Set Point 100

Kp 0.81 f(saída) = kp * erro

ajuste sp 100

set point saída erro proporcional saída

100 0 100 81 81
100 81 19 15.39 15.39 Controle P
100 15.39 84.61 68.5341 68.5341 120
100 68.5341 31.4659 25.487379 25.487379
100 25.487379 74.512621 60.35522301 60.35522301 100
100 60.35522301 39.64477699 32.112269362 32.112269362 80
100 32.112269362 67.887730638 54.989061817 54.989061817
100 54.989061817 45.010938183 36.458859928 36.458859928 60
100 36.458859928 63.541140072 51.468323458 51.468323458 40
100 51.468323458 48.531676542 39.310657999 39.310657999
100 39.310657999 60.689342001 49.158367021 49.158367021 20
100 49.158367021 50.841632979 41.181722713 41.181722713 0
100 41.181722713 58.818277287 47.642804602 47.642804602 1 5 9 13 17 21 25 29 33 37 41 45 49 53 57
100 47.642804602 52.357195398 42.409328272 42.409328272
set point s
100 42.409328272 57.590671728 46.6484441 46.6484441
100 46.6484441 53.3515559 43.214760279 43.214760279
100 43.214760279 56.785239721 45.996044174 45.996044174
100 45.996044174 54.003955826 43.743204219 43.743204219
100 43.743204219 56.256795781 45.568004582 45.568004582
100 45.568004582 54.431995418 44.089916288 44.089916288
100 44.089916288 55.910083712 45.287167807 45.287167807
100 45.287167807 54.712832193 44.317394077 44.317394077
100 44.317394077 55.682605923 45.102910798 45.102910798
100 45.102910798 54.897089202 44.466642254 44.466642254
100 44.466642254 55.533357746 44.982019774 44.982019774
100 44.982019774 55.017980226 44.564563983 44.564563983
100 44.564563983 55.435436017 44.902703174 44.902703174
100 44.902703174 55.097296826 44.628810429 44.628810429
100 44.628810429 55.371189571 44.850663552 44.850663552
100 44.850663552 55.149336448 44.670962522 44.670962522
100 44.670962522 55.329037478 44.816520357 44.816520357
100 44.816520357 55.183479643 44.698618511 44.698618511
100 44.698618511 55.301381489 44.794119006 44.794119006
100 44.794119006 55.205880994 44.716763605 44.716763605
100 44.716763605 55.283236395 44.77942148 44.77942148
100 44.77942148 55.22057852 44.728668601 44.728668601
100 44.728668601 55.271331399 44.769778433 44.769778433
100 44.769778433 55.230221567 44.736479469 44.736479469
100 44.736479469 55.263520531 44.76345163 44.76345163
100 44.76345163 55.23654837 44.74160418 44.74160418
100 44.74160418 55.25839582 44.759300614 44.759300614
100 44.759300614 55.240699386 44.744966502 44.744966502
100 44.744966502 55.255033498 44.756577133 44.756577133
100 44.756577133 55.243422867
100 44.747172522 55.252827478
100 44.754790257 55.245209743
100 44.748619892 55.251380108
100 44.753617888 55.246382112
100 44.749569511 55.250430489
100 44.752848696 55.247151304
100 44.750192556 55.249807444
100 44.752344029 55.247655971
100 44.750601336 55.249398664
100 44.752012918 55.247987082
100 44.750869537 55.249130463
100 44.751795675 55.248204325
100 44.751045503 55.248954497
100 44.751653143 55.248346857
100 44.751160955 55.248839045
100 44.751559627 55.248440373
100 44.751236702 55.248763298
100 44.751498271 55.248501729
100 44.7512864 55.2487136
100 44.751458016 55.248541984
100 44.751319007 55.248680993
100 44.751431604 55.248568396
100 44.751340401 55.248659599
100 44.751414275 55.248585725
100 44.751354437 55.248645563
100 44.751402906 55.248597094
100 44.751363646 55.248636354
100 44.751395447 55.248604553
100 44.751369688 55.248630312
100 44.751390553 55.248609447
100 44.751373652 55.248626348
100 44.751387342 55.248612658
100 44.751376253 55.248623747
100 44.751385235 55.248614765
100 44.75137796 55.24862204
100 44.751383853 55.248616147
100 44.751379079 55.248620921
100 44.751382946 55.248617054
100 44.751379814 55.248620186
100 44.751382351 55.248617649
100 44.751380296 55.248619704
100 44.75138196 55.24861804
100 44.751380612 55.248619388
100 44.751381704 55.248618296
100 44.75138082 55.24861918
100 44.751381536 55.248618464
100 44.751380956 55.248619044
44.747172522 44.747172522
44.754790257 44.754790257
44.748619892 44.748619892
44.753617888 44.753617888
44.749569511 44.749569511
44.752848696 44.752848696
44.750192556 44.750192556
44.752344029 44.752344029
44.750601336 44.750601336
44.752012918 44.752012918
44.750869537 44.750869537
44.751795675 44.751795675
44.751045503 44.751045503
44.751653143 44.751653143
44.751160955 44.751160955
44.751559627 44.751559627
44.751236702 44.751236702
44.751498271 44.751498271
44.7512864 44.7512864
44.751458016 44.751458016
44.751319007 44.751319007
44.751431604 44.751431604
44.751340401 44.751340401
44.751414275 44.751414275
44.751354437 44.751354437
44.751402906 44.751402906
44.751363646 44.751363646
44.751395447 44.751395447
44.751369688 44.751369688
44.751390553 44.751390553
44.751373652 44.751373652
44.751387342 44.751387342
44.751376253 44.751376253
44.751385235 44.751385235
44.75137796 44.75137796
44.751383853 44.751383853
44.751379079 44.751379079
44.751382946 44.751382946
44.751379814 44.751379814
44.751382351 44.751382351
44.751380296 44.751380296
44.75138196 44.75138196
44.751380612 44.751380612
44.751381704 44.751381704
44.75138082 44.75138082
44.751381536 44.751381536
44.751380956 44.751380956
44.751381426 44.751381426
100 44.751381426 55.248618574
100 44.751381045 55.248618955
100 44.751381353 55.248618647
100 44.751381104 55.248618896
100 44.751381306 55.248618694
100 44.751381142 55.248618858
100 44.751381275 55.248618725
100 44.751381167 55.248618833
100 44.751381254 55.248618746
44.751381045 44.751381045
44.751381353 44.751381353
44.751381104 44.751381104
44.751381306 44.751381306
44.751381142 44.751381142
44.751381275 44.751381275
44.751381167 44.751381167
44.751381254 44.751381254
44.751381184 44.751381184
 81 100 100
kp ajuste sp Set Point
Controle P

