COMPONENTE PRACTICO PRACTICA N°01
NOMBRE DEL CURSO CONTROL ANALOGICO GRUPO:299005_6
PRESENTADO POR: GUSTAVO CANTILLO REBOLLEDO CODIGO:85475194
TUTOR FABIAN BOLIVAR MARIN CAMILO ACUA CEAD SANTA MARTA UNIVERSIDAD UNIVERS IDAD NACIONAL ABIERTA ! A DISTANCIA DISTANCIA PROGRAMA: INGENIERIA ELECTRONICA
02"04"2015 INTRODUCCION
E# $%&'%()*( ($ (# %)+,-.( /,--($,)%()*( # ($--,##, ( #, -,'($*, () (# /,.,)()*( -/*%/, N° 1 (# /'-$, /,)*-,# )#3&%/, ') $%$*(. ( /,)*-,# ($ (# /,)')*, ( %$,$%*%,$ '( /*) ')*,$ - #,&-- ') ,(*%, ( /,)*-,# L,$ $%$*(.$ ( /,)*-,# $( %%() () $%$*(.$ ( /,)*-,# ( #;, %(-*, '( $,) '(##,$ () #,$ '( # -%#( ( $#% ), *%()( #&) (+(/*, $,-( # //%3) ( /,)*-,# < $%$*(.$ ( /,)*-,# ( #;, /(--, $,) '(##,$ () #,$ '( # $(=# ( $#% (# $%$*(. *%()( (+(/*, %-(/*, $,-( # //%3) ( /,)*-,# L,$ /,)*-,#,-($ PID >P-,,-/%,)# I)*(&-# D(-%*%,? ($ ') $%$*(. ( /,)*-,# '( .(%)*( ') (#(.()*, +%)# ( /,)*-,# /,., #, ($ ') /*',- ($ /; ( .)*()(- ') -%#( , -,/($, () ') ')*, ($(, ()*-, (# -)&, ( .(%/%3) (# $()$,- '( # .%(
OBJETIVOS
R(#%;- /@#/'#,$ ( # F')/%3) ( T-)$+(-()/% - (*(-.%)- (# /,/%()*( ( # $#% () ($*, ($*#( $,-( # ()*- () ($*, ($*#( - ') $%$*(. , $'$%$*(. R(#%;- $%.'#/%,)($ () $%.'#%) - ,$(-- (# /,.,-*.%()*, (# $%$*(. -,'($*, D(*(-.%)- (# %)*(-#, ( #,$ #,-($ ( - '( (# $%$*(. ( /,., -($'#*, # ($*%#% $% $( -($()*) (-*'-/%,)($
PROCEDIMIENTO: S( *%()( ') #)* , -,/($, /,) # $%&'%()*( +')/%3) ( *-)$+(-()/%: G ( s )=
6
( s + 1 )( s + 2)( s + 3)
F%&'- 1 +')/%3) ( *-)$+(-()/% ( # #)* E)/,)*-- # -($'($* () #;, %(-*, ( %/ #)* )*( ') ()*- ($/#3) U)%*-%, P- (##, $( '(( '*%#%;- (# *,,#, S%.'#%) ( M*# , S/%#
S( (( '*%#%;- ') /,)*-,#,- '( -(';/ (# (--,- () ($*, ($*/%,)-%, (.@$ '( .(,-( (# ($*, *-)$%*,-%, (# /'# (# .(,- /,)*-,#,- ($ (# PID
FUNCIÓN DE TRANSFERENCIA DE
PANTALLAZO PANTALLAZO: :ARCHIVO DE SIMULINK RESPUESTA EN LAZO
LA PLANTA
G ( s )=
EMPLEADO
ABIERTO DE LA PLANTA DE ENTRADA PASO O ESCALÓN UNITARIO
6
( s + 1 )( s + 2)( s + 3)
S( ##) #,$ -@.(*-,$ ( # #)*:
S( '*%#%; # <' ( #$ *#$ ( $%)*,)%;/%3) ( /,)*-,#,-($ P PI < PID
Reglas de Ziegle!Ni"#$ls %aa si&'$&i(a "$&'$lad$es PID C (s ) Ke− Ls = U ( s ) Ts + 1
Ta)la * ! Regis'$ de la es%+es'a de la %la&'a T%, ( /,)*-,#, - P PI PID
K p
τ i
T L
∞
0.9
T L
1.2
T L
L
τ d
0 0
0.3 2 L
0.5 L
1 E# -%.(- $, ($ %()*%+%/- ($( # &-@+%/ # +')/%3) ( -%.(- ,-() '( /-/*(-%; (# $%$*(. U*%#%;), (# .*,, ( S.%* $( *%()(: t s
− 0
Ke τs + 1
K =
K =
∆y τ =1.5 ( t 2−t 1 ) ∆u
∆ y 0.369 = =0.369 ∆u 1
τ =1.5 ( t 2−t 1 ) t 2 → 0.632 ∆ y =0.233208 t 1 → 0.283 ∆ y =0.104427
S( '$/) #,$ #,-($ () # &-@+%/:
t 0= t 2−t
L,$ *%(.,$ $,) #,$ $%&'%()*($: t 1 =0.56 seg yt 2=1.02 seg
R((.#;), () #$ +,-.'#$ $( ,*%()(: τ =1.5 ( t 2− t 1 )=1.5 ( 1.02− 0.56 ) τ =0.69
t 0=t 2−τ =1.02−0.69= 0.33
G-+%/ %()*%+%/: G ( s )=
−0.33 s 0.369 e
0.69 s
+1
L,$ #,-($ '( )(/($%*.,$ - ##()- # *# ( #$ /,)$*)*($ ( #,$ /,)*-,#,-($ P PI < PID $,): T =0.69 L=0.33 K = 0.369
