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IDENTIFICACIN DINMICA
Juliana Snchez, Manuela Santamara
PRCTICA 4. IDENTIFICACIN DINMICA
OBJETIVOS
Estudiar las caractersticas de la prueba del proceso de escaln usando el modulo de
presin.
Identificar los modelos que se ajustan a los datos obtenidos con la prueba escaln y
sintonizar con los diferentes mtodos, ajustando a sistemas de primer y segundo orden
para encontrar los parmetros ptimos del sistema estudiado.
Simular y comprobar la validez del modelo.
DATOS
tiempo
(s)
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
PV1
out1
(mA) (%OP)
13.94
35
13.94
35
13.94
35
13.94
35
13.94
35
13.94
35
13.94
50
13.94
50
13.94
50
13.94
50
13.95
50
13.98
50
13.99
50
14.02
50
14.05
50
14.08
50
14.1
50
14.12
50
14.16
50
14.17
50
14.2
50
14.22
50
14.24
50
14.26
50
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
14.28
14.3
14.32
14.34
14.35
14.37
14.38
14.4
14.41
14.43
14.44
14.45
14.47
14.48
14.5
14.51
14.52
14.53
14.55
14.56
14.57
14.58
14.59
14.6
14.61
14.62
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
14.63
14.64
14.65
14.65
14.66
14.67
14.68
14.69
14.7
14.7
14.71
14.71
14.72
14.73
14.73
14.74
14.74
14.75
14.75
14.76
14.76
14.76
14.77
14.77
14.78
14.78
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
14.78
14.79
14.79
14.79
14.8
14.8
14.8
14.8
14.81
14.81
14.81
14.81
14.81
14.82
14.82
14.82
14.82
14.83
14.83
14.83
14.83
14.83
14.83
14.84
14.84
14.84
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
14.84
14.84
14.84
14.84
14.84
14.85
14.85
14.85
14.85
14.85
14.85
14.85
14.86
14.86
14.86
14.86
14.86
14.86
14.86
14.86
14.86
14.86
14.87
14.87
14.87
14.87
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
14.87
14.87
14.87
14.87
14.87
14.87
14.87
14.87
14.87
14.87
14.87
14.87
14.87
14.87
14.87
14.88
14.88
14.88
14.88
14.88
14.88
14.88
14.88
14.88
14.88
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
CLCULOS Y RESULTADOS
Para realizar la grafica de %OP vs tiempo y Respuesta del sensor vs tiempo se realiza una
conversin de unidades para el porcentaje de apertura de la vlvula primero a psi usando
la ecuacin:
, y luego se pas a mA usando la ecuacin:
, las ecuaciones anteriores fueron halladas en la prctica de respuesta
dinmica de los sensores.
out1 %OP
%OP (psi)
%OP (mA)
35
7,64
7,85
50
9,30
8,75
mA
13.50
11.50
resp
esc
9.50
7.50
0
50
100
150
200
tiempo (s)
Ganancia K:
De donde:
Leyendo de la tabla de Datos, el sensor marca 14.21 mA cuando han pasado 20.5
segundos, a este dato se le resta el tiempo en el que se dio el escaln:
Leyendo de la tabla de Datos, el sensor marca 14.2 mA cuando han pasado 20 segundos, a
este dato se le resta el tiempo en el que se dio el escaln:
Leyendo de la tabla de Datos, el sensor marca 14.65 mA cuando han pasado 52 segundos,
a este dato se le resta el tiempo en el que se dio el escaln:
Hallando los parmetros con las ecuaciones dadas para el mtodo:
Los porcentajes del cambio en la respuesta para la determinacin de los dos tiempos
requeridos por el procedimiento de identificacin, as como los valores de las constantes
a, b, c y d para los mtodos de Brida, Chen y Yan, Ho et al. y Viteckov et al., se
encuentran en la siguiente tabla:
Mtodo
Brida
Chen y Yan
Ho et al.
Viteckov et al.
%p1 (t1)
28
33
35
33
%p2 (t2)
40
67
85
70
A
-5.5
-1.4
-0.67
-1.245
b
5.5
1.4
0.67
1.245
c
2.8
1.540
1.3
1.498
D
-1.8
-0.540
-0.29
-0.498
Los resultados de los parmetros para cada mtodo del modelo de POMTM se
tabulan a continuacin:
Mtodo
(s) to (s)
Ziegler - Nichols 36
4
Miller
31
4
Smith
30.75 4.25
Alfaro
29.13 5.62
Brid Brida
33
3.2
Chen y Yan
30.1 4.89
Ho et al.
