3.

Teniendo en cuenta el mismo esquema de esquema de control de la

Figura 1. Disee los controladores de acuerdo a las instrucciones y
requerimientos:

a. Disee un controlador PIDdigital (T=0.01s) usando el mtodo de

ZieglerNichols, tal que el tiempo de establecimiento sea menor a 2
segundos y el sobreimpulso sea menor al 20%, para la siguiente planta:
1
() =
( + 2)( + 1)(0,2 + 1)

< 2
< 20%

1 1
() = = 2
( + 2)( + 1)(0,2 + 1) ( + + 2 + 2)(0,2 + 1)
1
=
0,2 3 + 2 + 0,6 2 + 35 + 0,4 + 2

se sacan los terminos

1 = 2
2 = 1
3 = 5
= 0,3588
= 2,1040
osea que estos serian los parmetros iniciales:

0

0,9 3 0

1,2 2 0,5

1
= (1 + + )

= 7,0369
= 0,7176
= 0,1794

= = 9,8062 = = 1,2624

= 0,1794
 2 + + 1,2624 2 + 7,0369 + 9,8062
= + + = =

() () ()
=
() 1 + () ()

1,26242 +7,0369+9,862 1
() [ ] [(+2)(+1)(0,2+1)]

=
() 1 + [1,26242 +7,0369+9,8062] [ 1
]
(+2)(+1)(0,2+1)

() 1,2624 2 + 7,0369 + 9,862

=
() ( + 2)( + 1)(0,2 + 1) + 1,2624 2 + 7,0369 + 9,8062

() 1,2624 2 + 7,0369 + 9,862

=
() ( + 2)( + 1)(0,2 + 1) + 1,2624 2 + 7,0369 + 9,8062

() 1,2624 2 + 7,0369 + 9,862

=
() 0,2 4 + 1,6 3 + 3,4 2 + 2 + 1,2624 2 + 7,0369 + 9,8062

() 1,2624 2 + 7,0369 + 9,862

=
() 0,2 4 + 1,6 3 + 4,6624 2 + 9,0369 + 9,8062

2 ( 1)

( + 1)

()
()
1 2 1
1,2624(2/) 2 (+1) + 7,0369()(+1) + 9,862
=
2 4 1 4 2 3 1 3 2 2 1 2 2 1
0,2 () (+1) 1,6 (0,01) (+1) + 4,6624 (0,01) (+1) + 9,8062 (0,01) (+1) + 9,8062

() 0,0001559 4 + 8,57106 3 0,0003031 2 8,335106 + 0,0001474

=
() 4 3,921 3 + 5,765 2 3,7672 + 0,9231

Se aplica:parametros

= 10
=8
= 3
 (3 2 + 10 + 8)
=

32 +10+8 1
() [ ] [0,23 +1,62 +3,4+2]

=
() 1 + [32 +10+8] [ 1
]
0,2 +1,62 +3,4+2
3

() 3 2 + 10 + 8
=
() 0,2 4 + 1,6 3 + 3,4 2 + 2 + 3 2 + 10 + 8

() 3 2 + 10 + 8
=
() 0,2 4 + 1,6 3 + 6,4 2 + 12 + 8

Aplicando transformacin bilineal

() 0,0003663 4 + 1,211105 3 0,007205 2 1,191105 + 0,0003543

=
() 4 3,92 3 + 5,763 2 3,766 + 0,9231

b. Disee un controlador digital (T=0.01s) en adelanto, tal que el tiempo de

establecimiento sea menor a 1.5 segundos y el sobreimpulso sea menor al
20%, para la siguiente planta:
5
() =
(5 + 6)( + 2)
criterios:

< 1,5 = 0,01

< 20%

2
= /1

() = /1 2
(0,2) = /1 2
2 (0,2) = 2 2 /1 2
= 2 (0,2) 2 2 (0,2)
2 2

2 [ 2 + 2 (0,2)] = 2 (0,2)
= 0,4559 0,46

4
= 2%

4 4 8
= = = =
1,5 3
= = 8/3
 8/3 8/3
= = = 5,797 /
0,46
= 1 2
= (5,797)1 (0,46)2
= 5,1473 /

= = = 0,6103
5,1473
5,1473
= tan1 ( ) = tan1 ( ) = 1,093
8
3
1,093
= = = 0,398
5,1473 5,1473

8
1,2 = = 5,1473 = 2,667 5,1473
3

+ 1 +
() = ( ) =
+ 1 +
5
() = 1 = 2
(5 + 6)( + 2)
2 = 1,2

Se observa que el cero del compensador en -2,667

Condicin del ngulo

= 180

= 0

= 180
1 = 82,6166
2 = 74,09

= +180
 1 = 2 + = +180
= 180 82,6166 74,09
= 23,29

= 2,667
= 11,9557

lo resolvemos con el funciones trigonomtricas:

5,14
1 = tan1 ( )
0,66
1 = 82,68

5,14
2 = tan1 ( )
1,46
2 = 74,14

5,14
1 = tan1 ( )
0,66
1 = 82,68

se reemplaza:

5,14
sin =

5,14
=
sin(23,29)
5,14
=
0,3953
= 12,99

cos =
12,99
= (12,99) (cos 23,29)
= 12,99 0,9185

= 11,93

+ 2,667
() = ( )
+ 11,957
Aplicando la Condicin de magnitud

| | = 1

+ 2,667 5
| ( )( )| =1
+ 11,9557 {5 + 6}{ + 2} =2,667+5,1473
2,667 + 5,1473 + 2,667 5
| ( )( )|
2,667 + 5,1473 + 11,9557 {5(2,667 + 5,1473) + 6}{2,667 + 5,1473 + 2} =,267+5,1473
=1
5,1473 5
| ( )( )|
9,2887 + 5,1473 {7,335 + 25,7365}{0,667 + 5,1473} =2,667+5,1473
=1

(25,1473)2
| | || ||
(9,2887)2 + (5,1473)2 (7,335)2 + (25,7365)2 (0,667)2 + (5,1473)2
=2,667+5,1473
=1
25,1473
| | | | =1
(10,61954071)(26,76134633)(5,190335855) =2,667+5,1473

| ||0,01705| = 1
1
| | = = 58,65103
0,01705

Transformacin bilineal de tustin

+ 2,667
() = 58,65103 ( ) | 2 1 = 0,01
+ 11,9557 =(+1)
2 1 200(1)
( ) + 2,667 + 2,667
+1 +1
() = 58,65103 [2 1 ] = 58,65103 [200(1) ]
( ) + 11,9557 + 11,9557
+1 +1

56,08 54,6
() =
0,8872

1 0,0015 5
() = { }
(5 + 6)( + 2)
5
() = (1 1 ) { }
(5 + 6)( + 2)
 +2,667) 5
() 58,65103 (+11,9557) ({5+6}{+2})
= 5 +2,667
() 1 + ( )( ) 58,65103
(5+6)(+2) +11,9557

() 293,25515( + 2,667)
=
() (5 + 6)( + 2)( + 11,9557) + 293,25515( + 2,667)

() 293,25515 + 782,111
=
() (5 2 + 10 + 6 + 12)( + 11,9557) + 293,25515( + 2,667)

() 293,25515 + 782,111
= 3
() 5 + 59,7785 2 + 16 2 + 191,2912 + 143,4684 + 293,25515 + 782,111

() 293,25515 + 782,111
= 3
() 5 + 75,7785 2 + 496,54635 + 925,5794

() 0,002813 2 4,067105 0,002627

=
() 3 2,85 2 + 2,71 0,8594