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2° METODO DE ZIEGLER-NICHOLS
ALUMNOS:
CIGARROA SALINAS JOAQUIN SANTIAGO
ASESOR:
MASTER LUIS ANTONIO REGALADO LUIS
ING. MECATRÓNICA
8º SEMESTRE
Si S=JW, entonces:
𝑆 3 + 7.5𝑆 2 + 12.5𝑠 + 𝐾 =
(𝐽𝑊)3 + 7.5(𝐽𝑊)2 + 12.5(𝐽𝑊) + 93.75
2𝜋
Donde J=√−1 Tc= 𝑤
por lo tanto
2𝜋 2𝜋
Tc = 𝑊
=
2 2 √12.5
𝐽𝑊(𝐽𝑊) + 7.5(𝐽𝑊) + 12.5(𝐽𝑊) + 93.75 = 0
Tc = 1.777153175
−𝐽𝑊 3 + 7.5(𝐽𝑊)2 + 12.5(𝐽𝑊) + 93.75 = 0
(−𝐽𝑊 2 + 12.5𝐽𝑊) − (7.5𝑊 2 + +93.75) = 0
−7.5𝑊 2 + 93.75 = 0
93.75
𝑊2 =
7.5
W=√12.5 = 3.535533906
PI
Ti = ∞ Td = 0
Td = 0
1
PID PID = Kp (1+𝑇 (𝑠) + 𝑇𝑑(𝑠))
𝑖
G(s)=
5 𝑎1 𝑎4 − 𝑎3 𝑎2
𝑆 (𝑆+8)(𝑆+1) 𝑏1 =
𝑎1
𝐺(𝑆)𝐾 5𝐾
Y(s)= = (9)(8) − (5𝑘)(1)
1+𝐺(𝑆)𝐾 𝑆 3 +9𝑠 2 +8𝑠+5𝐾
𝑏1 =
9
𝑆3 1 8 72−5𝑘 72
𝑆2 9 5K 𝑏1 = =
9 5
𝑆1 72 − 5𝐾 0
9 .’. k = 14.4
𝑆0 K 0
Si S=JW, entonces:
𝑆 3 + 9𝑆 2 8𝑠 + 5𝐾 =
(𝐽𝑊)3 + 9(𝐽𝑊)2 + 8(𝐽𝑊) + 14.4
2𝜋
Donde J=√−1 Tc= 𝑤
por lo tanto
−9𝑊 2 + 14.4 = 0 2𝜋 2𝜋
Tc = =
𝑊 √1.6
14.4
𝑊2 =
9 Tc = 4.967294133
W=√1.6 = 1.264911064
PI
P
Kp = 0.45 kcr = 0.45(14.4) = 6.48
Kp = 0.5 kcr = 0.5(14.4) = 7.2
1 1
Ti = 1.2 Tc = 1.2 (4.967294133) = 4.139411778
Ti = ∞
Td = 0 Td = 0
1
PID PID = Kp (1+𝑇 (𝑠) + 𝑇𝑑(𝑠))
𝑖