27.81 5.64
Viteckov et al. 30.5 4.3
MODELOS DE SEGUNDO ORDEN
Para plantear los modelos de segundo orden se toma una ecuacin base y se determinan
los parmetros (dos constates de tiempo, el tiempo muerto y la ganancia esttica de
sistema) por diferentes mtodos. La ecuacin bsica de segundo orden sobreamortiguado
mas tiempo muero (SOMTM) es:
[1]
Kp=K=1.044
= 0.365
= 0.0885
f2 () =0.922*(1.66) = 1.963
= t45
= 6.33
= 29.325
= 4.349
En el caso del modelo de polo doble ms tiempo muerto cuya funcin de transferencia es:
= -3.766
= 0.466
= 25.216
=25.216
= 11.75
Mtodo 3: Mtodo general (SOMTMg) [2]
A partir de los tres tiempos determinados sobre la curva de reaccin (t25, t50 y t75), los
parmetros del modelo de segundo orden sobreamortiguado ms tiempo muerto, se pueden
identificar con el siguiente conjunto de ecuaciones:
= 0.0853
= 30.57
= 2.61
= t75 (1, 3421 + 1, 3455 )
= 1.46
Los resultados de los parmetros para cada mtodo del modelo de SOMTM se
tabulan a continuacin:
Mtodo
1 (s)
2 (s)
to (s)
Stark
29.32
4.35
6.33
Simplificado
25.22
11.75
-3.77
General
30.57
2.61
1.46
0.00000
0.00000
0.03314
0.06523
0.09630
0.12638
0.15551
0.18371
0.21102
0.23746
0.26306
0.28785
0.31186
0.33510
0.35760
0.37939
0.40049
0.42091
0.44069
0.45984
0.47839
0.49634
0.51373
0.53056
0.54686
0.56264
0.57792
0.59271
0.60704
0.62091
0.63434
0.64734
0.65993
0.67213
0.68393
0.69536
0.70643
0.71714
0.00000
0.00000
0.02505
0.05766
0.08922
0.11977
0.14934
0.17797
0.20568
0.23250
0.25847
0.28360
0.30793
0.33149
0.35428
0.37635
0.39772
0.41839
0.43841
0.45779
0.47655
0.49470
0.51228
0.52929
0.54576
0.56170
0.57714
0.59208
0.60654
0.62053
0.63408
0.64720
0.65990
0.67219
0.68408
0.69560
0.70675
0.71754
0.00000
0.00000
0.00000
0.01339
0.04817
0.08177
0.11424
0.14562
0.17594
0.20523
0.23354
0.26089
0.28731
0.31285
0.33752
0.36136
0.38440
0.40666
0.42817
0.44895
0.46903
0.48843
0.50718
0.52530
0.54280
0.55972
0.57606
0.59185
0.60711
0.62185
0.63610
0.64986
0.66316
0.67602
0.68843
0.70043
0.71203
0.72323
0.00000
0.02493
0.05535
0.08486
0.11349
0.14126
0.16821
0.19435
0.21971
0.24431
0.26818
0.29134
0.31380
0.33560
0.35674
0.37726
0.39716
0.41647
0.43520
0.45337
0.47100
0.48810
0.50469
0.52079
0.53641
0.55156
0.56626
0.58052
0.59435
0.60777
0.62079
0.63343
0.64568
0.65757
0.66910
0.68029
0.69115
0.70168
0.00000
0.00000
0.00375
0.03774
0.07063
0.10243
0.13320
0.16296
0.19175
0.21960
0.24654
0.27260
0.29780
0.32219
0.34577
0.36859
0.39066
0.41201
0.43266
0.45264
0.47196
0.49065
0.50873
0.52623
0.54314
0.55951
0.57534
0.59066
0.60547
0.61980
0.63366
0.64707
0.66004
0.67259
0.68472
0.69646
0.70782
0.71881
0.00000
0.00000
0.00000
0.01327
0.04968
0.08480
0.11868
0.15136
0.18289
0.21330
0.24264
0.27094
0.29825
0.32459
0.35000
0.37451
0.39815
0.42097
0.44297
0.46420
0.48468
0.50443
0.52349
0.54187
0.55961
