Documentos de Académico
Documentos de Profesional
Documentos de Cultura
PRACTICA N°1
Tutor: Autora:
Exp:2018203088
Ci:28426871
Para el tanque 1
R1.A1.S1(s)+h1(t)-h2(s)=R1.qin(s) (5)
T1.S.h1(s)+h1(s)-h2(s)=R1qin(s)
hs(s)(R1.A1.S+1)-h2(s)=R1.qin(s) (6)
Para obtener h2(t) , tenemos que cancelar h1(t) en las ecuaciones (5) y (10)
h2(t) (R2.A2S+R2+1)(A1.R1S+1)-(A1.R1T+1).R2.h1(t)=0
R1 R1
-h2(t) R2 +h1(t)(A1.R1.T+1)R2=qin(t)R2
R1 R1
h2(s)(A1.R1.A2.R2.S2+A1.R1.S+R2.A1.S+A2.R2.S+1)=R2.qin(s)
h2(s)(A1.R1.A2.R2.S2+A1.R1.S+R2.A1.S+A2.R2.S+1)=R2qin(s)
h2(t)= R2
qin(t) A1.R1.A2.R2.S2+S(A1.R1+R2.A1+A2.R2)+1
(T2.R1s+R2+R1)h2(s)-h1(s)R2
(T2.R1S+R2+R1)h2(s)=( R1qin(s)- h2(s) ) R2
T1s+1 T1s+1
(T2.R1s+R2+R1)h2(s)+h2(s)R2 = R1.R2.qin(s)
T1s+1 T1s+1
T1=1,2s
T2=18000s
h2(s) = 100
Tabla 1
qin(s) 21600S2+30001,8S+1
Función de transferencia
• Controlador Proporcional
• Controlador Proporcional + Integral
• Controlador Proporcional + Derivativo
• Controlador Proporcional + Integral + Derivativo
Criterios deseables:
1) El sistema debe cruzar el set point antes de los 5 segundos, y
2) El rebase (overshoot) no debe exceder el 20% del set point.
Diagrama de bloques
h2(s)= 100
qin(s) 21600S2+30001,8S+1