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1
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10 Ajuste de PIDs 1
10 Ajuste de PIDs 2
10 Ajuste de PIDs 3
s1 s2
s1
=4
s2

10 Ajuste de PIDs 4
 Kc

Tc

Kp Ki Kd
0,5K c
0,45K c 1,2
Tc
0,6 K c 2 Tc
Tc 8

10 Ajuste de PIDs 5
 = 0,2 K d

X
X u
u

L
a
L T

LY
K =Y a=
X TX

10 Ajuste de PIDs 6
 Kp Ki Kd
1 TY
=
a LX
0,9 0,9TY 1
=
a LX 3L
1, 2 1, 2TX 1 L
=
a LY 2L 2

10 Ajuste de PIDs 7
10 Ajuste de PIDs 8
 e
r + u
K ip y
- u
Planta

4
Kc 
A
 A

10 Ajuste de PIDs 9
 b -sT
G(s) = e
s

L = T a = bT

1.2 T
K= T i = 2T T d =
bT 2


t c = 4T kc=
2bT

10 Ajuste de PIDs 10
 0.6  0.94 T
K=  Ti = 2T Td =
2bT bT 2

10 Ajuste de PIDs 11
   1    2 tc 2  
G r(i c ) = 0.6 k c  1 + j   cT d -   = 0.6 k c  1 + j 0.12t c - 
   cT i     ct 2 t c  

= k c ( 0.6 + 0.26 j )


G p(j ) = r p e
j(  + p )

B = r s e j(  + s )

G r(j ) = r r e
j r

10 Ajuste de PIDs 12
 j(  + s )
rs e = r p r r e j(  + p+ r )

 rs
 rr =
 rp
 =  - 
 r s p

r s cos(  s -  p )
k p=
rp

1
Td - = tan(  s -  p )
Ti

10 Ajuste de PIDs 13
 kp
Gp=
1+ s T 1

 1 
G r = K  1+ 
 sT i 

G p Gr
Gc =
1+ G p Gr

2  1 kp K  kp K
s + s  + + =0
 T1 T1  T1T i

10 Ajuste de PIDs 14
s + 2   s + = 0
2 2

2  T1-1
K=
kp
2  T1-1
Ti=
2 T 1

10 Ajuste de PIDs 15
A(z) = z 2 + a 1 z + a 2
B(z) = b1 z + b 2

S(z)
H r(z) =
R(z)
R(z) = ( z - 1 ) R 1(z)

S(z) = s 0 z 2 + s 1 z + s 2
R(z) = ( z - 1 ) ( z + r 1 )

( z 2 + a 1 z + a 2 )( z - 1 )( z + r 1 ) +
( b1 z + b 2 )( s 0 z 2 + s 1 z + s 2 ) = 0

10 Ajuste de PIDs 16
P(z) = ( z - e -h )2 ( z 2 + p 1 z + p 2 )

p 1 = - 2 e -h cos(  h 1 -  )
2

p 2 = e -2 h

1
Gp ( s ) =
( s + 1)( 0, 26s + 1)

0.0164 z + 0.0140
H p(z) = 2
z - 1.583 z + 0.616

10 Ajuste de PIDs 17
 = 0.5  = 4  = 1

P(z) = ( z - 0.670 )2 ( z 2 - 1.54 z + 0.670 )

r 1 = - 0.407
s 0 = 6.74
s 1 = - 9.89
s 2 = 3.61

10 Ajuste de PIDs 18
 di do

+ + y
e
r + u +
C G
- +

CG 1 G
y= r+ do + di
1 + CG 1 + CG 1 + CG

CG
y= r
1 + CG

10 Ajuste de PIDs 19
 C

CG
y= r = Fr
1 + CG

F 1
C=
1- F G

G Ĝ

F 1
C=
1 - F Gˆ

y = Fr + (1 - F ) d o + (1 - F ) Gdi

10 Ajuste de PIDs 20
10 Ajuste de PIDs 21
1
= Gˆ inv
Gˆ
Gˆ inv Ĝ
F

Gˆ inv F

y=
FG
r+
(1 - F ) Gˆ do +
(1 - F ) Gˆ Gd i
(
Gˆ + F G - Gˆ ) (
Gˆ + F G - Gˆ ) (
Gˆ + F G - Gˆ )
y=
FGˆ inv G
r+
(1- F )
do +
(1- F )
Gd i
ˆ (
1 + F Ginv G - 1 )ˆ
1 + F Ginv G - 1 ( ˆ )
1 + F Ginv G - 1 ( )

10 Ajuste de PIDs 22
Gˆ inv G  Gˆ inv Gˆ  1

y  Fr + (1 - F ) d o + (1 - F ) Gdi

10 Ajuste de PIDs 23
 Gˆ inv Ĝ
Ĝ Gˆ inv = Gˆ -1

Bˆ ( s ) Bˆ e ( s ) Bˆi ( s )
G (s) =
ˆ =
ˆA ( s ) Aˆ ( s )
Bˆ e ( s )
Bˆi ( s )

Aˆ ( s )
Gˆ inv ( s ) =
(
Bˆ e ( s ) Bˆi ( s ) ) s =0

Bˆi ( s )

10 Ajuste de PIDs 24
y  Fr + (1 - F ) d o + (1 - F ) Gdi

-
-

-
-

10 Ajuste de PIDs 25
 1
F=
(  s + 1)
p

Q = FGˆ inv

1 1 F 1 2s + 1
Gˆ ( s ) = F= C= =
2s + 1  s +1 ˆ
1- F G s
s - 5 s 2
+ 2 s + 1 1 F 1 s 2
+ 2s + 1
Gˆ ( s ) = 2 Gˆ inv ( s ) = F= C = = -
s + 2s + 1 -5 (  s + 1)
2
1 - F Gˆ 5s  (  s + 2 )