0.57672
0.59322
0.60914
0.62450
0.63932
0.65361
0.66740
0.68070
0.69353
0.70591
0.71785
0.72937
0.74048
0.00000
0.00000
0.02357
0.05649
0.08834
0.11916
0.14899
0.17786
0.20580
0.23284
0.25900
0.28432
0.30883
0.33254
0.35549
0.37769
0.39919
0.41999
0.44011
0.45959
0.47844
0.49668
0.51434
0.53142
0.54796
0.56396
0.57944
0.59442
0.60893
0.62296
0.63654
0.64968
0.66240
0.67471
0.68662
0.69815
0.70930
0.72010
0.72752
0.73756
0.74729
0.75671
0.76583
0.77466
0.78321
0.79149
0.79950
0.80726
0.81478
0.82206
0.82910
0.83592
0.84253
0.84892
0.85512
0.86111
0.86692
0.87254
0.87798
0.88325
0.88835
0.89329
0.89808
0.90271
0.90719
0.91154
0.91574
0.91981
0.92376
0.92757
0.93127
0.93485
0.93831
0.94167
0.94492
0.94806
0.72798
0.73810
0.74788
0.75736
0.76653
0.77541
0.78400
0.79232
0.80038
0.80817
0.81572
0.82302
0.83009
0.83694
0.84356
0.84997
0.85618
0.86219
0.86801
0.87364
0.87909
0.88437
0.88948
0.89442
0.89921
0.90384
0.90832
0.91267
0.91687
0.92094
0.92487
0.92869
0.93238
0.93595
0.93940
0.94275
0.94599
0.94913
0.73405
0.74451
0.75462
0.76439
0.77382
0.78294
0.79175
0.80026
0.80849
0.81643
0.82411
0.83153
0.83870
0.84563
0.85233
0.85879
0.86504
0.87108
0.87692
0.88256
0.88801
0.89327
0.89836
0.90327
0.90802
0.91261
0.91704
0.92133
0.92547
0.92947
0.93333
0.93707
0.94068
0.94416
0.94753
0.95079
0.95393
0.95697
0.71190
0.72181
0.73143
0.74076
0.74981
0.75859
0.76711
0.77538
0.78339
0.79117
0.79872
0.80604
0.81314
0.82003
0.82672
0.83320
0.83950
0.84560
0.85152
0.85727
0.86284
0.86825
0.87349
0.87858
0.88352
0.88831
0.89296
0.89747
0.90184
0.90608
0.91020
0.91419
0.91807
0.92183
0.92547
0.92901
0.93244
0.93577
0.72943
0.73971
0.74965
0.75927
0.76858
0.77758
0.78628
0.79470
0.80285
0.81073
0.81835
0.82573
0.83286
0.83976
0.84643
0.85289
0.85913
0.86517
0.87102
0.87667
0.88214
0.88743
0.89254
0.89749
0.90228
0.90691
0.91139
0.91572
0.91991
0.92397
0.92789
0.93169
0.93536
0.93891
0.94234
0.94566
0.94888
0.95198
0.75120
0.76154
0.77152
0.78114
0.79043
0.79938
0.80802
0.81636
0.82440
0.83216
0.83964
0.84686
0.85382
0.86054
0.86702
0.87327
0.87930
0.88511
0.89073
0.89614
0.90136
0.90640
0.91126
0.91595
0.92047
0.92483
0.92904
0.93310
0.93702
0.94080
0.94444
0.94796
0.95135
0.95462
0.95778
0.96083
0.96376
0.96660
0.73055
0.74066
0.75044
0.75991
0.76907
0.77794
0.78652
0.79483
0.80287
0.81064
0.81817
0.82545
0.83250
0.83933
0.84593
0.85232
0.85850
0.86448
0.87027
0.87588
0.88130
0.88655
0.89163
0.89654
0.90130
0.90590
0.91035
0.91467
0.91884
0.92287
0.92678
0.93056
0.93422
0.93776
0.94119
0.94450
0.94771
0.95082
0.95111
0.95405
0.95691
0.95967
0.96235
0.96494
0.96745
0.96988
0.97224
0.97451
0.97672
0.97885
0.98092
0.98292
0.98486
0.98674
0.98856
0.99032
0.99202
0.99367
0.99527
0.99682
0.99831
0.99976
1.00117
1.00253
1.00384
1.00512
1.00635
1.00755
1.00871
1.00983
