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Lab10 Completo
Lab10 Completo
Lab10 Completo
LABORATORIO Nº 10
“CONTROL PID CON PLC”
Grupo : “B”
Nota:
Semestre : V
I. OBJETIVOS
1. Implementar programas usando MOV,SCL y CPT
2. Identificar funciones analógicas y escalamiento
3. Demostrar entradas analógicas NIO4I
II. RECURSOS
1. SOFTWARE:
a. RS Logix 500
2. EQUIPOS, INSTRUMENTOS Y ACCESORIOS:
a. Computadora Personal.
III. BASE TEORICA
a) HJ
Entering Parameters
When entering PID Parameters,the PID instruction is normally placed on the rung as an output module without the
use of conditional logic. When there is no conditional logic:
The output remains at it's previous value when the rung is false, and the integral term is cleared when the rung is
false.
During Programming you must enter locations for the Control Block, Process Variable, and Control Variable once
the PID instruction is entered into the ladder logic.
Control Block
This file is the heart of the programming because it stores the data required to operate the PID function. The file
length is fixed at 23 words and it should be entered as an integer file. For example, an entry of N10:0 will occupy
elements N10:0 through N10:22. It is a good idea to use a unique data file to hold your PID control blocks. This is
to avoid re-using the PID control addresses later in the program. N10:0 is a good example of this. Here is an
example of the Control Block layout
Process Variable PV
This is the address that stores the input variable. This address can be the location of the analog input word where
the value of the input address is stored. You can enter this value as a integer as long as you pre-scale the input
value to the range of 0-16383.
Control Variable CV
This variable stores the output of the PID instruction. Like the Process Variable, the CV's range is from 0 to 16383.
16383 is noted as the 100% or "on" position. This value is normally an integer, so you can scale the PID output
range to fit your PID application. See the page on PID and Analog I/O Scaling for more information on this
subject. The figure below shows a PID instruction with common addresses for these parameters entered.
Gain Kc (word 3)
This is the Proportional gain. It ranges from .1 to 25.5 on the SLC 5/00 and 5/01's and 0-32767 for the SLC 5/03's
and 5/04's. A rule of thumb is to set the gain to one half the value needed to cause the system to oscillate when the
Reset and Rate terms are set to zero.
Reset Ti (word 4)
This is the Integral gain. The range for this gain ranges from .1 to 25.5 minutes per repeat. However as in the
proportional gain, the SLC 5/03's and 5/04's range from 0-32767 minutes/repeat. A rule of thumb is to set the reset
time equal to the natural period found in gain Kc.
Rate Td
This is the Derivative term. The range for this value is from .01 to 2.55 minutes. For the SLC 5/03's and 5/04's the
range is from 0-32767. It is recommended that this value be set to 1/8 of the integral time.
Maximum Scaled Smax (word 7)
This parameter recognizes the setpoint value when it is in engineering units. The control input must be 16383 (or
32768 for the 5/03 and 5/04). The valid range is -16383 to +16383. The SLC 5/03's and 5/04's range is from -32768
to +32767.
Minimum Scaled Smin (word 8)
This parameter is exactly like the Smax except the control input must be zero.
Note: Smin-Smax, scaling allows you to enter the setpoint in engineering units. The deadband, error, and process
variable will be displayed as enginerring units. The process variable must still be within it's range from 0-
16383.SLC 5/03 and SLC 5/04 specific: Scaled errors larger or smaller than its range of -32768 to +32767 will be
represented as the closest limit. For example if a scaled error is -32788, it will be represented as -32768 etc...
b) Preguntas video
Un controlador o regulador PID es un dispositivo que permite controlar un sistema en lazo cerrado para que
alcance el estado de salida deseado. El controlador PID está compuesto de tres elementos que proporcionan una
acción Proporcional, Integral y Derivativa. Estas tres acciones son las que dan nombre al controlador PID.
¿Cuáles son los parámetros de sintonización del controlador PID que hace que la planta sea estable?
Acción de control proprocional:
OBSERVACIONES Y
CONCLUSIONES
OBSERVACIONES
CONCLUSIONES
o Se comprobó que no siempre para que todo sistema sea el mejor es necesario un
control PID esto depende de los requerimientos del sistema y de los ajustes que se
le den para generar un ajuste correcto.
o Se comprobó que mientras mayor sea la diferencia entre el Set point y la variable
del proceso mayor será la inestabilidad de la señal de la salida y generamos
perturbaciones antes de alcanzar un valor estable