ziegler
DESCRIPTION
taller de ziegle nicollsTRANSCRIPT
Ziegler-Nichols
Function de transferencia seleccionadaG=((55.88*(4600000000*s^5 + 417544600000*s^4 + 9191438684000*s^3 + 69416671160220*s^2 + 979880254296824*s + 2193289421218597)))/((5000000000000*s^7 + 902830000000000*s^6 + 44327682270000000*s^5+ 787679602626800000*s^4 + 6113001903819759500*s^3+ 60099060080282675600*s^2 + 149630469847316466365*s + 10618145563144266472));
%%Matlab codigo.
s=tf('s');G=((55.88*(4600000000*s^5 + 417544600000*s^4 + 9191438684000*s^3 + 69416671160220*s^2 + 979880254296824*s + 2193289421218597)))/((5000000000000*s^7 + 902830000000000*s^6 + 44327682270000000*s^5+ 787679602626800000*s^4 + 6113001903819759500*s^3+ 60099060080282675600*s^2 + 149630469847316466365*s + 10618145563144266472));nyquist(G); axis([-0.2,0.5,-0.4,0.4]);[Gm,Pm,wcg,wcp]=margin(G) Kc=Gm; wc=wcg; Tc=2*pi/wc;Gcp=0.5*Kc; Gcl1=feedback(G*Gcp,1);Gcpi=0.4*Kc*(1+1/0.8/Tc/s); Gcl2=feedback(G*Gcpi,1);Gcpid=0.6*Kc*(1+1/0.5/Tc/s+0.12*Tc*s);Gcl3=feedback(G*Gcpid,1);step(Gcl1,Gcl2,Gcl3);
resuestaGM= the gain margin, factor by which the total loop gain can be increased which will make the system just unstablePM= the phase margin, the difference between -180 degrees and the phase angle at the frequency for which the amplitude ratio is one. PM represents the additional amount of phase lag required to make the system unstable. wc = the critical frequency, the frequency where the GM=1
Gm = 4.1658e+03Pm = Infwcg = 9.3369
Fig 1: controller based on Ziegler-Nichols
Sintonizacion IMC
A continuacin se muestran las posibles sintonizaciones con controles P, PI Y PID.
Fig 2. Sintonizacin IMC para un control P
Fig 3. Sintonizacin IMC para un control PI
Fig 3. Sintonizacin IMC para un control PID
6) compensador polinomio en adelanto y atraso
fig. Respuesta en frecuencia de un compensador
fig. Respuesta en el tiempo de un compensador