Time Series Plot:

200

180

160

140
data

120

100

80
X= 23.5
Y= 63.75

60
0 10 20 30 40 50 60
Time (seconds)

Time Series Plot:

4

3.5

3
data

2.5

1.5

1
0 10 20 30 40 50 60
Time (seconds)
 Time Series Plot:
1.5

0.5
data

-0.5

-1

-1.5
0 10 20 30 40 50 60
Time (seconds)

Time Series Plot:

1.5

0.5
data

-0.5

-1

-1.5
24 26 28 30 32 34 36 38 40
Time (seconds)
 L T K
1.033+0.9974=2.030
26.8 26.8-30.7=57.5
4

Ziegler Nichols

Kp = 1.2*(T/L) Ti = 2*L Td = 0.5*L

2.57462686 53.6 13.4

Kp Ki = Kp/Ti Kd=Kp*Td
2.57462686 0.048034 34.5

Time Series Plot:

4

3.5

2.5
data

1.5

0.5

0
0 10 20 30 40 50 60
Time (seconds)

Tipo de controlador Kp Ti Td

P ( )[ 1+ 13 ( LT )]
1 T
K L
0
 [ ]
L
(
30+3
T)
K ( L )[ 12 ( T )]
1 T 1 L
PI 0.9+ L 0
L
9+20 ( )
T

[ ]
L
(
6-2
T)
PD ( )[ 54 + 16 ( LT )]
1 T
K L
L
L
22+3 ( )
T

[ ]
L
( T)
[ ( )]
32+6 4
( )[ ( )]
1 T 4 1 L L
PID + L L
K L 3 4 T L 11+2
13+8 ( ) T
T

L T K
1.033+0.9974=2.030
26.8 26.8-30.7=57.5
4

Tipo de
Kp Ti Td
controlador
P 1.220870627 0
PI 0.9920722432 45.92759374 0
PD 1.402959436 5.804608295
PID 1.532060933 55.74533735 8.984113103

Kp Ki = Kp/Ti Kd=Kp*Td
1.5321 0.0275 13.7642
 Time Series Plot:
4

3.5

2.5
data

1.5

0.5

0
0 10 20 30 40 50 60 70 80
Time (seconds)

Time Series Plot:

3

2.5

2
data

1.5

0.5

0
0 20 40 60 80 100 120 140 160
Time (seconds)
 Time Series Plot:
3.5

2.5

2
data

1.5

0.5

0
0 10 20 30 40 50 60 70 80 90
Time (seconds)

Referencias:

Voltaje de referencia (V) ngulo del brazo ()

3.6 122 (mximo)
3.5 128
3.4 135
3.3 140
3.2 146
3.1 155
3 160
2.8 169
2.55 0
2.2 10
2.1 23
2 27
1.9 33
1.8 40
1.7 45
1.6 51
1.5 60
1.4 68 (mximo)