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CONTROLADOR PID
COMPARADOR
SP e(t µ( VP
) 0 t) ACTUADO PROCESO
Setpoint -10VCD O Output
+ + R PLANTA
4 -20MA
_ _ . BOMBA
. MOTOR
. PISTONES
. ULTRASONICO
. VALVULAS . LUZ
VP = PV . OPTICO
. MAGNETICO
. RESISTIVO
TRANSMISOR SENSOR
𝑚�
detecta
nivel, temperatura, . INDUCTIVO
µ(t) = "µ(t) == Kp " 𝑒(𝑡)+ "Ki " ∫_0^1▒�(�)��" " + "Kd " (��(�))/�� peso . CAPASITIVO
. CELDAS DE CARGA
. TACOMETRO
v 0 - 10VDC voltios corriente directa continua
I 4 - 20mA mili amperios
COMPARADOR punto suma (detector de errores) P 3 - 15psi lb/plg2 libra por pulgada cuadrada.
SP Setpoint Kp constante proporcional Kp e(t)
+
VP output variable de proceso Ki constante integral
K ∫24_0^1▒𝑒(𝑡)𝑑𝑡" "
i
µ accion de control Kd constante diferencial "Kd " (𝑑𝑒(𝑡))/𝑑𝑡
_
+
𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡𝑒 𝑑𝑒 𝑝�𝑜𝑝𝑜�𝑐�𝑜𝑛𝑎𝑙�𝑑𝑎𝑑
𝑑𝑒𝑙 𝑝𝑜𝑡𝑒𝑛𝑐�𝑜𝑚𝑒𝑡�𝑜 Amplificador Operacional OPAMP (C.I) → LM324
K = ganancia del OPAMP
� 〖� ℎ〗 _�
● �_𝑐𝑐 + 𝑝�𝑛 𝑛𝑜 �𝑛�𝑒�𝑠𝑜�
pot
�_� (𝑡)= 𝑘_� ∗ℎ_� (𝑡) �_0 (𝑡)=K ∗[�_� (𝑡) − �_� (t)]
L SP +
● + L
●�_0
𝑉_� (𝑠)= 𝑘_� ∗𝐻_� (𝑠) �_�
_ ● _ v
𝑉_0 (𝑠)=K ∗[𝑉_� (𝑠) − 𝑉_� (s)]
�𝑛𝑝𝑢𝑡
𝑒=[𝑆𝑃 − 𝑉𝑃]
DIAGRAMA DE BLOQUES + 𝑝�𝑛 �𝑛�𝑒�𝑠𝑜�
● �_𝑐𝑐 µ
𝐻_� (𝑠) �_ �_� (𝑠) 𝑉_� (𝑠) 𝑒 �_0 (𝑠)
� VP + + 𝑜𝑢𝑡𝑝𝑢𝑡
1 _ _
�_� 𝑉_� (𝑠) 2
�_0 (𝑡)
_𝑒_𝑎 (𝑡)armadura rotor 𝑒_𝑏 (𝑡)
M 𝐸_𝑎 (𝑠) − 𝐸_𝑏 (𝑠)= �_� (𝑠)∗[�_�+ 〖�∗�〗 _𝑎]
𝐼_𝑎 (𝑠)= ( 〖 [𝐸 〗 _𝑎 (𝑠) − 𝐸_𝑏 (𝑠)]∗1)/([�_𝑎+ 〖�∗�〗 _𝑎])
τ_𝑚 (𝑡)
〖𝑒 = 𝐸 〗 _𝑎 (𝑠) − 𝐸_𝑏 (𝑠)
𝑇𝐸𝑂�𝐸𝑀𝐴 𝐷𝐸 𝑆𝑈𝑆𝑇𝐼𝑇𝑈�𝐼𝑂𝑁
MOTOR DC ONTROLADOR POR ARMADURA OUTPUT
𝐸_𝑎 (𝑠) 𝑒 1/(�_�+ 〖�∗�〗 _� )
𝐼_𝑎 (𝑠)
𝑒_𝑎 :�𝑜𝑙𝑡𝑎𝑗𝑒 𝑜 "tencion de armadura" +
3
