Controlador PID Digital

Condio inicial Ganho Proporcional Ganho Integral

0.1 0.1
Limites
100
-100
k Alvo Valor Atual Erro Planta Parte Proporcional Parte Integral
0 0 0 0 0.8 0 0
1 1 0 1 0.8 0.1 0.1
2 1 0 1 0.8 0.1 0.2
3 1 0 1 0.8 0.1 0.3
4 1 0 1 0.8 0.1 0.4
5 1 0 1 0.8 0.1 0.5
6 1 0 1 0.8 0.1 0.6
7 1 0 1 0.8 0.1 0.7
8 1 0 1 0.8 0.1 0.8
9 1 0 1 0.8 0.1 0.9
10 1 0 1 0.8 0.1 1
11 1 0 1 0.8 0.1 1.1
12 1 0 1 0.8 0.1 1.2
13 1 0 1 0.8 0.1 1.3
14 1 0 1 0.8 0.1 1.4
15 1 0 1 0.8 0.1 1.5
16 1 1.28 -0.28 0.8 -0.028 1.472
17 1 2.42496 -1.425 0.8 -0.142496 1.329504
18 1 3.36540672 -2.3654 0.8 -0.236540672 1.092963328
19 1 4.043021271 -3.043 0.8 -0.3043021271 0.7886612009
20 1 4.4250876137 -3.4251 0.8 -0.3425087614 0.4461524395
21 1 4.5049460255 -3.5049 0.8 -0.3504946025 0.095657837
22 1 4.3004377457 -3.3004 0.8 -0.3300437746 -0.2343859376
23 1 3.8505300422 -2.8505 0.8 -0.2850530042 -0.5194389418
24 1 3.210535747 -2.2105 0.8 -0.2210535747 -0.7404925165
25 1 2.4464188284 -1.4464 0.8 -0.1446418828 -0.8851343994
26 1 1.628710738 -0.6287 0.8 -0.0628710738 -0.9480054732
27 1 0.8265511652 0.17345 0.8 0.0173448835 -0.9306605897
28 1 0.1023158768 0.89768 0.8 0.0897684123 -0.8408921774
29 1 -0.4927892529 1.49279 0.8 0.1492789253 -0.6916132521
30 1 -0.9218958733 1.9219 0.8 0.1921895873 -0.4994236647
31 1 -1.1642502823 2.16425 0.8 0.2164250282 -0.2829986365
32 1 -1.2155703336 2.21557 0.8 0.2215570334 -0.0614416031
33 1 -1.087067429 2.08707 0.8 0.2087067429 0.1472651398
34 1 -0.8033179461 1.80332 0.8 0.1803317946 0.3275969344
35 1 -0.3992449588 1.39924 0.8 0.1399244959 0.4675214303
36 1 0.0834791982 0.91652 0.8 0.0916520802 0.5591735104
37 1 0.6002778774 0.39972 0.8 0.0399722123 0.5991457227
38 1 1.107437836 -0.1074 0.8 -0.0107437836 0.5884019391
39 1 1.5655070807 -0.5655 0.8 -0.0565507081 0.531851231
40 1 1.9420829451 -0.9421 0.8 -0.0942082945 0.4376429365
41 1 2.2138180518 -1.2138 0.8 -0.1213818052 0.3162611313
42 1 2.3675476319 -1.3675 0.8 -0.1367547632 0.1795063682
43 1 2.4005190792 -1.4005 0.8 -0.1400519079 0.0394544602
44 1 2.3197773495 -1.3198 0.8 -0.1319777349 -0.0925232747
45 1 2.1408224756 -1.1408 0.8 -0.1140822476 -0.2066055223
46 1 1.8857038987 -0.8857 0.8 -0.0885703899 -0.2951759121
47 1 1.5807478057 -0.5807 0.8 -0.0580747806 -0.3532506927
48 1 1.2541270758 -0.2541 0.8 -0.0254127076 -0.3786634003
49 1 0.9334791554 0.06652 0.8 0.0066520845 -0.3720113158
50 1 0.6437569536 0.35624 0.8 0.0356243046 -0.3363870112
51 1 0.405464566 0.59454 0.8 0.0594535434 -0.2769334678
