Ecuaciones para Identificación y Entonamiento Controladores Proporcional + Integral

N° Modelo Identificación

1 𝐺𝑝 = 𝐾𝑝 Δ𝑦
𝐾𝑝 =
Δu

2 𝐾𝑝 Δ𝑦
𝐺𝑝 = 𝐾𝑝 =
𝑠 Δu∆t

3 𝐾𝑝 Δ𝑦
𝐺𝑝 = 𝐾𝑝 =
𝜏𝑠 + 1 Δu

𝜏 = 𝑡|∆𝑦∗0.632

Con Tiempo Muerto

1 𝐺𝑝 = 𝐾𝑝. 𝑒 −𝐷𝑠 Δ𝑦
𝐾𝑝 =
Δu

𝐷 = 𝑡𝑅𝑒𝑡𝑟𝑎𝑠𝑜

2 𝐾𝑝 −𝐷𝑠 Δ𝑦
𝐺𝑝 = .𝑒 𝐾𝑝 =
𝑠 Δu∆t

𝐷 = 𝑡𝑅𝑒𝑡𝑟𝑎𝑠𝑜

3 𝐾𝑝 Δ𝑦
𝐺𝑝 = . 𝑒 −𝐷𝑠 𝐾𝑝 =
𝜏𝑠 + 1 Δu

𝜏 = 1.5(𝑡|∆𝑦∗0.632 − 𝑡|∆𝑦∗0.283 )

𝐷 = 𝑡|∆𝑦∗0.632 − 𝜏