EL61A/ET66D

Controle 2

UTFPR – CP

Projeto de controladores PID - Parte 2

1 / 17
Forma zpk do PID realista

2 / 17
Forma zpk do PID realista

U (s) I N
C(s) = = P + + Ds ·
E(s) s s+N

2 / 17
Forma zpk do PID realista

U (s) I N
C(s) = = P + + Ds ·
E(s) s s+N
(s + z1 )(s + z2 )
C(s) = K ·
s(s + p1 )

2 / 17
Forma zpk do PID realista

U (s) I N
C(s) = = P + + Ds ·
E(s) s s+N
(s + z1 )(s + z2 )
C(s) = K ·
s(s + p1 )

N = p1 .
Kz1 z2
I= ·
p1
K(z1 + z2 ) − I
P = ·
p1
K −P
D= ·
N

2 / 17
Diagrama em blocos do PID realista

3 / 17
Diagrama em blocos do PID realista

U (s) I N
= P + + Ds ·
E(s) s s+N

3 / 17
Diagrama em blocos do PID realista

U (s) I N
= P + + Ds ·
E(s) s s+N
I DN s
U (s) = P E(s)+ E(s)+ E(s) = Up (s)+Ui (s)+Ud (s).
s s+N

3 / 17
Diagrama em blocos do PID realista

U (s) I N
= P + + Ds ·
E(s) s s+N
I DN s
U (s) = P E(s)+ E(s)+ E(s) = Up (s)+Ui (s)+Ud (s).
s s+N

3 / 17
Diagrama em blocos do PID realista com
anti-windup e prevenção do kick derivativo

4 / 17
Diagrama em blocos do PID realista com
anti-windup e prevenção do kick derivativo

4 / 17
5 / 17
PROJETO 1

Figura 1: Sistema em malha fechada.

√
s1,2 = −1 ± j 3.

5 / 17
6 / 17
 K(s + a)(s + b) 1
Gma(s) = Gc (s)G(s) = ·
s (s + 1)(s − 1)

6 / 17
 K(s + a)(s + b) 1
Gma(s) = Gc (s)G(s) = ·
s (s + 1)(s − 1)

Cancelar o pólo estável de G(s): a = 1.

6 / 17
 K(s + a)(s + b) 1
Gma(s) = Gc (s)G(s) = ·
s (s + 1)(s − 1)

Cancelar o pólo estável de G(s): a = 1.

K(s + b)
Gma(s) = ·
s(s − 1)

6 / 17
 K(s + a)(s + b) 1
Gma(s) = Gc (s)G(s) = ·
s (s + 1)(s − 1)

Cancelar o pólo estável de G(s): a = 1.

K(s + b)
Gma(s) = ·
s(s − 1)
√
s1 = −1 + j 3.

6 / 17
 K(s + a)(s + b) 1
Gma(s) = Gc (s)G(s) = ·
s (s + 1)(s − 1)

Cancelar o pólo estável de G(s): a = 1.

K(s + b)
Gma(s) = ·
s(s − 1)
√
s1 = −1 + j 3.

](s1 + b) − ]s1 − ](s1 − 1) = 180◦ .

6 / 17
 K(s + a)(s + b) 1
Gma(s) = Gc (s)G(s) = ·
s (s + 1)(s − 1)

Cancelar o pólo estável de G(s): a = 1.

K(s + b)
Gma(s) = ·
s(s − 1)
√
s1 = −1 + j 3.

](s1 + b) − ]s1 − ](s1 − 1) = 180◦ .

 √3 
arctan − 120◦ − 139, 11◦ = 180◦ .
b−1

6 / 17
 K(s + a)(s + b) 1
Gma(s) = Gc (s)G(s) = ·
s (s + 1)(s − 1)

Cancelar o pólo estável de G(s): a = 1.

K(s + b)
Gma(s) = ·
s(s − 1)
√
s1 = −1 + j 3.

](s1 + b) − ]s1 − ](s1 − 1) = 180◦ .

 √3 
arctan − 120◦ − 139, 11◦ = 180◦ .
b−1
 √3 
arctan = 439, 11◦ .
b−1
6 / 17
7 / 17
√
3
= tan(439, 11◦ ).
b−1

7 / 17
√
3
= tan(439, 11◦ ).
b−1

b = 1, 33.

7 / 17
 √
3
= tan(439, 11◦ ).
b−1

b = 1, 33.

K(s + b) K(s + 1, 33)

Gma (s) = = ·
s(s − 1) s(s − 1)

7 / 17
 √
3
= tan(439, 11◦ ).
b−1

b = 1, 33.

K(s + b) K(s + 1, 33)

Gma (s) = = ·
s(s − 1) s(s − 1)
 
 K(s + 1, 33) 
= 1.
 
 s(s − 1) 
 
√
s1 =−1+j 3

7 / 17
 √
3
= tan(439, 11◦ ).
b−1

b = 1, 33.

