Escuela Superior Politécnica de Chimborazo

Facultad de Informática y Electrónica

Escuela de Ingeniería Electrónica en Control y Redes Industriales

Sistemas de Control
Integrantes:

Cesar Patache
Denis Tixi
Susana Aradgabay
Javier Espinoza

1) A continuación, se suministra información del sistema y de las características deseadas

en el nuevo polo respecto a Mp y tss.
Determine:
a) Controlador adelanto o atraso
b) PI, PD, PID (los que apliquen)
  Ejercicio 1
5
𝐺(𝑠) = 𝑀𝑝 = 0.2 𝑇𝑠𝑠 = 1
𝑠(𝑠 + 4)
|ln(𝑀𝑝)| 𝛽 = 62.87387
𝜁=
√1 + (ln(𝑀𝑝))2
|ln(0.2)|
𝜁=
√1 + (ln(0.2))2 𝜑𝑔 = −(∟𝑆𝑛 + ∟(𝑆𝑛 + 4))

𝜁 = 0.45595 𝜑𝑔 = −(117.12613 + 90)

4
𝑊𝑛 = 𝜑𝑔 = −207.12613
𝑇𝑠𝑠 ∗ 𝜁
4 𝜑𝑐 = −180−𝜑𝑔
𝑊𝑛 =
1 ∗ 0.45595
𝜑𝑐 = −180 − (−207.12613)
𝑊𝑛 = 8.7729

𝑊𝑑 = 𝑊𝑛√1 − 𝜁 2 𝜑𝑐 = 27.12613

𝑊𝑑 = 8.7229√1 − (0.45595)2 1
𝐾𝑔 =
|𝑠𝑛| ∗ |𝑠𝑛 + 4|
𝑊𝑑 = 7.8079
5
𝜎 = 𝑊𝑛 ∗ 𝜁 𝐾𝑔 =
8.7728 ∗ 7.8079

𝜎=4 𝐾𝑔 = 0.073
𝑆𝑛 = −𝜎 + 𝑊𝑑
𝑆𝑛 = −4 + 7.8079𝑖
𝑆𝑛 = 8.7728∟117.12613
𝑆𝑛 + 4 = −4 + 7.8079𝑖 + 4
𝑆𝑛 + 4 = 7.8079∟90
𝜆 = 117.12613

𝛽 = 180 − 𝜆

𝛽 = 180 − 117.12613
Controlador adelanto o atraso

𝜆 𝜑
𝑠𝑒𝑛(2 − 2𝑐 )
𝑥 = 𝑊𝑛 ∗ 𝑎
𝜆 𝜑
𝑠𝑒𝑛(180 − (2 − 2𝑐 + 𝛽))
 117.1213 27.12613
𝑠𝑒𝑛( − )
𝑥 = 8.7729 ∗ 2 2
𝑎
117.1213 27.12613
𝑠𝑒𝑛(180 − ( 2 − 2 + 62.87387))

𝑥 = 6.51798

1
𝑦= ∗ 𝑊𝑛2
𝑥
1
𝑦= ∗ (8.7729)2
6.51798

𝑦 = 11.80793

𝑠+𝑥
𝐺𝑐 (𝑠) = ∗ 𝐾𝑐
𝑠+𝑦

𝑆𝑛 + 𝑥 = −4 + 7.8079𝑖 + 6.51798 𝑆𝑛 + 𝑦 = −4 + 7.8079𝑖 + 11.80793

𝑆𝑛 + 𝑥 = 2.51798 + 7.8079𝑖 𝑆𝑛 + 𝑦 = 7.8079 + 7.8079𝑖

𝑆𝑛 + 𝑥 = 8.2039∟72.12594 𝑆𝑛 + 𝑦 = 11.0421∟45

|𝑆𝑛 + 𝑥| 𝐾𝑐 ∗ 𝐾𝑑 ∗ 𝐾𝑔 =
𝐾𝑑 =
|𝑆𝑛 + 𝑦|
1
𝐾𝑐 =
8.2039 𝐾𝑑 ∗ 𝑘𝑔
𝐾𝑑 =
11.0421
1
𝐾𝑐 =
𝐾𝑑 = 0.74296 0.742965 ∗ 0.01459

𝐾𝑐 = 92.25212

Controlador PD

G𝑐 (s) = Kc(s + x)

