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Facultad de Ingeniera
Maestra en Ciencias de la Ingeniera
Noviembre de 2015
Tarea 9. PID tipo Industrial con mtodo de sintonizacin por Lugar de las Races y Cancelacin de
Polos.
La representacin por diagrama a bloques de un sistema PID industrial es:
GP 1 GGD = Kc
i s+1
is +1
K
(1 s+1)(2 s+1)
1 2 s
1+ 2 s
Entonces:
2
1 2 s
1
i +D )s+1
GP 1 GGD = KcK i1DDss2+(
+(1 +2 )s+1
i s
1+ s
2
1 2 s
1+ 2 s
Obtenemos:
i D = 1 2
i + D = 1 + 2
GP 1 G
1+GP 1 GGD
Y:
GP 1 GGD =
Kc
=
1+Kc
is +1
i s+1
is +1
(1 s+1)(2 s+1)
K
(1 s+1)(2 s+1)
D s+1
A s+1
A = 0
K
s
(1 s+1)(2 s+1) e
Aproximacin de Pade:
s
1+ s
1 s 2
2
1+ s
2
D s+1
A s+1
GP 1 GGD =
KcK
i s
1 2 s
1+ 2 s
KcK+ KcK
s
2
i 2
2 s +i s
GP 1 GGD =
Kc(k+ K
2 )s
Se sustituye B en A:
i 2
2 s +i s
(26 D ) D = 105
7
10s
(5s+1)(21s+1) e
De donde:
entonces s D = 5
K=7
i + 5 = 5 + 21
1 = 5
i = 21
2 = 21
= 10
7+35s
GP 1 GGD = Kc( 105s
2 +21s )..............C
Entonces :
7+35s
GP 1 GGD = Kc( 25s
2 +5s )..............D
i D = 1 2
i D = (5) (21)...............A
ssssss
sssssss
K=7
1 = 5
K
s
(1 s+1)(2 s+1) e
G(s) =
2 = 21
Aproximacin de Pade:
= 10
1 2 s
1+ 2 s
es =
Y con:
Y (s)
R(s)
GP 1 G
1+GP 1 GGD
Kc
Entonces:
i s+1
is +1
K
(1 s+1)(2 s+1)
1 2 s
1+ s
60 =
4L
L
L =
4
60 ...............B
1 = i
Sustituyendo B en A
i s+1
is +1
1+Kc
K
(1 s+1)(2 s+1)
1 2 s 2
1+ s
2
D s+1
A s+1
2 = D
8 2
60 L
A = 0
=
Y (s)
R(s)
=
=
Y (s)
R(s)
Y (s)
R(s)
KcK
i s+2 s+1
1 2 s
(
(
(
(1+ 2 s))
8
60
2 s+1
Kc =
2 s2 +2 s+1
L
L L
Kc =
i
2 )s+1
( KcK
Kc =
2 ...............C
i
K
21
7
i
KcK
8
120
8
120
i
K
21(10)
7
2
10
1
5
Kc =
4L
L
1
5
i = 21
i
2KcK ...............D
i
2KcK
i 2
2 s +
Entonces:
q
i
L = 2KcK
T ss =
i
KcK
Sustituyendo D en C
)
(
(1 2 s)
i
KcK
L =
i
2KcK
L2 =
KcK 1 s
2
2 s+1
i 2
KcK
s+KcK
2 s + i
2
2L L s =
Retomando:
q
i
L = 2KcK
(1+ 2 s))
(i s)
1+ s
2
1 s
2
1+ KcK
(i s)
i s
1+ s
2
KcK 1 s
2
2 s+1
i 2
i s+ 2 s +KcK KcK
s
2
Y (s)
R(s)
Y (s)
R(s)
4
60 L
D = 5
7
10s
(5s+1)(21s+1) e
A = 0.1D
A = 0.1(5) = .5
De donde:
Respuesta obtenida: