ=iW U
( 2101.8 iW U + 1 )+ 0.11 K cU =0
Parte imaginaria
rad
2101.8 W u=0→ W u =0
min
Parte real
psig
0.11 K cU +1=0→ K cU =−9.091
psig
2π 2π
PU = → PU = =∞
Wu 0
F 4 ( Ѕ)
12.133 0.0384 +
2101.8 Ѕ+1 +
+
+
-
B(Ѕ)=K cU
1+ K cU G M =0 ( Ѕ)
[ 1+ K cU ( 2101.8
−0.0426
S +1 ) (−0.2125 ) (
420.4 S+1 ) ]
12.133
=0
Resolviendo
( 2101.8 Ѕ +1 ) (420.4 S+ 1)+0.11 K cU =0
5 2 3
8.84 x 10 S +2.52 x 10 S +1+0.11 K cU
Donde Ѕ=iW U
5 2 3
8.84 x 10 i W u +2.52 x 10 i W u +1+0.11 K cU =0
Aplicando propiedades
5 2 3
−8.84 x 10 W u +2.52 x 10 iW u+ 1+ 0.11 K cU =0
Parte imaginaria
rad
2.52 x 103 W u=0 → W u=0
min
Parte real
5 2 psig
−8.84 x 10 W u+ 0.11 K cU +1=0 → K cU =−9.091
psig
2π 2π
PU = → PU = =∞
Wu 0
12.133 F 4 ( Ѕ) +
0.0384
2101.8 Ѕ+1 +
+
+
-
B(Ѕ)=K cU 1−131.36 S
1+ K cU G M =0 1+131.36 S
( Ѕ)
[ 1+ K cU ( 2101.8 Ѕ +1 )
−0.0426
(−0.2125 ) (
420.4 S+1 )( 1+131.36 S ) ]
12.133 1−131.36 S
=0
Resolviendo
( 2101.8 Ѕ +1 ) (420.4 S+ 1)(131.36 S+1)+ 0.11(1−131.36 S) K cU =0
Donde Ѕ=iW U
8 3 6 2
1.16 x 10 iW U −1.22 x 10 iW U +2651.36 i W U +1+0.11 K cU −14.45 iW U K cU =0
Aplicando propiedades
8 3 6 2
−1.16 x 10 iW U −1.22 x 10 W U +2651.36 iW U +1+ 0.11 K cU −14.45 iW U K cU =0
Parte imaginaria
De la parte imaginaria
8 2
2651.36−1.16 x 10 W U
K cU = …(Ec .1)
14.45
Parte real
6 2
−1.22 x 10 W U +1+0.11 K cU … ( Ec .2 )
Sustituyendo 1 en 2
( )
8 2
6 2 2651.36−1.16 x 10 W U
−1.22 x 10 W U +0.11 + 1=0
14.45
WU =
√ 21.18
2.103 x 106
rad rad
W U =3.174 x 10−3 ( PV ) ;W U =−3.174 x 10−3 (P )
min 1
min V 2
2
2651.36−1.16 x 10 8 ( 3.174 x 10−3 ) psig
K cU = =102.61
14.45 psig
2π 2π
PU = → PU = =1979.58 min
Wu 3.174 x 10
−3
Kc ( psig
psig )
Kcu
2
=51.305
Kcu
2.2
=46.6409
Kcu
1.7
=60.359
Pu Pu
T I ( min ) ------ =1649.65 =989.79
1.2 2
Pu
T D ( min ) ------ ------ =247.4475
8
d. Proceso + válvula dinámica + transmisor instantáneo + sin tiempo muerto
F 4 ( Ѕ)
12.133 0.0384 +
2101.8 Ѕ+1 +
+
+
-
B(Ѕ)=K cU
1+ K cU G M =0( Ѕ)
[ 1+ K cU ( 2101.8 S +1 700.6 S+ 1 )
−0.0426
)( −0.2125
(12.133 )=0
]
Resolviendo
( 2101.8 Ѕ +1 ) (700.6 S +1)+ 0.11 K cU =0
6 2 3
1.47 x 10 S +2.80 x 10 S +1+0.11 K cU
Donde Ѕ=iW U
6 2 3
1.47 x 10 iW u + 2.80 x 10 i W u +1+0.11 K cU =0
Aplicando propiedades
6 2 3
−1.47 x 10 W u +2.80 x 10 iW u+ 1+ 0.11 K cU =0
Parte imaginaria
rad
2.80 x 103 W u=0→ W u =0
min
Parte real
6 2 psig
−1.47 x 10 W u +0.11 K cU +1=0 → K cU =−9.091
psig
2π 2π
PU = → PU = =∞
Wu 0
12.133 F 4 ( Ѕ) +
0.0384
2101.8 Ѕ+1 +
+
+
-
1−131.36 S
1+131.36 S
B(Ѕ)=K cU
1+ K cU G M =0
( Ѕ)
[ 1+ K cU ( 2101.8
−0.0426
)( −0.2125
Ѕ +1 700.6 S+ 1 ) (12.133 )(
1+131.36 S ) ]
1−131.36 S
=0