𝑠 𝑠𝑛 + 𝑥 = 17.1292∟27.1229
G𝑐 (s) = Kc ∗ x ∗ (1 + )
𝑥
Kd = |sn + x|
𝐾𝑝 = 𝐾𝑐 ∗ 𝑥
𝐾𝑑 = 17.1292
1
Td =
𝑥 1
𝐾𝑐 =
𝐾𝑑 ∗ 𝐾𝑔
𝑊𝑑
𝑥= +𝜎
𝑡𝑎𝑛𝑔(𝜑𝑐 ) 1
𝐾𝑐 =
17.1292 ∗ 0.073
7.8079
𝑥= +4
𝑡𝑎𝑛𝑔(27.12613) 𝐾𝑐 = 0.7997

𝑥 = 19.2451 𝐾𝑝 = 𝐾𝑐 ∗ 𝑥
𝐾𝑝 = 0.7997 ∗ 19.2451 1
𝑇𝑑 =
19.2451
𝐾𝑝 = 3.8432 𝑇𝑑 = 0.0519
1
𝑇𝑑 =
𝑥
G𝑐 (s) = 0.799(1 + 0.0519s)

Controlador PID

(𝑠 + 𝑥)2
G𝑐 (s) = 𝐾𝑐 ∗ ( )
𝑠

Kp = Kc ∗ 2 ∗ x 𝐾𝑑 = 7.6721

2 1
T𝑖 = 𝐾𝑐 =
𝑥 𝐾𝑑 ∗ 𝐾𝑔
1 1
T𝑑 = 𝐾𝑐 =
2𝑥 7.6721 ∗ 0.073
2 𝐾𝑐 = 1.7855
T𝑖 =
𝑥
𝐾𝑝 = 𝐾𝑐 ∗ 2𝑥
𝑊𝑑
𝑥= 𝜑 +𝛾 +𝜎
𝑡𝑎𝑛𝑔 ( 𝑐 ) 𝐾𝑝 = 1.7855 ∗ 2 ∗ 6.5183
2

7.8090 𝐾𝑝 = 23.2768
𝑥= +4
27.1261 + 117.12613 1
𝑡𝑎𝑛𝑔 ( )
2 T𝑑 =
2∗𝑥
𝑥 = 6.5183
1
T𝑑 =
|𝑆𝑛 + 𝑥|2 2 ∗ 6.5183
𝐾𝑑 =
|𝑆𝑛| T𝑑 = 0.0767
(8.204)2 2
𝐾𝑑 = T𝑖 =
8.7728 𝑥
 2 T𝑖 = 0.3068
T𝑖 =
6.5183

Simulación
x1=0; x2=0;x3=0;

u=ones(size(t));
yo=u*0;
T=t(2);
echo off
for k=1:N
Bx3=Kp*(u(k)-x1)*Td/T;
Bx2=a*T*(Kp*(u(k)-x1)+Bx3-x3)+x2;
Bx1=T*(x2-b*x1)+x1;

yo(k)=x1;

x1=Bx1;
x2=Bx2;
x3=Bx3;

end
 Ejercicio 2
5
𝐺(𝑠) = 𝑀𝑝 = 0.2 𝑇𝑠𝑠 = 10
𝑠(𝑠 + 4)
|ln(𝑀𝑝)| 4
𝜁= 𝑊𝑛 =
√1 + (ln(𝑀𝑝))2 10 ∗ 0.45595

|ln(0.2)| 𝑊𝑛 = 0.8773
𝜁=
√1 + (ln(0.2))2 𝑊𝑑 = 𝑊𝑛√1 − 𝜁 2
𝜁 = 0.45595 𝑊𝑑 = 0.8773√1 − (0.45595)2
4
𝑊𝑛 = 𝑊𝑑 = 0.7808
𝑇𝑠𝑠 ∗ 𝜁
𝜎 = 𝑊𝑛 ∗ 𝜁
𝜎 = 0.4 𝜑𝑐 = −180−𝜑𝑔
𝑆𝑛 = −𝜎 + 𝑊𝑑𝑖 𝜑𝑐 = −180 − (−129.3634)
𝑆𝑛 = −0.4 + 0.7808𝑖
𝜑𝑐 = −50.63657
𝑆𝑛 = 0.8773∟117.1258
1
𝑆𝑛 + 4 = 3.6 + 0.7808𝑖 𝐾𝑔 =
|𝑠𝑛| ∗ |𝑠𝑛 + 4|
𝑆𝑛 + 4 = 3.6837∟12.2373
5
𝜆 = 117.1258 𝐾𝑔 =
0.8773 ∗ 3.6837

