UNIVERSIDAD NACIONAL DE SAN ANTONIO

ABAD DEL CUSCO

FACULTAD DE INGENIERÍA DE PROCESOS

Escuela Profesional de Ingeniería Química

ASIGNATURA:
“CONTROL DE PROCESOS”
TEMA:
“SINTONÍA DEL CONTROLADOR”
ALUMNA:
Saire Sallo Shirley Angélica 121371

CUSCO – PERÚ

2015
 SINTONIA DEL CONTROLADOR EN SISTEMAS ABIERTOS

Problema 4.1

Datos del problema

ts mA mA_i Δ(VP) Δ(VP)1 60 18.63 14.63 14.53 14.53

0 4.1 0.1 0 0 62 18.95 14.95 14.85 14.85
2 4.32 0.32 0.22 0.22 64 19.2 15.2 15.1 15.1
4 4.9 0.9 0.8 0.8 66 19.33 15.33 15.23 15.23
6 5.39 1.39 1.29 1.29 68 19.42 15.42 15.32 15.32
8 6.03 2.3 1.93 2.2 70 19.52 15.52 15.42 15.42
10 6.58 2.58 2.48 2.48 72 19.57 15.57 15.47 15.47
12 7.17 3.17 3.07 3.07 74 19.63 15.63 15.53 15.53
14 7.74 3.74 3.64 3.64 76 19.68 15.68 15.58 15.58
16 8.34 4.34 4.24 4.24 78 19.71 15.71 15.61 15.61
18 8.8 4.8 4.7 4.7 80 19.73 15.73 15.63 15.63
20 9.34 5.34 5.24 5.24 82 19.74 15.74 15.64 15.64
22 9.87 5.87 5.77 5.77 84 19.75 15.75 15.65 15.65
24 10.45 6.45 6.35 6.35 86 19.76 15.76 15.66 15.66
26 10.99 6.99 6.89 6.89 88 19.77 15.77 15.67 15.67
28 11.46 7.46 7.36 7.36 90 19.78 15.78 15.68 15.68
30 11.91 7.91 7.81 7.81 92 19.81 15.81 15.71 15.71
32 12.33 8.33 8.23 8.23 94 19.88 15.85 15.78 15.75
34 12.84 8.84 8.74 8.74 96 19.9 15.9 15.8 15.8
36 13.33 9.33 9.23 9.23 98 19.92 15.92 15.82 15.82
38 13.82 9.82 9.72 9.72 100 19.95 15.95 15.85 15.85
40 14.2 10.2 10.1 10.1 102 19.96 15.96 15.86 15.86
42 14.81 10.81 10.71 10.71 104 19.97 15.97 15.87 15.87
44 15.27 11.27 11.17 11.17 106 19.98 15.98 15.88 15.88
46 15.71 11.71 11.61 11.61 108 19.99 15.99 15.89 15.89
48 16.12 12.12 12.02 12.02 110 20 16 15.9 15.9
50 16.6 12.6 12.5 12.5 112 20.01 16.01 15.91 15.91
52 16.95 12.95 12.85 12.85 114 20.02 16.02 15.92 15.92
54 17.32 13.32 13.22 13.22 116 20.03 16.03 15.93 15.93
56 17.83 13.83 13.73 13.73 118 20.04 16.04 15.94 15.94
58 18.23 14.23 14.13 14.13 120 20.04 16.04 15.94 15.94
 a) Cálculo de los parámetros de POMTM.
h 1.13
t 2
18
sensor
de T 4-20mA 16 16

Δ(VP) 15.94 14
12
10

mA
8 Series1
6
∆(𝑉𝑃) 4
𝑘= 𝐴
𝐾𝑚
2
0
0 10 20 30 40 50 60 70 80 90 100 110 120
K=28.2123894 ts

25% 75%
2.1034 3.8276

𝜏 = 0.9102(𝑡75 − 𝑡25) = 1.5693103 ; 𝑡𝑑 = 1.2620(𝑡25)

28.21239 −𝑠
𝐺(𝑆) = 𝑒
1.5693𝑠 + 1

 Usando el método de ZIEGLER Y NICHOLS (POMTM)