Resolviendo
( 2101.8 Ѕ +1 ) (700.6 S +1)( 131.36 S+1)+0.11(1−131.36 S) K cU =0
Donde Ѕ=iW U
8 3 6 2
1.93 x 10 iW U −1.84 x 10 iW U +2931.36 iW U +1+0.11 K cU −14.45i W U K cU =0
Aplicando propiedades
8 3 6 2
−1.93 x 10 iW U −1.84 x 10 W U +2931.36 i W U +1+0.11 K cU −14.45 iW U K cU =0
Parte imaginaria
De la parte imaginaria
8 2
2931.36−1.93 x 10 W U
K cU = … (Ec .1)
14.45
Parte real
Sustituyendo 1 en 2
6
−1.84 x 10 W U + 0.11 2
14.45 (
2931.36−1.93 x 108 W U 2
+1=0 )
6 2 6 2
−1.84 x 10 W U −1.47 x 10 W U +22.31+1=0
WU=
√ 23.31
3.31 x 10
6
rad rad
W U =2.65 x 10−3 ( PV ) ; W U =−2.65 x 10−3 (P )
min 1
min V 2
−3 2
2931.36−1.93 x 10 ( 2.65 x 10 )
8
psig
K cU = =109.07
14.45 psig
2π 2π
PU = → PU = =2371.013 min
Wu 2.65 x 10−3
Kc ( psig
psig )
Kcu
2
=54.535
Kcu
2.2
=49.58
Kcu
1.7
=64.159
Pu Pu
T I ( min ) ------ =1975.844 =1185.5065
1.2 2
Pu
T D ( min ) ------ ------ =296.376625
8
12.133 F 4 ( Ѕ) +
0.0384
2101.8 Ѕ+1 +
+
+
-
B(Ѕ)=K cU
1+ K cU G M =0 ( Ѕ)
Resolviendo
( 2101.8 Ѕ +1 ) (700.6 S +1)(420.4 S+1)+ 0.11 K cU =0
Donde Ѕ=iW U
8 3 6 2
6.18 x 10 iW U + 2.65 x 10 iW U +3220.4 i W U +1+0.11 K cU =0
Aplicando propiedades
8 3 6 2
−6.18 x 10 iW U −2.65 x 10 W U +3220.4 i W U +1+0.11 K cU =0
Parte imaginaria
8 3
(−6.18 x 10 W u+3220.4 W u=0)÷W u
−6.18 x 10 8 W 2u +3220.4=0
WU=
√ 3220.4
6.18 x 10
8
−3 rad −3 rad
W U =2.28 x 10
min
( PV ) ; W U =−2.28 x 10
1
(P
min V 2
)
Parte real
2π 2π
PU = → PU = =2755.78 min
Wu 2.28 x 10
−3
12.133 F 4 ( Ѕ) +
0.0384
2101.8 Ѕ+1 +
+
+
-
1−131.36 S
1+131.36 S
B(Ѕ)=K cU
1+ K cU G M =0 ( Ѕ)
Resolviendo
( 2101.8 Ѕ +1 ) (700.6 S +1)( 420.4 S+1)(131.36 S +1)+0.11 K cU ( 1−131.3 S)=0
Donde Ѕ=iW U
Aplicando propiedades
11 4 9 3 6 2 2
1.08 x 10 i W U −1.08 x 10 i W U −3.21 x 10 S iW U +3395.9 i W U +1+ 0.11 K cU −14.45 S K cU =0
Parte imaginaria
9 3
(−1.08 x 10 W U +3395.9 W U −14.45W U K cU =0) ÷W u
9 2
−1.08 x 10 W U +3395.9−14.45 K cU =0
9 2
3395.9−1.08 x 10 W U
K cU =
14.45
Parte real
11 4 6 2 2
1.08 x 10 i W U −3.21 x 10 S iW U +0.11 K cU +1
11 4
1.08 x 10 i W −3.21 x 10 S iW +0.11
U
3395.9−1.08 x 109 W 2U
14.45
6 2
+1=0
2
U ( )
11 4 6 2 2 6 2
1.08 x 10 i W U −3.21 x 10 S iW U −8.22 x 10 W U +25.85+1=0
x=
6
√ 6 2
−(−11.46 x 10 ) ± (−11.46 x 10 ) −4 × 1.08 x 10 × 26.85
11
11
2 ×1.08 x 10
−4 −6
x 1=1.037 x 10 x2 =2.397 x 10
rad
W U 1=0.01018
min
rad
W U 2=−0.01018
min
rad
W U 3=0.00155
min
rad
W U 4 =−0.00155
min
psig
K cU 1 =−7 510.53
psig
psig
K cU 2 =−7510.53
psig
psig
K cU 3 =55.45
psig
psig
K cU 4=55.4 5
psig
3395.9−1.08 x 109 W 2U
K cU =
14.45
Se seleccionó WU=0.00155 ya que proporciona el valor positivo de K cU.