𝛽 = 180 − 𝜆 𝐾𝑔 = 1.5472

𝛽 = 180 − 117.1258

𝛽 = 62.8742

𝜑𝑔 = −(∟𝑆𝑛 + ∟(𝑆𝑛 + 4))

𝜑𝑔 = −(117.12613 + 12.2373)

𝜑𝑔 = −129.3634
Controlador adelanto o atraso

𝜆 𝜑
𝑠𝑒𝑛( − 𝑐 )
𝑥 = 𝑊𝑛 ∗ 2 2
𝑎
𝜆 𝜑
𝑠𝑒𝑛(180 − (2 − 2𝑐 + 𝛽))

117.1258 −50.63657
𝑠𝑒𝑛( 2 − 2 )
𝑥 = 0.8773 ∗ 𝑎
117.1258 −50.63657
𝑠𝑒𝑛(180 − ( − + 62.8742))
2 2

𝑥 = 1.5912

1
𝑦= ∗ 𝑊𝑛2
𝑥
1
𝑦= ∗ (0.8773)2
1.5912

𝑦 = 0.4837

𝑠+𝑥
𝐺𝑐 (𝑠) = ∗ 𝐾𝑐
𝑠+𝑦

𝑆𝑛 + 𝑥 = 1.1911 + 0.7808𝑖 𝑆𝑛 + 𝑥 = 1.4242∟33.245

𝑆𝑛 + 𝑦 = 0.0837 + 0.7808𝑖 𝑆𝑛 + 𝑦 = 0.7853∟83.88
|𝑆𝑛 + 𝑥| 𝐾𝑐 ∗ 𝐾𝑑 ∗ 𝐾𝑔 = 1
𝐾𝑑 =
|𝑆𝑛 + 𝑦|
1
𝐾𝑐 =
1.4242 𝐾𝑑 ∗ 𝑘𝑔
𝐾𝑑 =
0.7853
1
𝐾𝑐 =
𝐾𝑑 = 1.8135 1.8135 ∗ 1.7451

𝐾𝑐 = 0.3564

Controlador PD

G𝑐 (s) = Kc(s + x)

𝑠 1
G𝑐 (s) = Kc ∗ x ∗ (1 + ) 𝐾𝑐 =
𝑥 𝐾𝑑 ∗ 𝐾𝑔
𝐾𝑝 = 𝐾𝑐 ∗ 𝑥 1
𝐾𝑐 =
1.0099 ∗ 1.5472
1
Td =
𝑥 𝐾𝑐 = 0.6340
𝑊𝑑
𝑥= +𝜎 𝐾𝑝 = 𝐾𝑐 ∗ 𝑥
𝑡𝑎𝑛𝑔(𝜑𝑐 )
𝐾𝑝 = 0.6340 ∗ 0.24051
0.7808
𝑥= + 0.4
𝑡𝑎𝑛𝑔(−50.63657) 𝐾𝑝 = −0.1539

𝑥 = −0.24051 1
𝑇𝑑 =
𝑥
𝑠𝑛 + 𝑥 = 1.0099∟129.3625
1
𝑇𝑑 =
Kd = |sn + x| −0.24051

𝐾𝑑 = 1.0099 𝑇𝑑 = −4.1578

G𝑐 (s) = −0.1539(1 − 4.15578s)

Controlador PID

(𝑠 + 𝑥)2
G𝑐 (s) = 𝐾𝑐 ∗ ( )
𝑠

Kp = Kc ∗ 2 ∗ x 2
T𝑖 =
𝑥
2
T𝑖 = 𝑊𝑑
𝑥 𝑥= 𝜑 +𝛾 +𝜎
1 𝑡𝑎𝑛𝑔 ( 𝑐 2 )
T𝑑 =
2𝑥
 0.7808 𝐾𝑝 = 𝐾𝑐 ∗ 2𝑥
𝑥= + 0.4
−50.6357 + 117.1258
𝑡𝑎𝑛𝑔 ( 2 )
𝐾𝑝 = 0.2795 ∗ 2 ∗ 1.5912

