Ing.

Carlos Alberto Mndez Cazares

 Funcin de transferencia

= =

+2 +4 2
+1 +5 3
 N(s)

Funcin de () ()
=
transferencia () 1 + () Ecuacin Caracterstica

() 1
= Subamortiguado 0< <1
() 1 + ()
Crticamente
Amortiguado =1
()+() Sobreamortiguado >1
C(s)=
1+()
Recordemos que la respuesta mas optima para un sistema es
para valores :
.4 < < .8
Forma estndar de un sistema de segundo orden:
2 + 2 + 2

Plano s
j
Estable Inestable

Plano s
j

() () ( + 4) Especificaciones de Diseos:
= = = 10%
() 1 + () ( + 2)( + 3)( + 5)
= 1 .

2 + 2 + 2
ln( )2 2 + 5.78 + 24.01
= = 0.59
2 + (ln )2 Polo deseado

2 4
= = 3.1416 =
2
5.78 5.782 4124.01
=

=4.9 s= = 2.89 3.95 1
2
12

S=-2.893.95j
 ( + 4)
= S=-2.893.95j
( + 2)( + 3)( + 5)

 1 + 2
PID= 1 + + =


Restricciones:
1.- Un polo en el origen
2.- Dos zeros ubicados en la misma posicin

S=-2.893.95j j

( + 4)
=
( + 2)( + 3)( + 5)

= 180

 j


tan =

1

= tan

3.95
0 = 180 tan1 = 180 -tan1 = 126.19
2.89
3.95
2 = 180 tan1 = 180 - tan1 = 102.69
2.892
3.95
3 = tan1 = tan1 = 88.40
32.89
3.95
4 = tan1 = tan1 = 74.30
42.89
3.95
5 = tan1 = tan1 = 61.88
52.89
 = 180

2 + 4 0 2 3 5 = 180

2 = 180 4 + 0 + 2 + 3 + 5

2 = 180 74.30 + 126.19 + 102.69 + 88.40 +61.88

2 = 124.36

124.36
= = 62.18
2

tan = 3.95
= = = 2.08
tan tan 62.18

La posicin del
zero del PID esta Z = 2.08 + 2.89 = 4.97
dada por:
 2 Determinar la ganancia
+ 4.97 necesaria para que el polo
= dominante del sistemas este
ubicado en el polo deseado

() ()
= Ec. Caracterstica =1+G(s)
() 1 + ()

(+4.97)2 +4
=-1 Evaluada en s= -2.89+3.95j
+2 +3 +5

(2.89+3.95+4.97)2 2.89+3.95+4
=-1
2.89+3.95 2.89+3.95+2 2.89+3.95+3 2.89+3.95+5
(2.08+3.95)2 1.11+3.95
=-1
2.89+3.95 0.89+3.95 0.11+3.95 1.11+3.95
(14.4662.22)2 4.10374.30
=-1
4.89126.19 4.04102.69 3.9588.4 4.4761.88
4.10374.30
42.75 1.75 =-1
71.33252.97
 4.10374.30
42.75 1.75 =-1
71.33252.97

2.45 180.42 =-1

1180
= = .400.42
2.45180.42

+ 4.97 2
= .4

 + 4.97 2
= .4

0.6T=0.4
0.4
= = 0.66
0.6
1
4.97=

1
L= = 0.201
4.97

0.66 = 2 0.201 = 0.402

= 1.2 = 3.94
0.201
= 0.5 0.201 = 0.1005