K(s + b) K(s + 1, 33)

Gma (s) = = ·
s(s − 1) s(s − 1)
 
 K(s + 1, 33) 
= 1.
 
 s(s − 1) 
 
√
s1 =−1+j 3

|s1 ||s1 − 1|
K= ·
|s1 + 1, 33|

7 / 17
 √
3
= tan(439, 11◦ ).
b−1

b = 1, 33.

K(s + b) K(s + 1, 33)

Gma (s) = = ·
s(s − 1) s(s − 1)
 
 K(s + 1, 33) 
= 1.
 
 s(s − 1) 
 
√
s1 =−1+j 3

|s1 ||s1 − 1|
K= ·
|s1 + 1, 33|

K = 3.

7 / 17
8 / 17
8 / 17
 3(s+1,33)
LGR de Gma (s) = Gc (s)G(s) = s(s−1)
·

8 / 17
9 / 17
 3(s + 1)(s + 1, 33)
Gc (s) = ·
s

9 / 17
 3(s + 1)(s + 1, 33)
Gc (s) = ·
s
1 1
G(s) = = ·
s2 −1 (s + 1)(s − 1)

9 / 17
 3(s + 1)(s + 1, 33)
Gc (s) = ·
s
1 1
G(s) = = ·
s2 −1 (s + 1)(s − 1)
3(s + 1, 33)
Gma (s) = Gc (s)G(s) = ·
s(s − 1)

9 / 17
 3(s + 1)(s + 1, 33)
Gc (s) = ·
s
1 1
G(s) = = ·
s2 −1 (s + 1)(s − 1)
3(s + 1, 33)
Gma (s) = Gc (s)G(s) = ·
s(s − 1)
3(s+1,33)
Y (s) Gma(s) s(s−1)
= = ·
R(s) 1 + Gma(s) 1 + 3(s+1,33)
s(s−1)

9 / 17
 3(s + 1)(s + 1, 33)
Gc (s) = ·
s
1 1
G(s) = = ·
s2 −1 (s + 1)(s − 1)
3(s + 1, 33)
Gma (s) = Gc (s)G(s) = ·
s(s − 1)
3(s+1,33)
Y (s) Gma(s) s(s−1)
= = ·
R(s) 1 + Gma(s) 1 + 3(s+1,33)
s(s−1)

Y (s) 3s + 4 3(s + 1, 33)

= 2 = √ √ ·
R(s) s + 2s + 4 (s + 1 + j 3)(s + 1 − j 3)

9 / 17
 3(s + 1)(s + 1, 33)
Gc (s) = ·
s
1 1
G(s) = = ·
s2 −1 (s + 1)(s − 1)
3(s + 1, 33)
Gma (s) = Gc (s)G(s) = ·
s(s − 1)
3(s+1,33)
Y (s) Gma(s) s(s−1)
= = ·
R(s) 1 + Gma(s) 1 + 3(s+1,33)
s(s−1)

Y (s) 3s + 4 3(s + 1, 33)

= 2 = √ √ ·
R(s) s + 2s + 4 (s + 1 + j 3)(s + 1 − j 3)
√
s1,2 = −1 ± j 3.

9 / 17
10 / 17
PROJETO 2
1 50
G(s) = = ·
(0, 1s + 1)(0, 2s + 1) (s + 5)(s + 10)
K(s + z1 )(s + z2 )
C(s) = ·
s(s + p1 )

e(∞) = 0 para R(s) = 1s ·

Mp ≤ 15%
ts (5%) ≤ 0, 8 s.

10 / 17
Projeto do Controlador PID realista no Matlab

11 / 17
Projeto do Controlador PID realista no Matlab

clear all
close all
s = tf(’s’);
G = 50/((s+5)*(s+10));
rltool(G)

11 / 17
12 / 17
12 / 17
 (s + z1 )(s + z2 ) (s + 5)(s + 10)
C(s) = K = 1, 3 ·
s(s + p1 ) s(s + 12)

12 / 17
 N = p1 = 12.
Kz1 z2
I= = 5, 42.
p1
K(z1 + z2 ) − I
P = = 1, 17.
p1
K −P
D= = 0, 011.
N
I DN s
P ID(s) = P + + ·
s s+N

13 / 17
14 / 17
14 / 17
Simulação do Controlador PID realista no
Simulink

15 / 17
Simulação do Controlador PID realista no
Simulink

15 / 17
Simulação do Controlador PID realista no
Simulink

Bloco PID Controller

Controller PID, Form Parallel, P = 1, 17, I = 5, 42,
D = 0, 011 e N = 12.
PID Advanced with Output Saturation
Lower saturation limit: −6.
Upper saturation limit: 0.
50
G(s) = ·
(s + 5)(s + 10)
15 / 17
16 / 17
16 / 17
Referências

P. L. Castrucci, A. Bittar, and R. M. Sales.

Controle Automático.
LTC, 1th edition, 2011.

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