𝑥 = 1.5912 𝐾𝑝 = 0.8896

|𝑆𝑛 + 𝑥|2 1
𝐾𝑑 = T𝑑 =
|𝑆𝑛| 2∗𝑥

(1.4243)2 1
𝐾𝑑 = T𝑑 =
0.8773 2 ∗ 1.5912

𝐾𝑑 = 2.3124 T𝑑 = 0.3142

1 2
𝐾𝑐 = T𝑖 =
𝐾𝑑 ∗ 𝐾𝑔 𝑥

1 2
𝐾𝑐 = T𝑖 =
2.3124 ∗ 1.5472 1.5912

𝐾𝑐 = 0.2795 T𝑖 = 1.2569

Controlador PD

(𝑠 + 1.5912)2
G𝑐 (s) = 0.2795 ∗ ( )
𝑠

 Ejercicio 3
 5
𝐺(𝑠) = 𝑀𝑝 = 0.5 𝑇𝑠𝑠 = 10
𝑠(𝑠 + 4)(𝑠 + 1)

√ln(𝑀𝑝)2 𝑆𝑛 = −𝑐ℎ𝑖 ∗ 𝑊𝑛 + 𝑗 𝑊𝑛√1 − 𝑐ℎ𝑖 2

𝑐ℎ𝑖 =
√ln(𝑀𝑝)2 + 𝜋 2 𝑆𝑛 = −0.3141 + 𝑗1.4242
𝑆𝑛 = 1.4584 < 102.44°
√ln(0.5)2
𝑐ℎ𝑖 =
√ln(0.5)2 + 𝜋 2 𝜆 = 102.44°

𝑐ℎ𝑖 = 0.2154 𝑠𝑛 + 4 = 3.6859 + 𝑗1.4242 = 3.9515

< 21.1261°
𝜋
𝑡𝑠𝑠 =
𝑐ℎ𝑖 ∗ 𝑊𝑛 𝑠𝑛 + 5 = 4.6859 + 𝑗1.4242 = 4.8975
𝜋 < 16.9057°
𝑊𝑛 =
𝑐ℎ𝑖 ∗ 𝑡𝑠𝑠
𝑊𝑛 = 1.4584 𝜑𝑔 = −140.4718°

𝑊𝑑 = 𝑊𝑛√1 − 𝑐ℎ𝑖 2 5
𝑘𝑔 = = 0.1771
1.4584 ∗ 3.9515 ∗ 4.8975
𝑊𝑑 = 1.4242
𝜑𝑐 = −180° − 𝜑𝑔 = −39.5282° = 𝛾
𝜎 = 0.3141
𝑤𝑑
𝑥= +𝜎
𝜑𝑐 + 𝜆
tan ( 2 )

𝑥 = 2.6422
Puede ser un PI o un PID

(𝑠𝑛 + 𝑥)2 1
𝑘𝑑 = | | 𝑘𝑐 =
𝑠𝑛 5.1073 ∗ 0.1771

2.72922 𝑘𝑐 = 1.1056
𝑘𝑑 =
1.4584 𝑘𝑝 = 𝑘𝑐 2𝑥 = 5.8422
𝑘𝑑 = 5.1073 2
𝑇𝑖 = = 0.7569
1 𝑥
𝑘𝑐 =
𝑘𝑑 𝑘𝑔 1
𝑇𝑑 = = 0.1892
2𝑥
1
𝐺𝑐 (𝑠) = 5.8422 (1 + + 0.1892𝑠)
0.7569𝑠
 Ejercicio 4
5
𝐺(𝑠) = 𝑀𝑝 = 0.5 𝑇𝑠𝑠 = 40
𝑠(𝑠 + 4)(𝑠 + 1)
𝑐