52 1 0.2333869656 0.76661 0.8 0.0766613034 -0.2002721644
53 1 0.1358748977 0.86413 0.8 0.0864125102 -0.1138596541
54 1 0.1146972791 0.8853 0.8 0.0885302721 -0.025329382
55 1 0.1654274121 0.83457 0.8 0.0834572588 0.0581278768
56 1 0.2782896795 0.72171 0.8 0.0721710321 0.1302989088
57 1 0.439362734 0.56064 0.8 0.0560637266 0.1863626354
58 1 0.6320152392 0.36798 0.8 0.0367984761 0.2231611115
59 1 0.8384416892 0.16156 0.8 0.0161558311 0.2393169426
60 1 1.0411684965 -0.0412 0.8 -0.0041168497 0.2352000929
61 1 1.2244132767 -0.2244 0.8 -0.0224413277 0.2127587652
62 1 1.3752012685 -0.3752 0.8 -0.0375201269 0.1752386384
63 1 1.4841697738 -0.4842 0.8 -0.0484169774 0.126821661
64 1 1.5460217727 -0.546 0.8 -0.0546021773 0.0722194837
65 1 1.5596208019 -0.5596 0.8 -0.0559620802 0.0162574036
66 1 1.5277482683 -0.5277 0.8 -0.0527748268 -0.0365174233
67 1 1.4565694485 -0.4566 0.8 -0.0456569449 -0.0821743681
68 1 1.3548738287 -0.3549 0.8 -0.0354873829 -0.117661751
69 1 1.2331680866 -0.2332 0.8 -0.0233168087 -0.1409785597
70 1 1.1027054379 -0.1027 0.8 -0.0102705438 -0.1512491034
71 1 0.9745334213 0.02547 0.8 0.0025466579 -0.1487024456
72 1 0.8586341672 0.14137 0.8 0.0141365833 -0.1345658623
73 1 0.7632179381 0.23678 0.8 0.0236782062 -0.1108876561
74 1 0.694213708 0.30579 0.8 0.0305786292 -0.0803090269
75 1 0.6549814237 0.34502 0.8 0.0345018576 -0.0458071693
76 1 0.6462510326 0.35375 0.8 0.0353748967 -0.0104322725
77 1 0.6662749751 0.33373 0.8 0.0333725025 0.02294023
78 1 0.7111649696 0.28884 0.8 0.028883503 0.051823733
79 1 0.7753716384 0.22463 0.8 0.0224628362 0.0742865692
80 1 0.8522575093 0.14774 0.8 0.0147742491 0.0890608182
81 1 0.9347104762 0.06529 0.8 0.0065289524 0.0955897706
82 1 1.0157458309 -0.0157 0.8 -0.0015745831 0.0940151875
83 1 1.0890500316 -0.0891 0.8 -0.0089050032 0.0851101844
84 1 1.1494277429 -0.1494 0.8 -0.0149427743 0.0701674101
85 1 1.1931244299 -0.1931 0.8 -0.019312443 0.0508549671
86 1 1.2180088756 -0.218 0.8 -0.0218008876 0.0290540795
87 1 1.2236123536 -0.2236 0.8 -0.0223612354 0.0066928442
88 1 1.2110328128 -0.211 0.8 -0.0211032813 -0.0144104371
 89 1 1.1827224744 -0.1827 0.8 -0.0182722474 -0.0326826846
90 1 1.1421850115 -0.1422 0.8 -0.0142185012 -0.0469011857
91 1 1.0936135617 -0.0936 0.8 -0.0093613562 -0.0562625419
92 1 1.0415030149 -0.0415 0.8 -0.0041503015 -0.0604128434
93 1 0.9902693833 0.00973 0.8 0.0009730617 -0.0594397817
94 1 0.9439058764 0.05609 0.8 0.0056094124 -0.0538303694
95 1 0.9057000188 0.0943 0.8 0.0094299981 -0.0444003712