1.01091
1.01196
1.01298
1.01396
1.01492
1.01584
0.95216
0.95510
0.95795
0.96070
0.96336
0.96594
0.96844
0.97086
0.97320
0.97547
0.97766
0.97978
0.98184
0.98383
0.98575
0.98761
0.98942
0.99116
0.99286
0.99449
0.99608
0.99761
0.99909
1.00053
1.00192
1.00327
1.00457
1.00583
1.00705
1.00824
1.00938
1.01049
1.01156
1.01260
1.01360
1.01458
1.01552
1.01643
0.95991
0.96275
0.96549
0.96814
0.97070
0.97317
0.97556
0.97787
0.98010
0.98226
0.98434
0.98636
0.98830
0.99018
0.99200
0.99375
0.99545
0.99709
0.99867
1.00020
1.00168
1.00311
1.00449
1.00582
1.00711
1.00835
1.00956
1.01072
1.01184
1.01293
1.01397
1.01499
1.01597
1.01691
1.01783
1.01871
1.01956
1.02039
0.93900
0.94214
0.94518
0.94813
0.95099
0.95377
0.95646
0.95907
0.96161
0.96407
0.96645
0.96877
0.97101
0.97319
0.97530
0.97736
0.97934
0.98127
0.98315
0.98496
0.98673
0.98843
0.99009
0.99170
0.99326
0.99478
0.99625
0.99767
0.99906
1.00040
1.00170
1.00296
1.00419
1.00537
1.00653
1.00765
1.00873
1.00978
0.95499
0.95790
0.96071
0.96343
0.96607
0.96861
0.97108
0.97346
0.97576
0.97799
0.98015
0.98224
0.98426
0.98621
0.98810
0.98992
0.99169
0.99340
0.99505
0.99665
0.99820
0.99970
1.00114
1.00254
1.00390
1.00521
1.00648
1.00770
1.00889
1.01004
1.01115
1.01222
1.01326
1.01426
1.01523
1.01617
1.01708
1.01796
0.96933
0.97197
0.97451
0.97697
0.97933
0.98162
0.98382
0.98595
0.98800
0.98998
0.99188
0.99372
0.99550
0.99721
0.99887
1.00046
1.00200
1.00348
1.00491
1.00629
1.00762
1.00891
1.01015
1.01134
1.01250
1.01361
1.01468
1.01572
1.01672
1.01768
1.01861
1.01951
1.02037
1.02121
1.02201
1.02279
1.02354
1.02426
0.95383
0.95673
0.95955
0.96227
0.96491
0.96746
0.96993
0.97232
0.97463
0.97687
0.97903
0.98113
0.98316
0.98512
0.98702
0.98886
0.99063
0.99236
0.99402
0.99563
0.99719
0.99870
1.00016
1.00158
1.00295
1.00427
1.00555
1.00679
1.00799
1.00915
1.01028
1.01137
1.01242
1.01344
1.01442
1.01538
1.01630
1.01719
1.01673
1.01760
1.01844
1.01925
1.02003
1.02080
1.02153
1.02224
1.02294
1.02360
1.02425
1.02488
1.02549
1.02607
1.02664
1.02719
1.02773
1.02824
1.02874
1.02923
1.02970
1.03015
1.03059
1.03102
1.03143
1.03183
1.03221
1.03259
1.03295
1.03330
1.03364
1.03397
1.03429
1.03460
1.03489
1.01731
1.01817
1.01899
1.01979
1.02057
1.02132
1.02204
1.02274
1.02342
1.02408
1.02472
1.02534
1.02593
1.02651
1.02707
1.02761
1.02814
1.02865
1.02914
1.02961
1.03007
1.03052
1.03095
1.03137
1.03177
1.03216
1.03254
1.03291
1.03326
1.03361
1.03394
1.03426
1.03457
1.03487
1.03517
1.02119
1.02196
1.02270
1.02342
1.02411
1.02478
1.02543
1.02606
1.02666
1.02725
1.02781
1.02836
1.02889
1.02940
1.02989
1.03037
1.03083
1.03127
1.03170
1.03212
1.03252
1.03290
1.03328
1.03364
1.03399
1.03433
1.03465
1.03497
1.03527
1.03557
1.03585
1.03613
1.03639
1.03665
1.03690
1.01080
1.01180
1.01276
1.01369
1.01459
1.01547
1.01632
1.01715
1.01795
1.01873
