Controllo livello liquido in un serbatoio

Dt 1 sec intervallo di campionatura

h0 0 mm livello iniziale
A 20 Amplificazione dell'errore
Aeff 2.5 cm2 area di efflusso (uscita)
Aserb 10 dm2 area base del serbatoio
hrif 500 mm livello di riferimento (SET POINT)
kh 0.01 coeff. Riferimento
kp 0.1 l/s/volt coeff. Proporzionale
Vrif 5v tensione di riferimento
ki 0.3 coefficiente integrale
kd 5 coefficiente derivata

t hrif h_PI Vh e e dt de/dt Vp_PID Qin Veff Qout Vol_acc Dh

sec. mm mm volt volt v*s v/s volt l/sec. m/s l/sec. litri mm
0 500 0 0.00 5.00 5.00 0.00 100.000 10.00 0.00 0.000 10 100.00
1 500 100.0 1.00 4.00 9.00 -1.00 77.700 7.77 1.40 0.350 17.420 74.20
2 500 174.2 1.74 3.26 12.26 -0.74 65.128 6.51 1.85 0.462 23.470 60.51
3 500 234.7 2.35 2.65 14.91 -0.61 54.507 5.45 2.15 0.536 28.385 49.14
4 500 283.8 2.84 2.16 17.07 -0.49 45.895 4.59 2.36 0.590 32.384 40.00
5 500 323.8 3.24 1.76 18.83 -0.40 38.882 3.89 2.52 0.630 35.642 32.58
6 500 356.4 3.56 1.44 20.27 -0.33 33.167 3.32 2.64 0.661 38.298 26.56
7 500 383.0 3.83 1.17 21.44 -0.27 28.508 2.85 2.74 0.685 40.463 21.66
8 500 404.6 4.05 0.95 22.39 -0.22 24.708 2.47 2.82 0.704 42.230 17.66
9 500 422.3 4.22 0.78 23.17 -0.18 21.608 2.16 2.88 0.720 43.671 14.41
10 500 436.7 4.37 0.63 23.80 -0.14 19.078 1.91 2.93 0.732 44.847 11.76
11 500 448.5 4.48 0.52 24.32 -0.12 17.013 1.70 2.97 0.742 45.807 9.60
12 500 458.1 4.58 0.42 24.74 -0.10 15.328 1.53 3.00 0.749 46.590 7.83
13 500 465.9 4.66 0.34 25.08 -0.08 13.952 1.40 3.02 0.756 47.230 6.39
14 500 472.3 4.72 0.28 25.36 -0.06 12.828 1.28 3.04 0.761 47.751 5.22
15 500 477.5 4.78 0.22 25.58 -0.05 11.911 1.19 3.06 0.765 48.177 4.26
16 500 481.8 4.82 0.18 25.76 -0.04 11.162 1.12 3.07 0.769 48.525 3.48
17 500 485.2 4.85 0.15 25.91 -0.03 10.550 1.06 3.09 0.771 48.808 2.84
18 500 488.1 4.88 0.12 26.03 -0.03 10.051 1.01 3.09 0.774 49.040 2.31
19 500 490.4 4.90 0.10 26.13 -0.02 9.643 0.96 3.10 0.775 49.229 1.89
20 500 492.3 4.92 0.08 26.20 -0.02 9.309 0.93 3.11 0.777 49.383 1.54
21 500 493.8 4.94 0.06 26.27 -0.02 9.037 0.90 3.11 0.778 49.508 1.26
22 500 495.1 4.95 0.05 26.31 -0.01 8.815 0.88 3.12 0.779 49.610 1.02
23 500 496.1 4.96 0.04 26.35 -0.01 8.634 0.86 3.12 0.780 49.694 0.83
24 500 496.9 4.97 0.03 26.38 -0.01 8.486 0.85 3.12 0.781 49.762 0.68
25 500 497.6 4.98 0.02 26.41 -0.01 8.365 0.84 3.12 0.781 49.817 0.55
26 500 498.2 4.98 0.02 26.43 -0.01 8.266 0.83 3.13 0.782 49.862 0.45
27 500 498.6 4.99 0.01 26.44 0.00 8.185 0.82 3.13 0.782 49.899 0.37
28 500 499.0 4.99 0.01 26.45 0.00 8.119 0.81 3.13 0.782 49.928 0.30
29 500 499.3 4.99 0.01 26.46 0.00 8.065 0.81 3.13 0.782 49.952 0.24
30 500 499.5 5.00 0.00 26.46 0.00 8.022 0.80 3.13 0.783 49.972 0.19
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