dieño de conrbvcbcol pid

7/26/2019 Dieo de Conrbvcbcol PID

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III FaseINTEGRANTES:

DAZ MEZA ,RODRIGO ALEXIS

LAZO PINTO, ARTURO ALONSO

MANRIQUE ZEGARRA, DAVIDHIROSHI


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Diseo del controlador

1. Disea e! "#$%#! PID, %a&'i($ )*e+e$ se s*saia$%es PD # PI, +e %a! &a$ea -*e se %e$a*$ MP/02 3 %ss/a"e)%a'!e, *$ a!# a!%# +e !a"#$s%a$%e +e e# es%4%i"# +e e!#"i+a+ .

0. Disee *$ "#&)e$sa+# +e a+e!a$%#, *s%e+ e!i5a!a es)*es%a -*e +e'e %e$e e! sis%e&a.

6. Disee *$ "#&)e$sa+# +e a%as#, *s%e+ e!i5a !a

es)*es%a -*e +e'e %e$e e! sis%e&a.7. Disee *$ "#&)e$sa+# +e A%as# 8 A+e!a$%#

)aa e! sis%e&a, *s%e+ e!i5a !a &e5# es)*es%a.

9. Rea!ia !as %aas +e ;#+e +e! sis%e&a e$ !a#a'ie%#, 3 #'%e$a e! &ae$ +e a$a$"ia 3 e!


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Sis%e&a si$ "#&)e$sa

clear all, close all,

clc

num=[20 80];

den=[4 8 20];

G=tf(num,den)Glc=feedback(G,1)

figure(1)

ste(Glc)

grid on


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#$%!a+# PD


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#$%#! PD


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#$%#! PD


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#$%#! PD

#$+i"i$ +e a*&e$%#

#$+i"i$ +e &a$i%*+


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#$%#! PD


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#$%#! PDclear all, close all, clc

num=[20 80];

den=[4 8 20];

G=tf(num,den)

Glc=feedback(G,1)

figure(1)

ste(Glc)

title(!sistema sin controlador!)

figure(2)

rlocus(G)

"#gfrafica de los olos deseados

1=$8%'2;

old on

lot(1,!r!)

2=$8$'2;

old on

lot(2,!r!)

"######calculo del comensador

num2=0'180*#[$0'28+ 1];

den2=[1];Gc=tf(num2,den2)

GG=series(G,Gc)

"#######sistema realimentado

figure(-)

sublot(121)

rlocus(G)

1=$8%'2;

old onlot(1,!r!)

2=$8$'2;

old on

lot(2,!r!)

a.is([$20 0 $20 20])

sublot(122)

rlocus(GG)

1=$8%'2;

old on

lot(1,!r!)

2=$8$'2;

old on

lot(2,!r!)

"##resuesta al ste###

figure(4)

ste(Glc,!b!)

GGlc=feedback(GG,1)

old on

ste(GGlc,!r!)

grid on

legend(!sin comensador!,!/istema

comensado!)

"resuesta a la ama

t=00'1100;

u=t;"simulam,os la rama

[tt ]=lsim(GGlc,u,t);

[ttt ]=lsim(Glc,u,t);

"[t 1]=lsim(Glc,u,t);

figure(*)

lot(t,u,!$b!)

old on

lot(tt,,!r!)

lot(ttt,,!k!)


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#$%#! PD


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#$%#! PD


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#$%#! PD


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#$%#! PI


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#$%#! PI


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#$%#! PI


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#$%#! PI#$+i"i$ +e a*&e$%#

#$+i"i$ +e &a$i%*+


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#$%#! PI


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#$%#! PIclear all, close all, clcnum=[20 80];

den=[4 8 20];

G=tf(num,den)

Glc=feedback(G,1)

figure(1)

ste(G)

grid ona.is([0 * $1' +])

figure(2)

ste(Glc)

title(!sistema sin controlador!)

"#############controlador

35################

a=0'1018;

6=0'01+-*;

7=1'2a;

6i=2#6;

6d=0'#6

num2=7#[6i#6d 6i 1];

den2=[6i 0];

Gc=tf(num2,den2)

GG=series(G,Gc)

"##############resuesta al ste############

figure(-)

ste(Glc,!b!)

GGlc=feedback(GG,1)

old on

ste(GGlc,!r!)

grid on

legend(!sin comensador!,!/istema comensado!)

"####################resuesta a la

rama###########

t=00'1100;

u=t;"simulam,os la rama

[tt ]=lsim(GGlc,u,t);

[ttt ]=lsim(Glc,u,t);

"[t 1]=lsim(Glc,u,t);

figure(*)

lot(t,u,!$b!)

old on

lot(tt,,!r!)

lot(ttt,,!k!)

legend(!rama!,!sistema comensado en

atraso!,!sin comensador!)

grid on


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#$%#! PI


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#$%#!a+# PI

161.7


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#$%#!a+# PIRes)*es%a a !a a&)a


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#$%#! PID


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EN UN SISTEMA CUALQUIERA: GRAFICA EN LAZO AIERT


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Si$%#$ia"i$ Zie!e8

Ni"#!s


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#$%#! PIDclear all, close all, clcnum=[20 80 ];

den=[4 8 20];

9=tf(num,den)

figure(1)

ste(9)

a.is([0 4 $1' +])

grid on

old ondt=0'01;

t=0dt;

=ste(9,t);

d=diff()dt;

[m,]=ma.(d)

1=();

t1=t();lot(t1,1,!g!)

old on

t2=00';

2=m#(t2$t1)%1;

old on

lot(t2,2,!r!)


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#$%#!a+# PID


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#$%#!a+# PIDa.11BT.1=6?


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#$%#!a+# PID"!ea a!!, "!#se a!!, "!"

$*&0 BJK +e$7 B 0JK

G%*e1

s%e)G

i+ #$

ais ? 81.9 =J

>*e0

s%e)G!"

%i%!esis%e&a si$ "#$%#!a+#

2"#$%#!a+# PID

a.11BK T.1=6?K

C)1.0aK Ti0TK T+.9T

$*&0C)TiT+ Ti 1JK

+e$0Ti JK

G"%


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#$%#!a+# PID


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#$%#!a+# PID


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#$%#!a+# PIDRes)*es%a a !a a&)a

dieño de conrbvcbcol pid

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