TAREA #7

CONTROLADORES PID

Partiendo de la grfica del error mostrada encuentra:

5

4.5

3.5

2.5

1.5

0.5

0
0

10

1. Encuentra la grfica de la manipulacin que enviara un controlador P, con Kc = 2

10

0
0

10

2. Encuentra la grfica de la manipulacin que enviara un controlador PI, con Kc = 2 y Taoi = 4

16

14

12

10

0
0

accin
Delta de manipulacin
valor
P

u(t) = Kc*e(t) = 2*0 = 0
I

u(t) = Kc/Taoi *e(t)dt = 2/4*0 = 0

10

tiempo
t -> 0 a 1

error
e = 0
e(t)dt = 0

Total
0

t=1

e = 2
e(t)dt = 0

P

I

u(t) = Kc*e(t) = 2*2 = 4

u(t) = Kc/Taoi *e(t)dt = 2/4*0 = 0

t -> 1 a 3

e = 0
e(t)dt = 4

P

I

u(t) = Kc*e(t) = 2*0 = 0

u(t) = Kc/Taoi *e(t)dt = 2/4*4 = 2

t=3

e = -1
e(t)dt = 0

P

I

u(t) = Kc*e(t) = 2*-1 = -2

u(t) = Kc/Taoi *e(t)dt = 2/4*0 = 0

-2

t -> 3 a 4

e = 0
e(t)dt = 1

P

I

u(t) = Kc*e(t) = 2*0 = 0

u(t) = Kc/Taoi *e(t)dt = 2/4*1 = 0.5

0.5

t -> 4 a 6

e = 4
e(t)dt = 6

P

I

u(t) = Kc*e(t) = 2*4 = 8

u(t) = Kc/Taoi *e(t)dt = 2/4*6 = 3

11

t=6

e = -3
e(t)dt = 0

P

I

u(t) = Kc*e(t) = 2*-3 = -6

u(t) = Kc/Taoi *e(t)dt = 2/4*0 = 0

-6

t -> 6 a 8

e = -2
e(t)dt = 2

P

I

u(t) = Kc*e(t) = 2*-2 = -4

u(t) = Kc/Taoi *e(t)dt = 2/4*2 = 1

-3

t -> 6 a inf

e = 0
e(t)dt = 0

P

I

u(t) = Kc*e(t) = 2*0 = 0

u(t) = Kc/Taoi *e(t)dt = 2/4*0 = 0

3. Encuentra la grfica de la manipulacin que enviara un controlador P, con Kc = 2, Taoi = 4 y Taod = 0.5
18

16

14

12

10

0
0

tiempo
t -> 0 a 1

t=1

t -> 1 a 3

t=3

t -> 3 a 4

t -> 4 a 6

t=6

t -> 6 a 8

t -> 8 a inf

error
e = 0
e(t)dt = 0
de(t)/dt = 0
e = 2
e(t)dt = 0
de(t)/dt = inf
e = 0
e(t)dt = 4
de(t)/dt = 0
e = -1
e(t)dt = 0
de(t)/dt = inf
e = 0
e(t)dt = 1
de(t)/dt = 0
e = 4
e(t)dt = 6
de(t)/dt = 2
e = -3
e(t)dt = 0
de(t)/dt = inf
e = -2
e(t)dt = 2
de(t)/dt = -1
e = 0

accin Delta de manipulacin

P

u(t) = Kc*e(t) = 2*0 =
I

u(t) = Kc/Taoi*e(t)dt = 2/4*0 =
D

u(t) = Kc* Taod*de(t)/dt = 2*0.5*0 =
P

u(t) = Kc*e(t) = 2*2 =
I

u(t) = Kc/Taoi *e(t)dt = 2/4*0 =
D

u(t) = Kc* Taod*de(t)/dt = 2*0.5*inf=
P

u(t) = Kc*e(t) = 2*0 =
I

u(t) = Kc/Taoi *e(t)dt = 2/4*4 =
D

u(t) = Kc* Taod*de(t)/dt = 2*0.5*0 =
P

u(t) = Kc*e(t) = 2*-1=
I

u(t) = Kc/Taoi *e(t)dt = 2/4*0 =
D

u(t) = Kc* Taod*de(t)/dt = 2*0.5*inf=
P

u(t) = Kc*e(t) = 2*0 =
I

u(t) = Kc/Taoi *e(t)dt = 2/4*1 =
D

u(t) = Kc* Taod*de(t)/dt = 2*0.5*0 =
P

u(t) = Kc*e(t) = 2*4 =
I

u(t) = Kc/Taoi *e(t)dt = 2/4*6 =
D

u(t) = Kc* Taod*de(t)/dt = 2*0.5*2 =
P

u(t) = Kc*e(t) = 2*-3 =
I

u(t) = Kc/Taoi *e(t)dt = 2/4*0 =
D

u(t) = Kc* Taod*de(t)/dt = 2*0.5*inf =
P

u(t) = Kc*e(t) = 2*-2 =
I

u(t) = Kc*e(t)dt = 2/4*2 =
D

u(t) = Kc* Taod*de(t)/dt = 2*0.5*-1 =
P

u(t) = Kc*e(t) = 2*0 =

10

valor
0
0
0

total
0

4
0
inf

0
2
0

-2
0
inf

-2

0
0.5
0

0.5

8
3
2

13

-6
0
inf

-6

-4
1
-1

-4

e(t)dt = 0
de(t)/dt = 0

I

D

u(t) = Kc*e(t)dt = 2/4*0 = 0

u(t) = Kc* Taod*de(t)/dt = 2*0.5*0 = 0