2π 2π
PU = → PU = =4053.67 min
Wu 0.00155
CP CPI CPID
Kc ( psig
psig )
Kcu
2
=27.725
Kcu
2.2
=25.2045
Kcu
1.7
=32.618
Pu Pu
T I ( min ) ------ =3378.06 =2026.835
1.2 2
Pu
T D ( min ) ------ ------ =506.70875
8
Modelo Matemático (Modelo de segundo orden):
Luego de realizar el modelo de segundo orden con las variables en minutos queda:
2 2
T p =90797.8 min
Tp=√ 90797.8
Tp=301.33min
2 εTp=2145
d2CH S6
d
d C H S 6d d d F4
d
d F5
d
90797.8 2
+2145 2
+C H S6 =−1.658 −0.0384 F 4d −1.840 −0.0426 F5d + 10.903C 1H S
d
+0.0283 F1d −0.00416 F3 d
dt 2
dt 2
dt dt 2
VM: F 3
VP:C 1H S ; F 4 ; F 5 ; F 1
2
VC: C H 2 S6
Kg
Transmisor: (0.001-0.99)
Kg
Constante de la válvula
d
F3 6.14 Kg/min Kg/min
Kv= d
= =−1.023
P v
−6 psig psig
Tp 301.33 min
T V= → TV = →T V =100.44 min
3 3
Tp 301.33 min
T T= → T T= → T T =60.27 min
2 5
Tp 301.33 min
D= → D= → D=37.67 min
6 8
CH S 6( s) −1.658 S−0.0384
2
=
F 4(s ) 2
90797.8 S +2145 S+1
CH S 6( s) −1.840 S−0.0426
2
= 2
F 5(s) 90797.8 S +2145 S+1
CH S 6( s) 10.903
2
=
C1 H 2 S(s )
2
90797.8 S +2145 S +1
CH S 6( s) 0.0283
2
= 2
F 1(s) 90797.8 S +2145 S+1
CH S 6( s) −0.00416
2
=
F 3(s) 90797.8 S2 +2145 S+1
Dinámica en válvula
d F3d d d
TV + F 3 =K V PV
dt
d F d3 d d
100.44 + F 3=−1.023 PV
dt
F 5( s ) −1.023
=
P V (s) 100.44 S+1
dP dT
60.27 + PdT =12.133C H S6
d
dt 2
P T ( s) 12.133
=
CH 2 S 6(s) 60.27 S+1
Tiempo muerto
D
1− Ѕ
− DЅ 2
e =
D
1+ Ѕ
2
37.67
1− Ѕ
−15132.9 Ѕ 2 −18.84 Ѕ 1−18.835 Ѕ
e = →e =
37.67 1+ 18.835 Ѕ
1+ Ѕ
2
a. Proceso + válvula instantánea + transmisor instantáneo + sin tiempo muerto
12.133 +
+ +
+
+
+
-
B(Ѕ)=K cU
1+ K cU G M =0
( Ѕ)
[ 1+ K cU ( 90797.8−0.00416
S +2145 S+ 1 )
2
(−1.023 )( 12.133 )=0
]
Resolviendo
Donde Ѕ=iW U
2
−90797.8 iW U +2145 i W U +1+0.052 K cU =0
Parte imaginaria
rad
2145 W u=0→ W u =0
min
Parte real
2
−90797.8 W U +0.052 K cU +1=0
psig
0.052 K cU +1=0→ K cU =−19.23
psig
2π 2π
PU = → PU = =∞
Wu 0
No se recomienda este método dado a que el último periodo da indeterminado y la constante del controlador da
negativo.