3 37 41 45 49 53 57 61 65 69 73 77 81 85 89 93 97

set point saída

Set Point 100
Kp 0.01 f(saída) = ( kp * erro) + ( ki * somaerro)
ki 0.9
ajuste sp 100

set point saída erro somaerro proporcional integral saída

100 0 100 100 1 90 91
100 91 9 109 0.09 98.1 98.19
120
100 98.19 1.81 110.81 0.0181 99.729 99.7471
100 99.7471 0.2529 111.0629 0.002529 99.95661 99.959139 100
100 99.959139 0.040861 111.103761 0.00040861 99.9933849 99.99379351
100 99.99379351 0.00620649 111.10996749 6.20649E-05 99.998970741 99.999032806 80

100 99.999032806 0.0009671941 111.11093468 9.671941E-06 99.999841216 99.999850888 60

100 99.999850888 0.0001491124 111.1110838 1.4911237E-06 99.999975417 99.999976908
100 99.999976908 2.3092054E-05 111.11110689 2.3092054E-07 99.9999962 99.999996431 40

100 99.999996431 3.5694086E-06 111.11111046 3.5694086E-08 99.999999412 99.999999448 20

100 99.999999448 5.5216732E-07 111.11111101 5.5216732E-09 99.999999909 99.999999915
100 99.999999915 8.5389146E-08 111.1111111 8.5389146E-10 99.999999986 99.999999987 0
1 5 9 13 17 21
100 99.999999987 1.3206687E-08 111.11111111 1.3206687E-10 100 100
100 100 2.0424977E-09 111.11111111 2.0424977E-11 100 100
100 100 3.1589309E-10 111.11111111 3.1589309E-12 100 100
100 100 4.8856919E-11 111.11111111 4.8856919E-13 100 100
100 100 7.5601747E-12 111.11111111 7.5601747E-14 100 100
100 100 1.1652901E-12 111.11111111 1.1652901E-14 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
100 100 0 111.11111111 0 100 100
* somaerro)

1 90 100 100
kp ki ajuste sp Set Point
Controle PI
120

100

80

60

40

20

0
1 5 9 13 17 21 25 29 33 37 41 45 49 53 57 61 65 69 73 77 81 85 89 93 97

set point saída

Set Point 100
Kp 0.02 f(saída) = ( kp * erro) + ( ki * somaerro) + (kd * diferro)
ki 0.82
kd 0.01
ajuste sp 60

set point saída erro somaerro diferro proporcional integral

100 0 100 100 100 2 82
100 83 17 117 -83 0.34 95.94
100 95.45 4.55 121.55 -12.45 0.091 99.671
100 99.6375 0.3625 121.9125 -4.1875 0.00725 99.96825
100 99.933625 0.066375 121.978875 -0.296125 0.0013275 100.0226775
100 100.02104375 -0.02104375 121.95783125 -0.08741875 -0.000420875 100.00542163
100 100.00412656 -0.0041265625 121.95370469 0.0169171875 -8.253125E-05 100.00203784
100 100.00212448 -0.0021244844 121.9515802 0.0020020781 -4.248969E-05 100.00029577
100 100.0002733 -0.0002732977 121.95130691 0.0018511867 -5.465953E-06 100.00007166
100 100.00008471 -8.47084E-05 121.9512222 0.0001885893 -1.694168E-06 100.0000022
100 100.00000239 -2.393322E-06 121.9512198 8.2315076E-05 -4.786645E-08 100.00000024