K 14.1 𝑲
𝑮(𝒔) = ∗ 𝒆−𝒕𝒅𝒔
 30.04 𝝉𝒔 + 𝟏
td 3.65

Para un sistema abierto se tiene:

Controlador Kc i D
P 0.583 -------- --------
PI 0.525 12.168 --------
PID 0.699 7.308 1.827
b) Modelo de SOMTM

𝑡75 − 𝑡25 t25 2.10344828

𝑡1 =
0.9866 + 0.7036𝛼 t50 2.96551724
t75 3.82758621

𝑡2 =𝛼𝑡1 ; 𝑡𝑑 = 𝑡75 − (1.3421 + 1.3455𝛼)𝑡1

−0.6240(𝑡25) + 0.9866(𝑡50) − 0.3626(𝑡75)

𝛼=
0.3533(𝑡25) − 0.7036(𝑡50) + 0.3503(𝑡75)

𝑉𝑃𝑠𝑠 − 𝑉𝑃0
𝑘𝑒 −𝑡𝑑 𝑠 𝑘=
𝐺(𝑆) = ∆(𝑆𝑃)
𝜏 2 𝑠 2 + 2𝜀𝜏𝑠 + 1

Valores obtenidos de:

 87.13333333
t1 0.027677604
t2 2.411641852
td 0.545575983
k 1
 2.405759224
 3.402257322
 -2.94304118

𝜏 = (−2943)2 =8.66149139

1𝑒 −0.545578𝑠
𝐺(𝑆) =
8.6614𝑠 2 + 23.40225 ∗ −2.9430𝑠 + 1
Problema 4.2

Datos:

t(S) PT-i02B Δ(VP) 42 -9.4835 13.388

0 -22.8715 0 44 -10.026 12.8455
2 -22.6514 0.2201 46 -9.592 13.2795
4 -20.8203 2.0512 48 -9.5399 13.3316
6 -19.5312 3.3403 50 -9.2881 13.5834
8 -17.4187 5.4528 52 -9.1724 13.6991
10 -17.6649 5.2066 54 -9.3967 13.4748
12 -14.2216 8.6499 56 -9.5052 13.3663
14 -13.2812 9.5903 58 -9.1666 13.7049
16 -12.1166 10.7549 60 -8.5214 14.3501
18 -11.5798 11.2917 62 -8.138 14.7335
20 -11.0098 11.8617 64 -8.0439 14.8276
22 -10.243 12.6285 66 -8.912 13.9595
24 -10.026 12.8455 68 -9.7222 13.1493
26 -9.8668 13.0047 70 -9.4184 13.4531
28 -9.2013 13.6702 72 -9.592 13.2795
30 -8.7613 14.1102 74 -8.7962 14.0753
32 -9.3315 13.54 76 -8.8686 14.0029
34 -9.5755 13.296 78 -9.2447 13.6268
36 -9.5052 13.3663 80 -8.7962 14.0753
38 -9.3489 13.5226 82 -8.6226 14.2489
40 -9.0711 13.8004 84 -8.5214 14.3501

Chart Title
16
14
12
10
PTi

8
6 Series1
4
2
0
0 20 40 60 80 100
Ts
 ∆(𝑉𝑃) A -50
𝑘= 𝐾𝑚
𝐴 k -0.287

𝜏 = 0.9102(𝑡75 − 𝑡25)

t25 6.5
t75 20
 12.3

𝑡𝑑 = 1.2620(𝑡25) − 0.2620(𝑡75) = 2.963

8.335638
𝐺(𝑆) = 𝑒 −𝑠
0.497078𝑠 + 1

 Usando el método de ZIEGLER Y NICHOLS (POMTM)

Sistema de circuito abierto

Controlador Kc i D
P -14.46 -------- --------
PI -13.08 9.867 --------
PID -17.35 5.926 1.482

Sistema de circuito cerrado

Controlador Kc i D
P -------- --------
PI 0.028 6.292 --------
PID 0.038 3.779 0.945