12.133 +
+ +
+
+
+
-
B(Ѕ)=K cU
1+ K cU G M =0 ( Ѕ)
[ (
1+ K cU
−0.00416
2
90797.8 S +2145 S+ 1
(−1.023 ) 12.133 =0
60.27 S+1 ) ( ) ]
Resolviendo
Donde Ѕ=iW U
6 3 5 2
5.47 x 10 i W U + 1.29 x 10 i W U +2205.27 i W U +1+0.052 K cU =0
Aplicando propiedades
6 3 5 2
−5.47 x 10 iW U −1.29 x 10 W U +2205.27 i W U +1+0.052 K cU =0
Parte imaginaria
6 3
(−5.47 x 10 W U +2205.27 W u=0)÷ W u
6 2
−5.47 x 10 W U +2205.27=0
WU=
√ 2205.27
5.47 x 10
6
rad rad
W U =0.0201
min
( PV ) ; W U =−0.0201
1
(P
min V 2
)
Parte real
5 2
−1.29 x 10 W U +0.052 K cU +1=0
5 2
1.29 x 10 ( 0.0201 ) −1 psig
K cU = =983.02
0.052 psig
2π 2π
PU = → PU = =312.6 min
Wu 0.0201
Kc ( psig
psig )
Kcu
2
=491.51
Kcu
2.2
=446.827
Kcu
1.7
=578.247
Pu Pu
T I ( min ) ------ =260.5 =156.3
1.2 2
Pu
T D ( min ) ------ ------ =39.075
8
12.133 +
+ +
+
+
+
1−18.84 S
1+18.84 S
B(Ѕ)=K cU
1+ K cU G M =0 ( Ѕ)
[ (
1+ K cU
−0.00416
2
90797.8 S +2145 S+ 1 )
(−1.023 ) 12.133
60.27 S+1 ( 1+ 18.84 S ) ]
)( 1−18.84 S
=0
Resolviendo
Donde Ѕ=iW U C
8 4 6 3 5 2
1.03 x 10 iW U +7.9 x 10 i W U +1.71 x 10 i W U +2224.11 i W U +1+0.052 K cU −0.97 Si W U K cU =0
Aplicando propiedades
8 4 6 3 5 2
1.03 x 10 W U −7.9 x 10 i W U −1.71 x 10 W U +2224.11 i W U +1+0.052 K cU −0.97 i W U K cU =0
Parte imaginaria
(−7.9 x 106 W U 3+ 2224.11W U −0.97 W U K cU =0 ) ÷ W U
−7.9 x 106 W U 2 +2224.11−0.97 K cU =0
De la parte imaginaria
2224.11−7.9 x 106 W U 2
K cU = …( Ec .1)
0.97
Parte real
8 4 5 2
1.03 x 10 W U −1.71 x 10 W U +1+0.052 K cU … ( Ec .2 )
( )
6 2
8 4 2224.11−7.9 x 10 W U
5 2
1.03 x 10 W −1.71 x 10 W +0.052
U U + 1=0
0.97
8 4 5 2 5 2
1.03 x 10 W U −1.71 x 10 W U −4.24 x 10 W U +119.23+1=0
8 4 5 2
1.03 x 10 W U −5.95 x 10 W U +120.23=0
Cambio de variable W U =x
x=
5
√ 5 2
−(−5.95 x 10 )± (−5.95 x 10 ) −4 ×1.03 x 10 ×120.23
8
8
2 ×1.03 x 10
−3 −4
x 1=5.57 x 10 x 2=2.097 x 10
rad
W U 1=0.064
min
rad
W U 2=−0.064
min
rad
W U 3=0.00814
min
rad
W U 4 =−0.00814
min
psig
K cU 1 =−7358.28
psig
psig
K cU 2 =−7358.28
psig
psig
K cU 3 =552.64
psig
psig
K cU 4=552.64
psig
6 2
2224.11−7.9 x 10 W U
K cU =
0.97
Se seleccionó WU=0.00814 ya que proporciona el valor positivo de K cU.