S( ## (# /,)*-,#,- P: K p=
T 0.69 = = 2.090 τ =∞ τ = 0 i d L 0.33
S( ## (# /,)*-,#,- PI: K p=
0.9 T
L
=
∗
0.9 0.69 0.33
=1.8818
i=¿
L 0.3
=
0.33 0.3
=1.1 τ d= 0
τ ¿
S( ## (# /,)*-,#,- PID: K p=
1.2 T
L
=
∗
1.2 0.69 0.33
=2.509
τ i= 2 L= 2∗0.33 =0.66 τ d =0.5 L= 0.5∗0.33 =0.165
L,$ *,$ /,--($,)%()*($ # *# $,) #,$ $%&'%()*($: Ta)la , ! Pa-.e'$s de aa&/+e %aa l$s "$&'$lad$es
P-@.(*- , %
C,)*-,#,- P
C,)*-,#,- PI
C,)*-,#,- PID
090
18818 11
2509 066
0
0
0165
∞
S( -(#%; # $%.'#/%3) () .*#: C,)*-,#,- P:
C,)*-,#,- PI:
C,)*-,#,- PID:
Ta)la 0 ! Res%+es'a del sis'e.a "$& l$s "$&'$lad$es dise1ad$s C$&'$lad$ P
"$&'$lad$ PI
C$&'$lad$ PID
Pa&'alla($ es%+es'a de la %la&'a
R(#%;- #,$ '$*($ )(/($-%,$ / '), ( (##,$ /,) (# +%) ( $%)*,)%;- < ,*()(- # .(,- -($'($* ,$%#( (# $%$*(. -,/'-), ,*()(- ') $,-(%.'#$, .(),- # 6H < ') *%(., ( ($*#(/%.%()*, , $()*.%()*, .(), 5 $(&'),$
PRACTICA N2 , Desa$ll$ de las A"'i3idades: P- (# $%&'%()*( $%$*(. (-($, () ($/%, ( ($*,$
F%&'- R(-($()*/%3) (# $%$*(. () ($/%, ( ($*,$ D,)(:
F%&'- 4 M*-%/($ (# ($/%, ( ($*,$ D(*(-.%)- (#%/), *,, (# -,/(%.%()*, (.#(,: S' /,)*-,#%#% S' ,$(-%#% SOLUCION: L, -%.(-, ($ *-)$+,-.- #$ .*-%/($ () ') $%$*(. ( ($/%, ( ($*,: A J0 0 1 0K 0 0 0 1K 0 0 9275 0K 0 0 0 496 A
0
0
10000
0
0
0
0
0 92750
0
0
0
10000 0
0 4960
B J0 0K 0 0K 267 007898K 0241 0791 B
0
0
0
0
2670
00790
02410
0791
C J1 0 0 0K 0 1 0 0 C
1
0
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D J0 0K 0 0 D
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G$$$$>ABCD?
G$$ 1
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4
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'1
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267 007898
4
0241 0791
/ 1 2 4 <1 1 0 0 0 <2 0 1 0 0 '1 '2 <1 0 0 <2 0 0 C,)*%)','$*%.( $**($/( .,(#
L'(&, $( #%/ (# /,.), - -(#%;- # ,$(-%#%: ,$>G$$? ,$>G$$? )$ 10000
0
0
0
0
10000
0
0
0
0
10000
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10000 0
0 4960
0
0 860256
0
0
0
0 122220
P,- #*%., $( #%/ (# /,.), - -(#%;- # /,)*-,#%#% ctrb(Gss) >> ctrb(Gss)
ans =
1.0e+03 *
0
0
0.0024
0.0001 -0.0220 -0.0007
0.2036
0.0068
0
0
0.0002
0.0008 -0.0008 -0.0028
0.0029
0.0097
0.0024
0.0001 -0.0220 -0.0007
0.2036
0.0068 -1.8886 -0.0630
0.0002
0.0008 -0.0008 -0.0028
0.0029
0.0097 -0.0103 -0.0338
CONCLUSIONES S( ', (*(-.%)- # +')/%3) ( *-)$+(-()/% ( ') $%$*(. /,),/%(), $' %&-. ( #,'($ < #%/), #,$ -%)/%%,$ -,'($*,$ () (# .3'#, ( /,)*-,# )#3&%/,
S( (*(-.%)3 '( (# $%$*(. () #;, /(--, ($ .'/, .(,- '( ') $%$*(. () #;, %(-*, ,- (# /,)*-,# '( $( *%()( $,-( (# .%$., F,-*#(/ .%$ /,),/%.%()*,$ -($(/*, # .)(, ( $%.%#%) < # %.,-*)/% ( ($*( -,&-. - -(#%;- *-,$ ( /,)*-,#
REFERENCIAS BIBLIOGRAFICAS
Módulo 299005– CON!O" #N#"$G%CO ING. FABIAN BOLIVAR MARIN
(Director Nacional)
**:""$#%($-()(*"'$-0607912"$%)*,)%;/%,)(/,)*-,#,-($% **:""/,)*-,#-,/($,$#,&$,*/,."2010"05".(*,,$($%)*,)%;/%,)(*.#
