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TEORIA DE CONTROL
INTEGRANTES:
Morocho Jose
Sandoval Pablo
Uchuari Alex
Zhañay Luis
Grupo: #3
OBJETIVOS
OVERALL OBJECTIVE
Analyze the Ziegler and Nichols method in the closed-loop and open-loop
methods.
SPECIFIC OBJECTIVES
Understand the second Ziegler-Nichols method.
Understand the procedure of how to adjust a PID controller by the Ziegler-
Nichols method.
Do two exercises explaining the Ziegler-Nichols method.
INTRODUCCIÓN
The Ziegler-Nichols method allows an PID regulator to be adjusted or "tuned"
empirically, without the need to know the equations of the plant or controlled
system. This type of tuning is especially useful, especially when the
mathematical model of the plant is not known. Obviously it can also be applied
if the plant model is known, however, we can agree that there are more
interesting strategies when the model is known. The method allows defining
proportional, integral and derivative gains from the response of the open-loop
system or from the response of the closed-loop system. Each of the two trials
best matches a type of system.
MAQUINARIA PESADA
Ziegler-Nichols Sustained Oscillation
Method
This method is valid only for stable closed-loop plants. The procedure
is the next:
1. Apply only proportional control with small Kp gain to the plant.
It starts from analyzing the closed loop control system, using a P controller
with the following parameters:
Kp: the lowest possible value.
• Ki: 0
• Kd: 0
When the system response is obtained, the Kp value must be modified
until a constant or sustained oscillation is obtained.
When the oscillation becomes constant, the signal period is considered as
Pcri y Kp=Kcri.
With the values of Kcr and Pcr, the parameters of the PID controller are
obtained using the table.
Using the values of the calculated constants, it is replaced in the PID
controller obtaining a response without sudden changes.
CLOSED LOOP EXAMPLE
A transfer function is chosen and then Kp is varied until the oscillations are
constant.
With the Kcri value, we continue to calculate the other values of the
constants and obtain a response with less brutal changes.
CONTROLLER
Kp Ki Kd
TYPE
P 0,45
I 0,45 0,1309
𝐾
𝑝 =6 𝜔=
√2
• Critical gain Kc = 6 and its period of oscillation:
2𝜋
𝑃𝑐 = =4,4428
𝜔
𝐾 𝑝=0,6 ⋅𝐾 𝑐=3,6
1
𝐹 (𝑠)=3,6 ⋅ 1+ (
2,22 𝑠
+0,555 𝑠 )
Paraninfo - Sistemas de control continuos y discretos
Sintonización por la respuesta al escalón o
método en lazo abierto.
• La sintonía del controlador se la debe realizar en lazo abierto. Esto
se hace para poder insertarle al sistema una señal de tipo escalón de
preferencia unitario y a partir de la respuesta de salida se obtienen
los parámetros del PID.
• Para poder usar este método es necesario que el sistema tenga un
comportamiento del tipo sigmoidal o forma de S, esto quiere decir
que la respuesta no puede tener sobre impulsos en lazo abierto, ni
poseer una dinámica integradora que crezca constantemente con el
tiempo.
2 ∗ 𝑒 −2𝑠
𝐺ሺ𝑠ሻ=
9∗𝑠+1
Controla dor P
𝜏 9
𝐾𝑝 = = = 2.25
𝐾∗𝐿 2∗2
Controla dor PI
𝜏 9
𝐾𝑝 = 0.9 ∗ = 0.9 ∗ = 2.025
𝐾∗𝐿 2∗2
𝐿 2
𝜏𝑖 = = = 6.666
0.3 0.3
𝜏𝑖 = 2 ∗ 𝐿 = 2 ∗ 2 = 4
𝜏𝑑 = 0.5 ∗ 𝐿 = 0.5 ∗ 2 = 1
• En las siguientes ilustraciones se denotan los distintos controladores
que se crearon mediante este método, usando el software
SIMULINK de MATLAB
LAZO ABIERTO CONTROL PI