96 1 0.8780293672 0.12197 0.8 0.0121970633 -0.032203308
97 1 0.8622457367 0.13775 0.8 0.0137754263 -0.0184278816
98 1 0.8586500415 0.14135 0.8 0.0141349959 -0.0042928858
99 1 0.8665524951 0.13345 0.8 0.0133447505 0.0090518647
100 1 0.8844065676 0.11559 0.8 0.0115593432 0.020611208
101 1 0.910000176 0.09 0.8 0.0089999824 0.0296111904
102 1 0.9406843653 0.05932 0.8 0.0059315635 0.0355427538
103 1 0.9736183457 0.02638 0.8 0.0026381654 0.0381809193
104 1 1.0060101416 -0.006 0.8 -0.0006010142 0.0375799051
105 1 1.03533412 -0.0353 0.8 -0.003533412 0.0340464931
106 1 1.059509993 -0.0595 0.8 -0.0059509993 0.0280954938
107 1 1.0770321816 -0.077 0.8 -0.0077032182 0.0203922756
108 1 1.0870432501 -0.087 0.8 -0.008704325 0.0116879506
109 1 1.089350062 -0.0894 0.8 -0.0089350062 0.0027529444
110 1 1.0843859581 -0.0844 0.8 -0.0084385958 -0.0056856514
111 1 1.0731262732 -0.0731 0.8 -0.0073126273 -0.0129982787
112 1 1.0569676259 -0.057 0.8 -0.0056967626 -0.0186950413
113 1 1.0375834519 -0.0376 0.8 -0.0037583452 -0.0224533865
114 1 1.01676914 -0.0168 0.8 -0.001676914 -0.0241303005
115 1 0.9962898829 0.00371 0.8 0.0003710117 -0.0237592888
116 1 0.9777430953 0.02226 0.8 0.0022256905 -0.0215335983
117 1 0.9624451433 0.03755 0.8 0.0037554857 -0.0177781126
118 1 0.9513494254 0.04865 0.8 0.0048650575 -0.0129130552
119 1 0.9449997929 0.055 0.8 0.0055000207 -0.0074130345
120 1 0.943520179 0.05648 0.8 0.0056479821 -0.0017650524
121 1 0.9466383597 0.05336 0.8 0.005336164 0.0035711117
122 1 0.9537392348 0.04626 0.8 0.0046260765 0.0081971882
123 1 0.9639410396 0.03606 0.8 0.003605896 0.0118030842
124 1 0.9761866093 0.02381 0.8 0.0023813391 0.0141844233
125 1 0.9893412547 0.01066 0.8 0.0010658745 0.0152502978
126 1 1.0022889554 -0.0023 0.8 -0.0002288955 0.0150214023
127 1 1.0140193792 -0.014 0.8 -0.0014019379 0.0136194644
128 1 1.023699557 -0.0237 0.8 -0.0023699557 0.0112495087
129 1 1.0307257579 -0.0307 0.8 -0.0030725758 0.0081769329
130 1 1.034753034 -0.0348 0.8 -0.0034753034 0.0047016295
131 1 1.0357018766 -0.0357 0.8 -0.0035701877 0.0011314418
132 1 1.0337432892 -0.0337 0.8 -0.0033743289 -0.0022428871
133 1 1.0292651851 -0.0293 0.8 -0.0029265185 -0.0051694056
134 1 1.0228242706 -0.0228 0.8 -0.0022824271 -0.0074518327
135 1 1.0150883902 -0.0151 0.8 -0.001508839 -0.0089606717
136 1 1.0067746686 -0.0068 0.8 -0.0006774669 -0.0096381386
137 1 0.9985886941 0.00141 0.8 0.0001411306 -0.009497008
138 1 0.99116948 0.00883 0.8 0.000883052 -0.008613956
139 1 0.9850441105 0.01496 0.8 0.0014955889 -0.007118367