1.01948
1.02021
1.02092
1.02161
1.02228
1.02293
1.02356
1.02417
1.02476
1.02534
1.02589
1.02643
1.02696
1.02747
1.02796
1.02844
1.02890
1.02935
1.02979
1.03021
1.03063
1.03103
1.03141
1.03179
1.03215
1.01881
1.01964
1.02043
1.02120
1.02195
1.02267
1.02337
1.02404
1.02469
1.02532
1.02593
1.02652
1.02709
1.02765
1.02818
1.02870
1.02920
1.02968
1.03015
1.03060
1.03104
1.03146
1.03187
1.03227
1.03265
1.03302
1.03338
1.03373
1.03407
1.03439
1.03470
1.03501
1.03530
1.03559
1.03586
1.02496
1.02563
1.02628
1.02691
1.02751
1.02809
1.02865
1.02920
1.02972
1.03022
1.03071
1.03118
1.03163
1.03207
1.03249
1.03290
1.03329
1.03367
1.03403
1.03438
1.03472
1.03505
1.03537
1.03567
1.03597
1.03625
1.03652
1.03679
1.03704
1.03729
1.03753
1.03775
1.03797
1.03819
1.03839
1.01806
1.01890
1.01970
1.02049
1.02125
1.02198
1.02269
1.02338
1.02404
1.02469
1.02531
1.02591
1.02650
1.02706
1.02761
1.02814
1.02865
1.02914
1.02962
1.03009
1.03053
1.03097
1.03139
1.03180
1.03219
1.03257
1.03294
1.03330
1.03364
1.03398
1.03430
1.03461
1.03491
1.03521
1.03549
0.37608
0.39793
0.41916
0.43977
0.45976
0.47914
0.49791
0.51608
0.53368
0.55070
0.56717
0.58311
0.59852
0.61342
0.62783
0.64177
0.65524
0.66826
0.68085
0.69302
0.70478
0.71615
0.72714
0.73776
0.74802
0.75795
0.40738
0.42709
0.44644
0.46541
0.48400
0.50218
0.51994
0.53729
0.55421
0.57070
0.58675
0.60237
0.61756
0.63232
0.64666
0.66057
0.67407
0.68716
0.69985
0.71213
0.72403
0.73555
0.74670
0.75748
0.76791
0.77799
0.49788
0.51545
0.53246
0.54892
0.56485
0.58027
0.59519
0.60964
0.62361
0.63714
0.65024
0.66291
0.67517
0.68704
0.69853
0.70965
0.72041
0.73082
0.74090
0.75066
0.76010
0.76923
0.77808
0.78663
0.79492
0.80293
0.78773
0.79714
0.80623
0.81501
0.82348
0.83166
0.83955
0.84717
0.85452
0.86161
0.86844
0.87503
0.88138
0.88750
0.89341
0.89909
0.90457
0.90985
0.91494
0.91983
0.92455
0.92909
0.93347
0.93768
0.94174
0.94564
0.94940
0.95302
0.95650
0.95985
0.96307
0.96618
0.96916
0.97203
0.97480
0.97746
0.98002
0.98248
0.81069
0.81820
0.82547
0.83250
0.83931
0.84589
0.85227
0.85844
0.86441
0.87019
0.87579
0.88120
0.88644
0.89151
0.89642
0.90117
0.90576
0.91021
0.91452
0.91868
0.92272
0.92662
0.93040
0.93405
0.93759
0.94102
0.94433
0.94754
0.95064
0.95365
0.95656
0.95937
0.96209
0.96473
0.96728
0.96975
0.97214
0.97445
0.96835
0.97089
0.97334
0.97571
0.97800
0.98021
0.98235
0.98442
0.98642
0.98835
0.99021
0.99202
0.99376
0.99545
0.99707
0.99865
1.00017
1.00164
1.00306
1.00443
1.00576
1.00704
1.00828
1.00948
1.01063
1.01175
1.01283
1.01388
1.01489
1.01587
1.01681
1.01772
1.01860
1.01945
1.02028
1.02107
1.02184
1.02258
0.98485
0.98713
0.98932
0.99142
0.99345
0.99540
0.99728
0.99908
1.00081
1.00248
1.00409
1.00563
1.00711
1.00854
1.00991
1.01123
1.01250
1.01371
1.01489
1.01601
1.01710
1.01814
1.01914
1.02010
1.02103
1.02192
1.02278
1.02360
