Formulario sobre Controladores

Para el siguiente sistema:

Si C(S) es un controlador PID, tenemos:

dε( t ) K i ⋅ ε( S )
uc ( t ) = K p ⋅ ε( t ) + K i ∫ ε( t ) ⋅ dt +K d ⋅ ⇒ U c ( S ) = K p ⋅ ε( S ) + + K d ⋅ S ⋅ ε( S )
t

0
dt S
U c( S ) Ki ⎡ 1 ⎤
C( S ) = = Kp + + K d ⋅ S = K p ⋅ ⎢1 + + τd ⋅ S⎥
ε( ) S
S ⎣ τi ⋅ S ⎦
Si C(S) es un controlador P, tenemos:
⎧ ∆y( t ) = y 2( t ) − y1( t ) ⇒ Y = y max − y min Sensor
Rango
⎪
∆ = V −V alor
final ⎨
alor
inicial
⎪⎩∆u( t ) = u2( t ) − u1( t ) ⇒ U = umax − umin Controlador
Rango

ε = Vrealalor − Vmedido
alor
⇒ ∆ε = εactual − ε posterior
ε( ) = A − y ( )
t t

∆ ε( ) = [ A − y ( ) ] − [ A − y ( ) ] = − y ( ) + y ( ) = ∆ y ( ) = ∆ ε ( )
t 1t 2 t 1t 2 t t t

u ( ) = K ⋅ ε( )
c t p t

∆ u ( ) = K ⋅ ∆ ε( ) = K ⋅ ∆ y ( ) = ∆ u ( )
c t p t p t c t

β + A⋅ K p
ub( t ) = β + uc ( t ) = β + K p ⋅ ε( t ) = β + K p A − y( t ) = [ ] 1+ γ ⋅ Kp

[ ] [ ]
∆ub( t ) = β + uc 2( t ) − β + uc1( t ) = uc 2( t ) − uc1( t ) = ∆uc ( t ) = ∆ub( t )
∆u ∆u% ⋅ U 1
Si ∆uc ( t ) = ∆ub( t ) ⇒ K p = = = = Kp
∆y ∆y % ⋅ Y BP
∆u% ∆u ⋅ Y Y 100
K p% = = = Kp = = K p%
∆y % ∆ y ⋅ U U BP
γ ⋅ (β + A ⋅ K p ) A⋅U
y( t ) = γ ⋅ ub( t ) =
1+ γ ⋅ K p
=A ⇒ ε ss = 0 con β =
A
γ
para γ % =
β ⋅Y
⎛ γ ⎞
A ⋅ ⎜1 − 1 ⎟
A − β ⋅γ ⎝ γ ⎠
En otro caso: ε ss = =
1+ γ ⋅ Kp 1+ γ 1 ⋅ K p
para las variables porcentuales tenemos:
Z - Z MIN Z% ⋅ ( Z MAX - Z MIN )
Z% = ⋅ 100 ⇒ Z = + Z MIN
Z MAX - Z MIN 100

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