140 1 0.980594891 0.01941 0.8 0.0019405109 -0.0051778561
141 1 0.9780406086 0.02196 0.8 0.0021959391 -0.002981917
142 1 0.9774322606 0.02257 0.8 0.0022567739 -0.000725143
143 1 0.9786624321 0.02134 0.8 0.0021337568 0.0014086138
144 1 0.9814864872 0.01851 0.8 0.0018513513 0.003259965
145 1 0.9855529478 0.01445 0.8 0.0014447052 0.0047046703
146 1 0.9904399165 0.00956 0.8 0.0009560084 0.0056606786
147 1 0.9956941703 0.00431 0.8 0.000430583 0.0060912616
148 1 1.0008696119 -0.0009 0.8 -8.69611915310209E-05 0.0060043004
149 1 1.0055620797 -0.0056 0.8 -0.000556208 0.0054480924
150 1 1.0094380476 -0.0094 0.8 -0.0009438048 0.0045042877
151 1 1.0122554261 -0.0123 0.8 -0.0012255426 0.003278745
152 1 1.013875449 -0.0139 0.8 -0.0013875449 0.0018912001
153 1 1.0142654131 -0.0143 0.8 -0.0014265413 0.0004646588
154 1 1.0134927874 -0.0135 0.8 -0.0013492787 -0.0008846199
155 1 1.0117118495 -0.0117 0.8 -0.0011711849 -0.0020558048
156 1 1.0091445051 -0.0091 0.8 -0.0009144505 -0.0029702554
157 1 1.0060572792 -0.0061 0.8 -0.0006057279 -0.0035759833
158 1 1.002736608 -0.0027 0.8 -0.0002736608 -0.0038496441
159 1 0.9994645295 0.00054 0.8 5.35470502867286E-05 -0.003796097
160 1 0.9964966661 0.0035 0.8 0.0003503334 -0.0034457636
161 1 0.9940440648 0.00596 0.8 0.0005955935 -0.0028501701
162 1 0.9922600244 0.00774 0.8 0.0007739976 -0.0020761726
163 1 0.9912325567 0.00877 0.8 0.0008767443 -0.0011994282
164 1 0.9909826293 0.00902 0.8 0.0009017371 -0.0002976912
165 1 0.9914678654 0.00853 0.8 0.0008532135 0.0005555223
166 1 0.9925909722 0.00741 0.8 0.0007409028 0.0012964251
167 1 0.9942118496 0.00579 0.8 0.000578815 0.0018752401
168 1 0.9961621267 0.00384 0.8 0.0003837873 0.0022590274
169 1 0.9982607763 0.00174 0.8 0.0001739224 0.0024329498
170 1 1.0003294849 -0.0003 0.8 -3.29484854804774E-05 0.0024000013
171 1 1.0022065775 -0.0022 0.8 -0.0002206577 0.0021793436
172 1 1.0037585094 -0.0038 0.8 -0.0003758509 0.0018034926
173 1 1.0048882073 -0.0049 0.8 -0.0004888207 0.0013146719
174 1 1.0055398507 -0.0055 0.8 -0.0005539851 0.0007606868
175 1 1.0056999989 -0.0057 0.8 -0.0005699999 0.000190687
176 1 1.0053952674 -0.0054 0.8 -0.0005395267 -0.0003488398
177 1 1.004687012 -0.0047 0.8 -0.0004687012 -0.000817541
178 1 1.0036636843 -0.0037 0.8 -0.0003663684 -0.0011839094
179 1 1.0024316487 -0.0024 0.8 -0.0002431649 -0.0014270743
180 1 1.0011053136 -0.0011 0.8 -0.0001105314 -0.0015376057
181 1 0.9997974147 0.0002 0.8 2.02585307433778E-05 -0.0015173471
182 1 0.998610207 0.00139 0.8 0.0001389793 -0.0013783678
