Discreto PID

PID Discreto

= + 0 + Temporal PID

= + + () Laplace PID


= + + Filtro derivativo
1+

=
1
(1)
= Forma discreta
1+ 1
 () (1)
= = + + donde 1 + =
() 1 1+ 1
(1)(1)
() 2 1+ + + 2 + 2 2 +
=
() (1)(1)
() +
= ()
= 1

() 2 1+ + + 2 + 2 2 +
=
() (1)(1)

() 2 + + + 1+ 2 + +
=
() 2 1+ +1

() + + + 1 1+ 2 + 2 +
=
() 1 1+ + 2
 = + +
= ( 1 + 2 )
= ( + )
=
= 1+
1 + 2 = ()( + 1 + 2 )
. . 1 + 2 = . + 1 + 2
. . 1 +. 2 = . + . 1 + . ( 2)

Ec. en Diferencias
1
= 1 2 + . + . 1 + . ( 2)
 1
=0.5


=11.69


=1.5


=-23.65


=11.96

Arranque-enclavamiento
Normalizacin y escalamiento de la
seal Flujo
Normalizacin y escalamiento de la
seal Nivel
Implementacin del PID discreto
1
OUT1: . ( 2) 2 = 2 4 2 3 1 3

MD58=valor del caudal MD62=valor de nivel

Implementacin del PID discreto

OUT2: . ( 1) + 1 + 1 = 1 3 + 2 4 2 3 + 5

Implementacin del PID discreto

OUT3: . () +2 = 1 3 1 2 + 4