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Esquema de un tanque
h(t )
q o (t )
1
dh(t )
h(t ) A
R
dt
Aplicando la transform ada de Laplace
1
Qi ( s ) H ( s) AsH ( s )
R
1
Qi ( s ) H ( s )( As )
R
H ( s)
1
R
1
Qi ( s ) As
ARs 1
R
qi (t )
Primera etapa
q i (t ) qr (t ) A
dhi (t )
dt
1
H (t )
R
Hi (t ) RQ r (t )
H (t )
R
Qr (t )
Se decea que la duncion de transfere ncia
Hi ( s )
FDT
Qi ( s )
Deceamos
Qr ( s )
FDT
Qi ( s)
dh( R1.Qr (t ))
Qi (t ) A
Qr (t )
dt
Laplace
Qo (t )
Qi ( s) A.S ( R1.Qr ( s )) Qr ( S )
Qi ( s) [Qr ( s )][ A.R.S 1]
Qr ( s )
1
Qi ( s ) AR1S 1
Anlogamente ejecutamos el desarrollo para el segundo tanque
Qo ( s )
1
Qr ( s) AR 2 S 1
Diagrama de bloques
Qi(s)
1
AR1S 1
Qr(t)
Qo ( s )
1
Qr ( s ) ( AR1S 1)( AR 2 S 1)
1
AR 2 S 1
Qo(t)
Control proporcional
Control Proporcional
Qo ( s )
Kp
2
Qr ( s) S ( AR1 .R 2 ) S ( AR1 AR2 ) 1 Kp
Qo ( s)
KpS Ki
2
Qr ( s) ( S AR1R 2 S [ AR1 AR 2 ] 1)( S SKp Ki)
Control Derivativo proporcional
Qo ( s)
Kp KdS
2
Qr ( s) ( S AR1R 2 S [ AR1 AR 2 ] 1)( Kp KdS 1)
CONTROL PID
Qo ( s )
S 2 Kd SKp Ki
Matlab
%control proporconal
A=5
R1=3
R2=3
Kp=50;
num=[Kp];
den=[A*R1*R2 A*R1+A*R2
t=0:0.01:100;
step(num,den)
1+Kp];
Proporcional-Derivativo
A=5
R1=3
R2=3
Kp=50;
Kd= 20
num=[Kd Kp];
den=[A*R1*R2 A*R1+A*R2+Kd 1+Kp];
t=0:0.01:100;
step(num,den,t
CONTROL PID
A=5
R1=3
R2=3
Kp=300;
Ki=10;
Kd=300;
num=[Kd Kp Ki];
den=[A*R1*R2 A*R1+A*R2+Kd 1+Kp Ki];
tf(num,den)
t=0:0.01:10;
step(num,den,t)