183 1 0.9976281939 0.00237 0.8 0.0002371806 -0.0011411872
184 1 0.9969128447 0.00309 0.8 0.0003087155 -0.0008324717
185 1 0.9964995626 0.0035 0.8 0.0003500437 -0.0004824279
186 1 0.9963969615 0.0036 0.8 0.0003603039 -0.0001221241
187 1 0.9965883261 0.00341 0.8 0.0003411674 0.0002190433
188 1 0.9970349637 0.00297 0.8 0.0002965036 0.0005155469
189 1 0.9976810311 0.00232 0.8 0.0002318969 0.0007474438
190 1 0.9984593351 0.00154 0.8 0.0001540665 0.0009015103
191 1 0.9992975701 0.0007 0.8 0.000070243 0.0009717533
192 1 1.0001244613 -0.0001 0.8 -1.24461286437949E-05 0.0009593072
193 1 1.000875335 -0.0009 0.8 -8.75334993123644E-05 0.0008717737
194 1 1.0014967201 -0.0015 0.8 -0.000149672 0.0007221017
195 1 1.0019496928 -0.0019 0.8 -0.0001949693 0.0005271324
196 1 1.0022117995 -0.0022 0.8 -0.0002211799 0.0003059524
197 1 1.0022775206 -0.0023 0.8 -0.0002277521 7.820037233E-05
198 1 1.0021573535 -0.0022 0.8 -0.0002157353 -0.000137535
199 1 1.0018756986 -0.0019 0.8 -0.0001875699 -0.0003251048
200 1 1.0014678121 -0.0015 0.8 -0.0001467812 -0.000471886
201 1 1.0009761414 -0.001 0.8 -9.76141352738713E-05 -0.0005695002
202 1 1.0004463833 -0.0004 0.8 -4.46383269914863E-05 -0.0006141385
203 1 0.9999235999 7.6E-05 0.8 0.00000764 -0.0006064985
204 1 0.9994486954 0.00055 0.8 5.51304642877226E-05 -0.000551368
205 1 0.9990555045 0.00094 0.8 9.44495455430516E-05 -0.0004569185
206 1 0.9987686749 0.00123 0.8 0.0001231325 -0.000333786
207 1 0.9986024468 0.0014 0.8 0.0001397553 -0.0001940307
208 1 0.9985603564 0.00144 0.8 0.0001439644 -5.0066285949E-05
209 1 0.9986358115 0.00136 0.8 0.0001364188 8.63525603257E-05
210 1 0.998813425 0.00119 0.8 0.0001186575 0.0002050101
211 1 0.9990709382 0.00093 0.8 9.29061841935197E-05 0.0002979162
212 1 0.999381536 0.00062 0.8 6.18464005744501E-05 0.0003597626
213 1 0.9997163384 0.00028 0.8 2.83661553582837E-05 0.0003881288
214 1 1.000046856 -5E-05 0.8 -4.6855989764838E-06 0.0003834432
215 1 1.0003472179 -0.0003 0.8 -3.47217929733912E-05 0.0003487214
216 1 1.0005960147 -0.0006 0.8 -5.96014724953964E-05 0.0002891199
217 1 1.0007776391 -0.0008 0.8 -7.77639119718065E-05 0.000211356
218 1 1.0008830598 -0.0009 0.8 -0.000088306 0.00012305
219 1 1.0009100117 -0.0009 0.8 -9.1001169452487E-05 3.20488712256E-05
220 1 1.0008626342 -0.0009 0.8 -8.62634240887283E-05 -5.4214552863E-05
221 1 1.0007506309 -0.0008 0.8 -7.50630878954883E-05 -0.0001292776
222 1 1.0005880543 -0.0006 0.8 -5.88054322927079E-05 -0.0001880831
223 1 1.0003918441 -0.0004 0.8 -3.91844131100161E-05 -0.0002272675
