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203041_9
1095813374
Control Digital
Mayo de 2020
DATOS FASE 1 y 2
y 1− y 0 984−65.1 918.9
k 0= = = =45.9
u 1−u0 20−0 20
Funcion de transferencia
k 0 e−s τ
0
e−0.4 s
G ( s )= =45.9
1+γ 0 s 1+9.6 s
T i=2 τ 0=2∗0.4=0.8
T d=0.5 τ 0=0.5∗0.4=0.2
y0 9.6
k p=1.2 =1.2 =1.2 ( 0.522 )=0.627
k 0 τ0 45.9∗0.4
T i=2 τ 0=2∗0.4=0.8
T d=0.5 τ 0=0.5∗0.4=0.2
U ( z) b
=a+ +c (1− z−1)
E(z) 1−z −1
Tenemos:
a=k p =0.627
k p T 0.627∗0.1 0.0627
b= = = =0.01254
Ti 5 5
k p T d 0.627∗0.2 0.1254
c= = = =1.254
T 0.1 0.1
Controlador Kp Ti Td
PID 0.627 0.01254 1.254