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Sistemas de Control
Prof. Mariela CERRADA
R(s)
E(s)
Y(s)
U(s)
PID
Planta
+
E(s)
Kd S
U(s)
+
+
Figura 1. Compensacin PI
Ki / S
Figura 2. Control PID
de(t )
u (t ) = K p e(t ) + K d
+ K i e(t )dt
dt
U ( s ) = K p E ( s ) + K d sE ( s ) + K i
1
E ( s)
S
Ki
K
= (1 + K d 1s )( K p 2 + i 2 )
Gc ( s ) = K p + K d s +
s
s
Ki2
Parte PI
)
K p 2 (s +
K p2
Gc ( s ) = (1 + K d 1s )
s
Parte PD
K p = K p 2 + K d1K i 2
K d = K d1K p 2
Ki = Ki2
Funcin de transferencia
de la planta
G p ( s) = K
s+ z
i =1
n
sq s + p j
j =1
(s +
Gc G p ( s ) = K p 2 K (1 + K d 1 )
Ki 2
s
K p2
s+ z
i =1
n
sq s + p j
j =1
ganancia
Funcin de transferencia
del sistema controlado
KKp2
Imag Axis
Cero PD
PI
3
3
2.5
1.5
0.5
Real Axis
0.5
1.5