Implementao de Ziegler-Nichols

SALTO (d) =
dt =
SP =

5
0.01 seg
1.8

Tempo
PV
PV+PID
0.01
0.1
0.02
0.1961
6
0.03
0.3774
0.04
0.7018
0.05
1.2308
0.06
1.9753
5
0.07
2.8319
0.08
3.6158
0.09
4.1967
0.10
4.5633
4
0.11
4.7717
0.12
4.8832
0.13
4.9409
0.14
4.9703
0.15
4.9851
3
0.16
4.9925
0.17
4.9963
0.18
4.9981
0.19
4.9991
2
0.20
4.9995
0.21
4.9998
0.22
4.9999
0.23
4.9999
0.24
5.0000
1
0.25
5.0000
0.26
5.0000
0.27
5.0000
0.28
5.0000
0
0.29
5.0000
0.00
0.30
5.0000

E(t)

P=
I=
D=
P

0
0
0

PID
PV

0.05

0.10

0.15

0.20

0.25

L=

0.05

R=

79.5

P=
I=
D=

0.302
0.1
0.025

PV

0.25

0.30

0.35

Implementao de Ziegler-Nichols
SALTO (d) =
dt =
SP =

5
0.01 seg
1.8

P=
I=
D=

0.3019
0.1000
0.0250

2.00000

1.50000

Tempo
PV
PV+PID
Erro
P
I
D
PID
0.01
0.1 0.10000 1.70000 0.51320 0.17000 0.04250 0.72570
0.02
0.1961 0.92178 0.87822 0.26512 0.05241 -0.02054 0.29699
0.03
0.3774 0.67434 1.12566 0.33981 0.05890 0.00619 0.40490
0.04
0.7018 1.10666 0.69334 0.20931 0.03761 -0.01081 0.23611
0.05
1.2308 1.46688 0.33312 0.10056 0.01854 -0.00901 0.11009
0.06
1.9753 2.08540 -0.28540 -0.08616 -0.01334 -0.01546 -0.11496
0.07
2.8319 2.71689 -0.91689 -0.27679 -0.04651 -0.01579 -0.33909
0.08
3.6158 3.27673 -1.47673 -0.44580 -0.07616 -0.01400 -0.53595
0.09
4.1967 3.66077 -1.86077 -0.56173 -0.09685 -0.00960 -0.66818
0.10
4.5633 3.89510 -2.09510 -0.63247 -0.10960 -0.00586 -0.74793
0.11
4.7717 4.02374 -2.22374 -0.67130 -0.11667 -0.00322 -0.79119
0.12
4.8832 4.09198 -2.29198 -0.69190 -0.12043 -0.00171 -0.81404
0.13
4.9409 4.12685 -2.32685 -0.70243 -0.12236 -0.00087 -0.82567
0.14
4.9703 4.14460 -2.34460 -0.70779 -0.12335 -0.00044 -0.83158
0.15
4.9851 4.15351 -2.35351 -0.71048 -0.12384 -0.00022 -0.83454
0.16
4.9925 4.15799 -2.35799 -0.71183 -0.12409 -0.00011 -0.83604
0.17
4.9963 4.16023 -2.36023 -0.71251 -0.12422 -0.00006 -0.83678
0.18
4.9981 4.16135 -2.36135 -0.71285 -0.12428 -0.00003 -0.83715
0.19
4.9991 4.16191 -2.36191 -0.71302 -0.12431 -0.00001 -0.83734
0.20
4.9995 4.16219 -2.36219 -0.71310 -0.12433 -0.00001 -0.83743
0.21
4.9998 4.16233 -2.36233 -0.71314 -0.12433 0.00000 -0.83748
0.22
4.9999 4.16240 -2.36240 -0.71316 -0.12434 0.00000 -0.83750
0.23
4.9999 4.16244 -2.36244 -0.71317 -0.12434 0.00000 -0.83751
0.24
5.0000 4.16246 -2.36246 -0.71318 -0.12434 0.00000 -0.83752
0.25
5.0000 4.16247 -2.36247 -0.71318 -0.12434 0.00000 -0.83752
0.26
5.0000 4.16247 -2.36247 -0.71318 -0.12434 0.00000 -0.83752
0.27
5.0000 4.16247 -2.36247 -0.71318 -0.12434 0.00000 -0.83752
0.28
5.0000 4.16247 -2.36247 -0.71318 -0.12434 0.00000 -0.83753
0.29
5.0000 4.16247 -2.36247 -0.71318 -0.12434 0.00000 -0.83753
0.30
5.0000 4.16247 -2.36247 -0.71318 -0.12434 0.00000 -0.83753

1.00000

0.50000

0.00000
0.00

-0.50000

-1.00000

-1.50000

-2.00000

-2.50000

-3.00000

Ziegler -Nichols

0.05

0.10

0.15

0.20

0.25

0.30
Erro
PID

Erro
PID