𝑒_𝑏 : "fuerza contra electromotriz" _
+
𝑒_𝑏 : "fuerza contra electromotriz" _
�_𝑎 : "coriente de armadura" 𝐸_𝑏 (𝑠)
TORQUE DE MOTOR (τ) �_� (�):𝑡𝑜�𝑞𝑢𝑒 𝑑𝑒𝑙 𝑚𝑜𝑡𝑜� DE LA SEGUNDA LEY DE NEWTON
θ_𝑚 (𝑡):𝑑𝑒𝑠𝑝𝑙𝑎𝑠𝑎𝑚�𝑒𝑛𝑡𝑜 𝑎𝑛𝑔𝑢𝑙𝑎� ∑�=𝑚∗𝑎=(��^2 �)/(𝑑𝑡^2 )
�_� (�) 〖� 〗 _( ) �_𝑎 (�) �_�:𝑚𝑜𝑚𝑒𝑛𝑡𝑜 𝑑𝑒 �𝑛𝑒�𝑐�𝑎
β:𝑐𝑜𝑒��𝑐�𝑒𝑛𝑡𝑒 𝑑𝑒 ���𝑐𝑐�ó𝑛 ��𝑠𝑐𝑜𝑠𝑎
�_� (�) 〖 = 〗 _( ) �_�∗�_𝑎 (�)
Π β sistema mecanico tradicional
𝑑𝑒𝑠𝑝𝑙𝑎𝑧𝑎𝑚�𝑒𝑛𝑡𝑜
L g � �
x
𝑇_� (𝑠) 〖 = 〗 _( ) �_�∗𝐼_𝑎 (𝑠)
output Jm
�_�
�_� (𝑡)
Π
𝐼_𝑎 (𝑠) �_ 𝑇_𝑚 (𝑠) [𝑁.𝑚]
θ_𝑚 (𝑡) g �=𝑑�/�𝑡=�/�� [��/��]= (�^2 �)/(𝑑𝑡^2 )
output
� SISTEMA MECANICO ROTACIONAL
4
τ_𝑚 (𝑡) θ_𝑚 (𝑠) +
�_𝑐𝑐
Analogia : TREN DE ENGRANAJES �_1
𝑁_1
∑𝑇=�_𝑚∗ 〖� 〗 _( )= �_𝑚∗(𝑑^2 θ_𝑚)/(𝑑𝑡^2 ) + ╨
╨ _ �_�
╥ 𝑞_� (𝑡)
�_� �_(�(𝑡))
�_𝑚 (𝑑^2 θ_𝑚 (𝑡))/(𝑑𝑡^2 ) = θ_𝑚
𝑁_2
θ_� θ_� ╥ 𝑞_� (𝑡) ● �_2
τ_𝑚 (𝑡) - β* (𝑑θ_𝑚 (𝑡))/𝑑𝑡
h(𝑡) C 𝑞_0 (𝑡)
L
�_𝑚 𝑆^2 θ_𝑚 (𝑠)= 𝑇_𝑚 (𝑠)− β*S cc R
*θ_𝑚(s) 𝑞_� (𝑡) 〖� 〗 _( ) θ_� (𝑡)
θ_� (�)= �_1/�_2 ∗θ_� (𝑡)
𝑞_� (𝑡) − 𝑞_0 (𝑡) =�∗(𝑑ℎ(𝑡))/𝑑𝑡
θ_𝑚 (𝑠)[ �_� �^2 + "β∗S " ]= �_� (�) 𝑞_� (𝑡) 〖 = 〗 _( ) 〖� _�∗θ 〗 _� (𝑡)
L L
θ_� (𝑠)= �_1/�_2 ∗θ_� (𝑠) �_� (𝑠) − �_0 (𝑠) =�∗𝑆∗𝐻(𝑠)
Despejando �_� (𝑠) 〖 = 〗 _( ) 〖� _�∗θ 〗 _� (𝑠)
θ_� (�)= (�_� (�)∗1)/([�_� �^2 + "β∗S " ])
𝐻(𝑠)= (�_� (𝑠) − �_0 (𝑠)∗1)/(�∗𝑆)
� R
_
+ v
* EN LA VALVULA 2
𝑞_0 (𝑡) = (ℎ(𝑡))/�
* EN EL POTENCIOMETRO * FUERZA CONTRAELECTROMOTRIZ eb(t)
_
�_� (𝑡) 〖� 〗 _( ) ℎ(𝑡)
𝑒_𝑏 (𝑡) =�_𝑏∗( 〖𝑑 θ 〗 _𝑚 (𝑡))/𝑑𝑡
v = �� � =�/� L (𝑠) = (𝐻(𝑠))/� �_� (𝑡) 〖 = 〗 _( ) �_ℎ ℎ(𝑡)
�_0
L L
�→ 𝑞 𝐸_𝑏 (𝑠) =�_𝑏∗𝑆∗θ_� (𝑠)
𝑉_� (𝑠) 〖 = 〗 _( ) �_ℎ 𝐻(𝑠)
� →ℎ
� →� H(𝑠) 1/� �_0 (𝑠) H(𝑠) 𝑉_� (𝑠) θ_� (�) �_� (�)
�_ℎ �_�∗�
9 10
11
11 _ 9
10
10
𝑡𝑢�𝑎 𝑝𝑜𝑠�𝑡��𝑜 )┤