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Sistema deControlContinuo
+
R(s)
Gc(s)
Uc(s)
Gp(s)
Y(s)
Sistema deControlDiscretizado
R(s)
E(z)
Gc(z)
Uc(z)
ZOH
Gp(s)
Y(s)
T
G(z)
Prof.RaquelFras
ControlDigital
Verificar el funcionamiento del controlador continuo, usando herramientas CAD (Program CC,
Matlab),atravs delsistema continuomodificado.
b.
c.
d.
VerificarelfuncionamientodelsistemadiscretousandounaherramientatipoCAD.
e.
Implementar Gc(z)usando:
9 Software:Algoritmo numrico (E.E.D.L.)
9 Hardware:DSP,PC,PLC,DCS,SCADA.
Prof.RaquelFras
ControlDigital
de(t )
dt
e ( kT + T ) e ( kT )
T
Gc (z) = Gc (s)
s=
( z 1 )
T
Elmapeo equivalentedelafuncindetransferenciaenzdelcontroladorsera:
j
Im
Planos
Planoz
Re
CirculoUnitario
Prof.RaquelFras
ControlDigital
e ( kT ) e ( kT T )
T
G c ( z ) = G c ( s ) s = ( z 1)
Tz
Elmapeo equivalentedelafuncindetransferenciaenzdelcontroladorser:
j
Im
Planos
Planoz
Re
CirculoUnitario
Prof.RaquelFras
ControlDigital
Sedefine,donde
e(t)es lafuncin deerror.
x ( t ) = e ( t ) dt
0
x ( kT + T ) = x ( kT ) + [ e ( kT + T ) T ]
G c ( z ) = G c ( s ) s = ( z 1)
Tz
x ( kT ) = x ( kT T ) + [ e ( kT T ) T ]
G c ( z ) = G c ( s ) s = ( z 1)
T
Prof.RaquelFras
ControlDigital
Sedefine,donde
e(t) es alfuncin deerror.
x(t ) = e(t )dt
0
x ( kT ) = x ( kT T ) +
[ e ( kT T ) + e ( kT )] T
2
G c ( z ) = G c ( s ) s = 2 ( z 1)
T ( z + 1)
Prof.RaquelFras
ControlDigital
s + = 1 z 1e T
G c ( z ) = G c ( s ) s + a i =1 z 1e ab i TT
s + b j =1 z 1e
Gc ( z ) = K
dc
( 1 z 1 e a iT )
( 1 z 1 e
i =1
n
b jT
j =1
Prof.RaquelFras
ControlDigital
KI/s
+
+
Y(s)
Uc(s)
Gp(s)
GC (s) = k
k
kI =
KDs
Ti
kI
+ kDs
s
y k D = k pT D
G C ( z ) = k PD + k ID
z 1 ,donde: k
z
+ k DD
z 1
z
k
k
Prof.RaquelFras
PD
ID
DD
= k
=
=
Ti
(1
T
)
2T I
k pT D
T
ControlDigital
Formadevelocidad deunPIDdiscreto
Discretizacin
deControladores Continuos
R(z)
z
z 1
KID
Uc(z)
Gp(s)
Y(z)
+
+
KPD
KDD
z 1
z
( z ) = k PD Y ( z ) + k ID
k PD = k P (1
Prof.RaquelFras
T
)
2TI
k ID =
z
z 1
[ R ( z ) Y ( z )] + k DD
Y (z)
z 1
z
kp
Ti
k DD =
k pT D
T
ControlDigital