2π 2π
PU = → PU = =771.89 min
Wu 0.00814
Pu Pu
T I ( min ) ------ =643.24 =385.945
1.2 2
Pu
T D ( min ) ------ ------ =96.486
8
12.133 +
+ +
+
+
+
-
B(Ѕ)=K cU
1+ K cU G M =0 ( Ѕ)
[ (
1+ K cU
−0.00416 −1.023 (
90797.8 S +2145 S+ 1 100.44 S +1
2
12.133 )=0 )( ) ]
Resolviendo
Donde Ѕ=iW U
6 3 5 2
9.12 x 10 i W U +3.06 x 10 i W U +2245.44 iW U + 1+ 0.052 K cU =0
Aplicando propiedades
6 3 5 2
−9.12 x 10 i W U −3.06 x 10 W U +2245.44 iW U + 1+ 0.052 K cU =0
Parte imaginaria
6 3
(−9.12 x 10 W U +2245.44 W u=0)÷W u
6 2
−9.12 x 10 W U +2245.44=0
WU=
√ 2245.44
9.12 x 10
6
rad rad
W U =0.0157
min
( PV ) ; W U =−0.0157
1
(P
min V 2
)
Parte real
5 2
−3.06 x 10 W U +0.052 K cU +1=0
Kc ( )
psig
psig
Kcu
2
=715.635
Kcu
2.2
=650.58
Kcu
1.7
=841.92
Pu Pu
T I ( min ) ------ =333.5 =200.1
1.2 2
Pu
T D ( min ) ------ ------ =50.025
8
12.133 +
+ +
+
+
+
-
B(Ѕ)=K cU 1−18.84 S
1+18.84 S
1+ K cU G M =0 ( Ѕ)
[ 1+ K cU
( 90797.8−0.00416 ) ( −1.023
S +2145 S+ 1 100.44 S +1
2 ) (12.133 )( 1−18.84 S )=0
1+18.84 S ]
Resolviendo
Donde Ѕ=iW U C
8 4 6 3 5 2
1.72 x 10 iW U +14.89 x 10 i W U +3.48 x 10 i W U +2264.27 iW U + 1+ 0.052 K cU −0.98 SiW U K cU =0
Aplicando propiedades
8 4 6 3 5 2
1.72 x 10 W U −14.89 x 10 i W U −3.48 x 10 W U +2264.27 iW U + 1+ 0.052 K cU −0.98 iW U K cU =0
Parte imaginaria
De la parte imaginaria
2264.27−14.89 x 106 W U 2
K cU = … ( Ec .1)
0.98
Parte real
8 4 5 2
1.72 x 10 W U −3.48 x 10 W U +1+0.052 K cU … ( Ec .2 )
( )
6 2
8 4 2264.27−14.89 x 10 W U
5 2
1.72 x 10 W −3.48 x 10 W +0.052
U U +1=0
0.98
8 4 5 2 5 2
1.72 x 10 W U −3.48 x 10 W U −7.9 x 10 W U +120.14+1=0
8 4 5 2
1.72 x 10 W U −11.38 x 10 W U +121.14=0
Cambio de variable W U =x
8 4 5 2
1.72 x 10 W U −11.38 x 10 W U +121.14=0
x=
5
√ 5 2
−(−11.38 x 10 ) ± (−11.38 x 10 ) −4 ×1.72 x 10 ×121.14
8
8
2× 1.72 x 10
−3 −4
x 1=6.51 x 10 x 2=1.08 x 10
rad
W U 1=0.0757
min
rad
W U 2=−0.0757
min
rad
W U 3=0.00833
min
rad
W U 4 =−0.00833
min
psig
K cU 1 =−71757.01
psig
psig
K cU 2 =−71757.01
psig
psig
K cU 3 =843.37
psig
psig
K cU 4=843.37
psig
6 2
2264.27−14.89 x 10 W U
K cU =
0.98
Se seleccionó WU=0.00833 ya que proporciona el valor positivo de KcU.