224 1 1.0001802523 -0.0002 0.8 -1.8025229321772E-05 -0.0002452927
225 1 0.9999712907 2.9E-05 0.8 2.87093279230932E-06 -0.0002424218
226 1 0.9997813217 0.00022 0.8 2.18678314872767E-05 -0.000220554
227 1 0.9996238925 0.00038 0.8 3.76107458750163E-05 -0.0001829432
228 1 0.999508886 0.00049 0.8 4.91113993161929E-05 -0.0001338318
229 1 0.9994420297 0.00056 0.8 0.000055797 -7.8034779388E-05
230 1 0.9994247744 0.00058 0.8 5.75225618269726E-05 -2.0512217561E-05
231 1 0.9994545207 0.00055 0.8 5.45479300040674E-05 3.40357124431E-05
232 1 0.9995251496 0.00047 0.8 0.000047485 8.1520748106E-05
1.0003918441
D Digital
Ganho Derivativo
0.01
Controlador PID
5

Parte Derivativo
4
0
0.01 0.21 3
0 0.3
0 0.4 2
0 0.5
1
0 0.6
0 0.7 0
0 0.8 1 11 21 31 41 51 61 71 81 91 01 11 21 31 41 51 61 71 81 91 01 11 21 31
1 1 1 1 1 1 1 1 1 1 2 2 2 2
0 0.9 -1
0 1
-2
0 1.1
Al vo Condi o i ni ci al Val or Atua l
0 1.2
Erro
0 1.3
0 1.4
0 1.5
0 1.6
-0.0128 1.4312
-0.0114496 1.175558
-0.0094044672 0.847018
-0.0067761455 0.477583
-0.0038206634 0.099823
-0.0007985841 -0.25564
0.0020450828 -0.56238
0.004499077 -0.79999
0.006399943 -0.95515
0.0076411692 -1.02214
0.0081770809 -1.0027
0.0080215957 -0.90529
0.0072423529 -0.74388
0.0059510513 -0.53638
0.0042910662 -0.30294
0.0024235441 -0.06415
0.0005132005 0.160629
-0.001285029 0.354687
-0.0028374948 0.505091
-0.0040407299 0.603405
-0.0048272416 0.645998
-0.0051679868 0.63395
-0.0050715996 0.572587
-0.0045806924 0.47072
-0.0037657586 0.339669
 -0.0027173511 0.192162
-0.0015372958 0.041214
-0.0003297145 -0.10093
0.0008074173 -0.22369
0.0017895487 -0.3189
0.0025511858 -0.3812
0.0030495609 -0.40828
0.0032662073 -0.40081
0.0032064792 -0.36215
0.002897222 -0.29787
0.0023829239 -0.2151
0.001720776 -0.12189
0.0009751207 -0.02647
0.0002117762 0.063413
-0.0005073013 0.141078
-0.0011286227 0.201341
-0.0016107305 0.240816
-0.0019265251 0.258033
-0.0020642645 0.253409
-0.0020272681 0.229056
-0.0018324478 0.188485
-0.0015078799 0.136211
-0.0010896851 0.077315
-0.00061852 0.016999
-0.0001359903 -0.03984
0.0003187253 -0.08897
0.0007117882 -0.12712
0.0010169562 -0.15213
0.0012170574 -0.16308
0.0013046265 -0.16022
0.0012817202 -0.14487
0.0011589925 -0.11927
0.0009541623 -0.08626
0.0006900423 -0.04904
0.0003923228 -0.01091
8.73039102749662E-05 0.02503
-0.0002002394 0.056112
-0.0004488999 0.080258
-0.0006420667 0.096107
-0.0007688587 0.103066
-0.0008245297 0.101294
-0.0008103535 0.09163
-0.000733042 0.075472
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