100 100.00000101 -1.014358E-06 121.95121879 1.3789646E-06 -2.028715E-08 99.999999407
100 99.999999401 5.9919743E-07 121.95121939 1.6135551E-06 1.1983949E-08 99.999999899
100 99.999999927 7.3238539E-08 121.95121946 -5.259589E-07 1.4647708E-09 99.999999959
100 99.999999955 4.5097238E-08 121.95121951 -2.81413E-08 9.0194476E-10 100
100 100 3.702155E-09 121.95121951 -4.139508E-08 7.4043101E-11 100
100 100 1.6268302E-09 121.95121951 -2.075325E-09 3.2536605E-11 100
100 100 -5.887557E-11 121.95121951 -1.685706E-09 -1.177511E-12 100
100 100 1.9227286E-11 121.95121951 7.8102858E-11 3.8454573E-13 100
100 100 -1.574563E-11 121.95121951 -3.497291E-11 -3.149125E-13 100
100 100 -9.947598E-13 121.95121951 1.4750867E-11 -1.98952E-14 100
100 100 -9.80549E-13 121.95121951 1.4210855E-14 -1.961098E-14 100
100 100 0 121.95121951 9.8054898E-13 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
100 100 0 121.95121951 0 0 100
60 100 -40 81.951219512 -40 -0.8 67.2
60 66 -6 75.951219512 34 -0.12 62.28
60 62.5 -2.5 73.451219512 3.5 -0.05 60.23
60 60.215 -0.215 73.236219512 2.285 -0.0043 60.0537
60 60.07225 -0.07225 73.163969512 0.14275 -0.001445 59.994455
60 59.9944375 0.0055625 73.169532012 0.0778125 0.00011125 59.99901625
60 59.999905625 9.4375E-05 73.169626387 -0.005468125 1.8875E-06 59.999093638
60 59.999040844 0.0009591562 73.170585543 0.0008647812 1.9183125E-05 59.999880146
60 59.999907977 9.2023438E-05 73.170677567 -0.0008671328 1.8404688E-06 59.999955605
60 59.999948774 5.1226016E-05 73.170728793 -4.079742E-05 1.0245203E-06 59.99999761
60 59.999998227 1.7732773E-06 73.170730566 -4.945274E-05 3.5465547E-08 59.999999064
60 59.999998605 1.3947979E-06 73.170731961 -3.784795E-07 2.7895957E-08 60.000000208
60 60.000000232 -2.321094E-07 73.170731729 -1.626907E-06 -4.642188E-09 60.000000018
60 60 3.2427252E-09 73.170731732 2.353521E-07 6.4854504E-11 60.00000002
60 60.000000023 -2.274594E-08 73.170731709 -2.598866E-08 -4.549187E-10 60
60 60 -9.610872E-10 73.170731708 2.1784842E-08 -1.922174E-11 60
60 60 -1.08642E-09 73.170731707 -1.253326E-10 -2.17284E-11 60
60 60 2.6048497E-11 73.170731707 1.1124683E-09 5.2096993E-13 60
60 60 -2.993517E-11 73.170731707 -5.599077E-11 -5.987033E-13 60
60 60 7.4180662E-12 73.170731707 3.7353232E-11 1.4836132E-13 60
60 60 -3.481659E-13 73.170731707 -7.759127E-12 -6.963319E-15 60
60 60 5.4001248E-13 73.170731707 8.8817842E-13 1.080025E-14 60
60 60 0 73.170731707 -5.400125E-13 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
60 60 0 73.170731707 0 0 60
 2 82 1 60 100
erro) + (kd * diferro) kp ki kd ajuste sp Set Point

