Diseño algebraico de controladores PID de dos grados de libertad para sistemas FOPTD

Pedro Teppa-Garran, Luis Caraballo, Germain Garcia

Resumen


Este trabajo propone un método basado en modelos para la sintonización de controladores PID de dos grados de libertad para sistemas de primer orden con retardo en el tiempo (FOPTD) fundamentado en un enfoque polinómico y nociones básicas de la teoría de control. La técnica logra el rechazo de señales de perturbación constante mediante una respuesta temporal que tiende asintóticamente a cero con un sobrepico y un tiempo de establecimiento especificados. Asimismo, se logra un seguimiento con error de estado estacionario cero de entradas de referencia persistentes, como el escalón, la rampa o la parábola. Otra contribución del método es que permite ajustar los cuatro parámetros del controlador PID. Varios ejemplos muestran la facilidad de implementación de la técnica, su eficacia y su extensión a sistemas distintos de los FOPTD.

Palabras clave


PID; PID de dos grados de libertad; Sistemas con tiempo de retardo; FOPTD; Seguimiento; Rechazo de perturbaciones; Proceso de flujo de calor; Sistema de tanques acoplados; ODS 9 de las Naciones Unidas.

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Referencias


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