2π 2π
PU = → PU = =754.28 min
Wu 0.00833
Kc ( psig
psig )
Kcu
2
=421.685
Kcu
2.2
=383.35
Kcu
1.7
=496.1
Pu Pu
T I ( min ) ------ =628.567 =377.14
1.2 2
Pu
T D ( min ) ------ ------ =84.285
8
+
12.133 +
+
+
+
+
-
B(Ѕ)=K cU
1+ K cU G M =0
( Ѕ)
[ 1+ K cU
S +2145 S+ 1 100.44 S +1 60.27 S +1 ) ]
( 90797.8−0.00416
2 ) ( −1.023
)( 12.133
=0
Resolviendo
Donde Ѕ=iW U
8 4 6 3 5 2
5.49 x 10 iW U +18.44 x 10 iW U + 4.41 x 10 i W U +2305.71 i W U +1+0.052 K cU =0
Aplicando propiedades
8 4 6 3 5 2
5.49 x 10 W U −18.44 x 10 iW U −4.41 x 10 W U +2305.71 i W U +1+0.052 K cU =0
Parte imaginaria
6 3
(−18.44 x 10 W U + 2305.71W u =0)÷ W u
6 2
−18.44 x 10 W U +2305.71=0
WU=
√ 2305.71
18.44 x 10
6
rad rad
W U =0.0112
min
( PV ) ;W U =0.0112
1
(P
min V 2
)
Parte real
8 4 5 2
5.49 x 10 W U −4.41 x 10 W U + 0.052 K cU +1=0
8 4 5 2
−5.49 x 10 ( 0.0112 ) +4.41 x 10 ( 0.0112 ) −1 psig
K cU = =878.47
0.052 psig
2π 2π
PU = → PU = =560.99 min
Wu 0.0112
Kc ( psig
psig )
Kcu
2
=439.235
Kcu
2.2
=399.3045
Kcu
1.7
=516.7471
Pu Pu
T I ( min ) ------ =467.492 =280.495
1.2 2
Pu
T D ( min ) ------ ------ =70.12375
8
g. Proceso + válvula dinámica + transmisor dinámico + tiempo muerto
12.133 +
+ +
+
+
+
-
1−25.11 S
1+25.11 S
B(Ѕ)=K cU
1+ K cU G M =0
( Ѕ)
[ (
1+ K cU
−0.00416
90797.8 S 2 +2145 S+ 1 )( 100.44 S +1 )( 60.24 S +1 )( 1+18.84 S ) ]
−1.023 12.133 1−18.84 S
=0
Resolviendo
Donde Ѕ=iW U
10 5 8 4 6 3 5 2
1.01 x 10 i W U +8.89 x 10 iW U + 26.59 x 10 i W U + 4.83 x 10 i W U +2324.19 iW U +1+0.052 K cU −0.97 iW U K cU =0
Aplicando propiedades
10 5 9 4 6 3 5 2
1.01 x 10 i W U +8.89 x 10 W U −26.59 x 10 i W U −4.83 x 10 W U +2324.19 i W U +1+0.052 K cU −0.97 i W U K cU =0
Parte imaginaria
De la parte imaginaria
10 4 6 2
1.01 x 10 W U +2324.19−26.59 x 10 W U
K cU = …(Ec .1)
0.97
Parte real
8 4 5 2
8.89 x 10 W U −4.83 x 10 W U +1+0.052 K cU … ( Ec .2 )
( )
10 4 6 2
8 4 1.01 x 10 W U + 2324.19−26.59 x 10 W U
5 2
8.89 x 10 W −4.83 x 10 W +0.052
U U +1=0
0.97
8 4 8 4 5 2 6 2
8.89 x 10 W U +5.41 x 10 W U −4.83 x 10 W U −1.44 x 10 W U +124.59+1=0
8 4 6 2
14.4 x 10 W U −1.923 x 10 W U +125.59=0
Cambio de variable W U =x
8 4 6 2
14.4 x 10 W U −1.923 x 10 W U +125.59=0
x=
6
√ 6 2
−(−1.923 x 10 ) ± ( −1.923 x 10 ) −4 ×14.4 x 10 × 125.59
8
8
2×14.4 x 10
rad
W U 1=0.0288
min
rad
W U 2=−0.0288
min
rad
W U 3=0.00533
min
rad
W U 4 =0.00533
min
psig
K cU 1 =−25293.57
psig
psig
K cU 2 =−25293.57
psig
psig
K cU 3 =321.08
psig
psig
K cU 4=321.08
psig
Kc ( psig
psig )
Kcu
2
=160.54
Kcu
2.2
=145.9455
Kcu
1.7
=188.871
Pu Pu
T I ( min ) ------ =982.3583 =589.415
1.2 2
Pu
T D ( min ) ------ ------ =147.354
8