1.02439
1.02515
1.02588
1.02658
1.02726
1.02791
1.02853
1.02913
1.02971
1.03026
0.97669
0.97886
0.98095
0.98298
0.98495
0.98685
0.98869
0.99047
0.99219
0.99386
0.99547
0.99703
0.99854
1.00001
1.00142
1.00279
1.00412
1.00540
1.00664
1.00785
1.00901
1.01014
1.01123
1.01228
1.01330
1.01429
1.01525
1.01617
1.01707
1.01793
1.01877
1.01958
1.02037
1.02113
1.02187
1.02258
1.02327
1.02394
1.03080
1.03131
1.03180
1.03228
1.03273
1.03317
1.03359
1.03399
1.03438
1.03475
1.03511
1.03546
1.03579
1.02458
1.02521
1.02581
1.02640
1.02696
1.02751
1.02804
1.02856
1.02905
1.02953
1.03000
1.03045
1.03089
1.03071
1.03116
1.03159
1.03201
1.03241
1.03280
1.03317
1.03354
1.03389
1.03423
1.03455
1.03487
1.03518
1.03611
1.03642
1.03671
1.03699
1.03727
1.03753
1.03778
1.03802
1.03825
1.03848
1.03869
1.03890
1.03910
1.03131
1.03172
1.03211
1.03249
1.03286
1.03322
1.03357
1.03391
1.03423
1.03454
1.03485
1.03514
1.03543
La seleccin de los parmetros ptimos se desarrollo por el mtodo de los mnimos cuadrados se
realiza mediante la comparacin de los datos obtenidos mediante simulacin con los datos
obtenidos experimentalmente, pero para eso se realiza una resta a los datos experimentales y as
estarn a las mismas condiciones que los datos experimentales:
yreal
0
0
0
0
0
0
0
0
0
0
0.01
0.04
0.05
0.08
0.11
0.14
0.16
0.18
0.22
0.23
0.26
0.28
0.3
0.32
0.34
0.36
0.38
0.4
0.41
0.43
0.44
0.46
0.47
0.49
0.5
0.51
0.53
0.54
0.56
0.57
0.58
0.59
0.61
0.62
0.63
0.64
0.65
0.66
0.67
0.68
0.69
0.7
0.71
0.71
0.72
0.73
0.74
0.75
0.76
0.76
0.77
0.77
0.78
0.79
0.79
0.8
0.8
0.81
0.81
0.82
0.82
0.82
0.83
0.83
0.84
0.84
0.84
0.85
0.85
0.85
0.86
0.86
0.86
0.86
0.87
0.87
0.87
0.87
0.87
0.88
0.88
0.88
0.88
0.89
0.89
0.89
0.89
0.89
0.89
0.9
0.9
0.91
0.91
0.91
0.91
0.92
0.92
0.92
0.92
0.92
0.92
0.92
0.92
0.92
0.92
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.93
0.94
0.94
0.94
0.94
0.94
0.94
0.94
0.94
0.94
0.94
Primer orden
Mtodo
Error
1
0.85060
2
1.73849
3
1.73201
4
1.77007
5
1.50709
6
1.72299
7
2.08981
8
1.77619
Segundo Orden
Mtodo
Error
1
0.89939
2
1.29027
3
1.80311
El mejor modelo de primer orden, el que mejor se ajusta a los datos experimentales, es el modelo
hallado por el mtodo 1: mtodo de Ziegler Nichols, con un error de 0.85060
El mejor modelo de segundo orden, que mejor se ajusta a los datos experimentales, es el modelo
hallado por el mtodo 1: mtodo de Stark, con un error de 0.89939
CONCLUSIONES
BIBLIOGRAFA
[1] Vctor M. Alfaro, Identificacin de procesos sobreamortiguados utilizando tcnicas de lazo
abierto. Ingeniera 11 (1,2):11-25, 2 001 San Jos. Costa Rica
[2] Vctor M. Alfaro. Identificacin de modelos de orden reducido a partir de la curva de reaccin
del proceso. Departamento de Automtica, Escuela de Ingeniera Elctrica Universidad de Costa
Rica Ciencia y Tecnologa, 24(2): 197-216, 2006