derivativo saída
1 83 Controle PID
-0.83 95.45 120
-0.1245 99.6375
-0.041875 99.933625 100

-0.00296125 100.02104375 80
-0.0008741875 100.00412656
0.0001691719 100.00212448 60

2.0020781E-05 100.0002733 40
1.8511867E-05 100.00008471
1.8858926E-06 100.00000239 20
8.2315076E-07 100.00000101 0
1.3789646E-08 99.999999401 1 5 9 13 17 21 25 29 33 37 41 45 49 53 57 61 65 69 73 77 81 85 89 93 97
1.6135551E-08 99.999999927
set point saída
-5.259589E-09 99.999999955
-2.81413E-10 100
-4.139508E-10 100
-2.075325E-11 100
-1.685706E-11 100
7.8102858E-13 100
-3.497291E-13 100
1.4750867E-13 100
1.4210855E-16 100
9.8054898E-15 100
0 100
0 100
0 100
0 100
0 100
0 100
0 100
0 100
0 100
0 100
0 100
0 100
0 100
0 100
0 100
0 100
0 100
-0.4 66
 0.34 62.5
0.035 60.215
0.02285 60.07225
0.0014275 59.9944375
0.000778125 59.999905625
-5.468125E-05 59.999040844
8.6478125E-06 59.999907977
-8.671328E-06 59.999948774
-4.079742E-07 59.999998227
-4.945274E-07 59.999998605
-3.784795E-09 60.000000232
-1.626907E-08 60
2.353521E-09 60.000000023
-2.598866E-10 60
2.1784842E-10 60
-1.253326E-12 60
1.1124683E-11 60
-5.599077E-13 60
3.7353232E-13 60
-7.759127E-14 60
8.8817842E-15 60
-5.400125E-15 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
0 60
81 85 89 93 97