10 Ajuste de PIDs 26



-
-
-


10 Ajuste de PIDs 27
 Step Response Step Response
1 1

0.9 0.9

0.8 0.8

0.7 0.7

0.6 0.6

Amplitude
Amplitude

0.5 0.5

0.4 0.4

0.3 0.3

0.2 0.2

0.1 0.1

0 0
0 2 4 6 8 10 12 0 2 4 6 8 10 12
Time (sec) Time (sec)

10 Ajuste de PIDs 28
 do

e u + y
r +
CPID G
- +

F 1
CPID = CIMC =
1 - F Gˆ

10 Ajuste de PIDs 29
-
-
-

-
- 
-

10 Ajuste de PIDs 30
 Kˆ
Gˆ =
ˆs + 1

Tˆr  2,2ˆ
ˆs + 1 1
Gˆ inv = F=
Kˆ  s +1

F ˆ ˆs + 1
C= Ginv =
1- F Kˆ  s

K ip
C = CPI = K + p
p
s

10 Ajuste de PIDs 31
 ˆ 1
K pp = K ip =
Kˆ  Kˆ 
 ˆ
K̂
ˆ 1 ˆs + 1
CPI = + =
Kˆ  Kˆ  s Kˆ  s

- ˆ K̂
- 

-
-
-
-
-
-

10 Ajuste de PIDs 32
-
-
-

10 Ajuste de PIDs 33
10 Ajuste de PIDs 34
10 Ajuste de PIDs 35
 1.4

10
1.2
9

8 1
7
0.8
6

5
0.6
4

3 0.4

2
0.2
1

0 0
0 100 200 300 400 500 600 0 100 200 300 400 500

10 Ajuste de PIDs 36
10 Ajuste de PIDs 37
yk = G0 ( z -1 )uk + vk
v

e u y
r R G

RG0 1
y= r+ v
1 + RG0 1 + RG0

10 Ajuste de PIDs 38
 

1 N 2
E   ( yk - yk ) +   ( uk ) 
N
J ( ) = d 2

2 N  k =1 k =1 

J ( ) 1 N d y u 
= E   ( yk - yk )
N
+   uk
 N  k =1  k =1  

J ( )
 k +1 =  k -  k R
-1


k

y u
 

10 Ajuste de PIDs 39
 RG0 1
T0 = S0 =
1 + RG0 1 + RG0
yd
y d = Td r
RG0 1
y = y- y = d
r- y +
d
v
1 + RG0 1 + RG0
 RG0  1
y= - Td  r + v
 1 + RG0  1 + RG0
y y G0 R RG0 2 R G0 2 R
= = r- r- v
  1 + RG0  (1 + RG0 )  (1 + RG0 ) 
2 2

y 1  R R R  1 R
= T0 r - T0 2 r - T0 S0 v = T0 r - T0 2 r - T0 S0v 
 R      R 
T0 S0

10 Ajuste de PIDs 40
T0 y = T0 2 r + T0 S0 v

y 1 R 1 R
= 0 0 
T r - T y = T0 ( r - y )
 R  R 
T0

r1 = r

y1 = T0 r + S0 v1
r2 = r - y1

y2 = T0 ( r - y1 ) + S0 v2

10 Ajuste de PIDs 41
y 1 R 1 R
= T0 ( r - y ) =  y 2 - S 0 v2 
 R  R 

y 1 R
= y2
 R 

10 Ajuste de PIDs 42
Ejemplo 1.1.

k p (1 + ki - z -1 )
R=
1 - z -1

R 1 + ki - z -1 R kp
= =
k p 1 - z -1 ki 1 - z -1

 1 + ki - z -1   1   1 
 1 - z -1     
y 1 - z -1 kp
 y2 = 
kp
y
=   y2 = 
 k p (1 + ki - z )  -1
   ( + )  2
kp  1 1 1 k i
 1 - z -1   1 + k - z -1   -1 
 i   1 - 1 (1 + k i ) z 
 1 
 
u  kp
 u = u
=
  1 (1 + ki ) 
2 2

 -1 
 1 - 1 (1 + k i ) z 

10 Ajuste de PIDs 43
J ( ) 1N d y u 
=   ( y1k - yk )
N
+   u1k
 N  k =1  k =1  

y u
 
J

J
 k +1 =  k -  k Rk-1


10 Ajuste de PIDs 44
 0.5

0.45

0.4

0.35

0.3

0.25

0.2

0.15

0.1

0.05

0
0 200 400 600 800 1000 1200

10 Ajuste de PIDs 45
1.4

1.2

0.8

0.6

0.4

0.2

-0.2
0 50 100 150

140

120

100

80

60

40

20

0
1 1.5 2 2.5 3 3.5 4 4.5 5

10 Ajuste de PIDs 46
0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0
1 2 3 4 5 6

10 Ajuste de PIDs 47
10 Ajuste de PIDs 48
10 Ajuste de PIDs 49
10 Ajuste de PIDs 50
10 Ajuste de PIDs 51
10 Ajuste de PIDs 52
10 Ajuste de PIDs 53
 2. Bibliografía
Goodwin, Graham C., M.E. Salgado, y S. F. Graebe. Control System Design. Prentice Hall, 2001.
Seborg, D., T. Edgar, y D. Mellichamp. Process Dynamics and Control. Wiley, 2004.
Stephanopoulos, George. Chemical Process Control. An Introduction to Theory and Practice. New Jersey: Prentice Hall, 1984.

10 Ajuste de PIDs 54