√ln(𝑀𝑝)2 √ln(0.5)2
ℎ𝑖 = 𝑐ℎ𝑖 =
√ln(𝑀𝑝)2 + 𝜋 2 √ln(0.5)2 + 𝜋 2

𝑐ℎ𝑖 = 0.2154
 𝜋 𝜆 = 102.44°
𝑡𝑠𝑠 =
𝑐ℎ𝑖 ∗ 𝑊𝑛
𝜋 𝑠𝑛 + 4 = 3.9215 + 𝑗0.3561 = 3.9376
𝑊𝑛 =
𝑐ℎ𝑖 ∗ 𝑡𝑠𝑠 < 5.1886°
𝑊𝑛 = 0.3646
𝑠𝑛 + 5 = 4.9215 + 𝑗0.3561 = 4.9344
𝑊𝑑 = 𝑊𝑛√1 − 𝑐ℎ𝑖 2 < 4.1385°

𝑊𝑑 = 0.3561 𝜑𝑔 = −111.7671°

𝜎 = 0.0785 5
𝑘𝑔 = = 0.7058
0.3646 ∗ 3.9376 ∗ 4.9344
𝑆𝑛 = −𝑐ℎ𝑖 ∗ 𝑊𝑛 + 𝑗 𝑊𝑛√1 − 𝑐ℎ𝑖 2
𝑆𝑛 = −0.0785 + 𝑗0.3561 𝜑𝑐 = −180° − 𝜑𝑔 = −68.2329° = 𝛾

𝑆𝑛 = 0.3646 < 102.44°

𝑤𝑑
𝑥= +𝜎
𝜑𝑐 + 𝜆
tan ( 2 )

𝑥 = 1.2358
Puede ser un PI o un PID

(𝑠𝑛 + 𝑥)2
𝑘𝑑 = | |
𝑠𝑛

1.21082
𝑘𝑑 =
0.3646
𝑘𝑑 = 4.0209
1
𝑘𝑐 =
𝑘𝑑 𝑘𝑔
1
𝑘𝑐 =
4.0209 ∗ 0.7058
𝑘𝑐 = 0.3524
𝑘𝑝 = 𝑘𝑐 2𝑥 = 0.8709
2
𝑇𝑖 = = 1.6183
𝑥
1
𝑇𝑑 = = 0.4046
2𝑥
 1
𝐺𝑐 (𝑠) = 0.8709 (1 + + 0.4046𝑠)
1.6183𝑠
Sistema con un controlador PID

Discretice las siguientes plantas

5
𝐺(𝑠) =
𝑠(𝑠 + 4)
𝑁

𝐺(𝑠) = ∑ 𝐾𝑖
𝑖=1

1 𝑧
𝑘𝑖 = lim [(𝑠 − 𝑠𝑖)𝑛𝑖 𝐺(𝑠) ]
(𝑛 − 1)! 𝑠→𝑠𝑖 𝑧 − 𝑒 −𝑠𝑡

1 5 𝑧
𝑘1 = lim [𝑠 ∗ ∗ ]
(1 − 1)! 𝑠→0 𝑠(𝑠 + 4) 𝑧 − 𝑒 −𝑠𝑡

5 𝑧
𝑘1 = lim [ ∗ ]
𝑠→0 (𝑠 + 4) 𝑧 − 𝑒 −𝑠𝑡

5 𝑧
𝑘1 = ( )
4 𝑧−1

1 5 𝑧
𝑘1 = lim [𝑠 ∗ ∗ ]
(1 − 1)! 𝑠→0 𝑠(𝑠 + 4) 𝑧 − 𝑒 −𝑠𝑡

5 𝑧
𝑘1 = lim [ ∗ ]
𝑠→0 (𝑠 + 4) 𝑧 − 𝑒 −𝑠𝑡
 5 𝑧
𝑘1 = ( )
4 𝑧−1

1 5 𝑧
𝑘2 = lim [(𝑠 + 4) ∗ ∗ ]
(1 − 1)! 𝑠→0 𝑠(𝑠 + 4) 𝑧 − 𝑒 −𝑠𝑡

5 𝑧
𝑘2 = lim [ ∗ ]
𝑠→−4 𝑠 𝑧 − 𝑒 −𝑠𝑡

5 𝑧
𝑘2 = − ( )
4 𝑧 − 𝑒 4𝑡

5 𝑧 5 𝑧
𝐺(𝑠) = ( )− ( )
4 𝑧−1 4 𝑧 − 𝑒 4𝑡

5 1 1
𝐺(𝑠) = 𝑧 [( )−( )]
4 𝑧−1 𝑧 − 𝑒 4𝑡