EL61A/ET66D

Controle 2

UTFPR – CP

Projeto de controladores PID - Parte 1

1 / 27
Função de transferência do PID

2 / 27
Função de transferência do PID
 
Zt
1 de(t) 
u(t) = kp e(t) + e(t)dt + τd ·
τi dt
0

2 / 27
Função de transferência do PID
 
Zt
1 de(t) 
u(t) = kp e(t) + e(t)dt + τd ·
τi dt
0

kp E(s)
U (s) = kp E(s) + + (kp τd )sE(s).
τi s

2 / 27
Função de transferência do PID
 
Zt
1 de(t) 
u(t) = kp e(t) + e(t)dt + τd ·
τi dt
0

kp E(s)
U (s) = kp E(s) + + (kp τd )sE(s).
τi s
U (s) I
C(s) = = P + + Ds.
E(s) s

2 / 27
Função de transferência do PID
 
Zt
1 de(t) 
u(t) = kp e(t) + e(t)dt + τd ·
τi dt
0

kp E(s)
U (s) = kp E(s) + + (kp τd )sE(s).
τi s
U (s) I
C(s) = = P + + Ds.
E(s) s

P = kp .
kp
I= ·
τi
D = kp τd .

2 / 27
Forma zpk do PID ideal

I
C(s) = P + + Ds.
s

3 / 27
Forma zpk do PID ideal

I
C(s) = P + + Ds.
s
Ds2 + P s + I
C(s) = ·
s

3 / 27
Forma zpk do PID ideal

I
C(s) = P + + Ds.
s
Ds2 + P s + I
C(s) = ·
s
P
s2 + ( D )s + ( DI )
C(s) = D ·
s

3 / 27
Forma zpk do PID ideal

I
C(s) = P + + Ds.
s
Ds2 + P s + I
C(s) = ·
s
P
s2 + ( D )s + ( DI )
C(s) = D ·
s
(s + z1 )(s + z2 )
C(s) = K ·
s

3 / 27
Forma zpk do PID ideal

I
C(s) = P + + Ds.
s
Ds2 + P s + I
C(s) = ·
s
P
s2 + ( D )s + ( DI )
C(s) = D ·
s
(s + z1 )(s + z2 )
C(s) = K ·
s

P = K(z1 + z2 ).
I = Kz1 z2 .
D = K.
3 / 27
Forma zpk do PI

I
C(s) = P + .
s

4 / 27
Forma zpk do PI

I
C(s) = P + .
s
Ps + I
C(s) = ·
s

4 / 27
Forma zpk do PI

I
C(s) = P + .
s
Ps + I
C(s) = ·
s
(s + ( PI ))
C(s) = P ·
s

4 / 27
Forma zpk do PI

I
C(s) = P + .
s
Ps + I
C(s) = ·
s
(s + ( PI ))
C(s) = P ·
s
(s + z1 )
C(s) = K ·
s

4 / 27
Forma zpk do PI

I
C(s) = P + .
s
Ps + I
C(s) = ·
s
(s + ( PI ))
C(s) = P ·
s
(s + z1 )
C(s) = K ·
s

P = K.
I = Kz1 .

4 / 27
Forma zpk do PD ideal

C(s) = P + Ds.

5 / 27
Forma zpk do PD ideal

C(s) = P + Ds.

P
C(s) = D(s + )·
D

5 / 27
Forma zpk do PD ideal

C(s) = P + Ds.

P
C(s) = D(s + )·
D

C(s) = K(s + z1 ).

5 / 27
Forma zpk do PD ideal

C(s) = P + Ds.

P
C(s) = D(s + )·
D

C(s) = K(s + z1 ).

P = Kz1 .
D = K.

5 / 27
Forma zpk do PID realista

6 / 27
Forma zpk do PID realista

I N
C(s) = P + + Ds ·
s s+N

6 / 27
Forma zpk do PID realista

I N
C(s) = P + + Ds ·
s s+N
s2 + ( PP+DN
N +I IN
)s + ( P +DN )
C(s) = (P + DN ) ·
s(s + N )

6 / 27
Forma zpk do PID realista

I N
C(s) = P + + Ds ·
s s+N
s2 + ( PP+DN
N +I IN
)s + ( P +DN )
C(s) = (P + DN ) ·
s(s + N )
(s + z1 )(s + z2 )
C(s) = K ·
s(s + p1 )

6 / 27
Forma zpk do PID realista

I N
C(s) = P + + Ds ·
s s+N
s2 + ( PP+DN
N +I IN
)s + ( P +DN )
C(s) = (P + DN ) ·
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 6 / 27
Forma zpk do PD realista

7 / 27
Forma zpk do PD realista

N
C(s) = P + Ds .
s+N

7 / 27
Forma zpk do PD realista

N
C(s) = P + Ds .
s+N
PN
(s + P +DN )
C(s) = (P + DN ) ·
(s + N )

7 / 27
Forma zpk do PD realista

N
C(s) = P + Ds .
s+N
PN
(s + P +DN )
C(s) = (P + DN ) ·
(s + N )
(s + z1 )
C(s) = K (z1 < p1 ).
(s + p1 )

7 / 27
Forma zpk do PD realista

N
C(s) = P + Ds .
s+N
PN
(s + P +DN )
C(s) = (P + DN ) ·
(s + N )
(s + z1 )
C(s) = K (z1 < p1 ).
(s + p1 )

N = p1 .
Kz1
P = ·
p1
K −P
D= ·
N
7 / 27
8 / 27
PROJETO 1

8 / 27
9 / 27
 y(tp ) − y(∞) 1, 2 − 1, 0
Mp = = = 0, 2.
y(∞) 1, 0

9 / 27
 y(tp ) − y(∞) 1, 2 − 1, 0
Mp = = = 0, 2.
y(∞) 1, 0
− √ ξπ
Mp = 0, 2 = e 1−ξ2 .

9 / 27
 y(tp ) − y(∞) 1, 2 − 1, 0
Mp = = = 0, 2.
y(∞) 1, 0
− √ ξπ
Mp = 0, 2 = e 1−ξ2 .

ξ∼
= 0, 456.

9 / 27
 y(tp ) − y(∞) 1, 2 − 1, 0
Mp = = = 0, 2.
y(∞) 1, 0
− √ ξπ
Mp = 0, 2 = e 1−ξ2 .

ξ∼
= 0, 456.

π π
tp = 5 = = p ·
ωd ωn 1 − ξ 2

9 / 27
 y(tp ) − y(∞) 1, 2 − 1, 0
Mp = = = 0, 2.
y(∞) 1, 0
− √ ξπ
Mp = 0, 2 = e 1−ξ2 .

ξ∼
= 0, 456.

π π
tp = 5 = = p ·
ωd ωn 1 − ξ 2

ωn ∼
= 0, 706 rad/s.

9 / 27
 y(tp ) − y(∞) 1, 2 − 1, 0
Mp = = = 0, 2.
y(∞) 1, 0
− √ ξπ
Mp = 0, 2 = e 1−ξ2 .

ξ∼
= 0, 456.

π π
tp = 5 = = p ·
ωd ωn 1 − ξ 2

ωn ∼
= 0, 706 rad/s.

1 − ξ2 ∼
p
s1,2 = −ξωn ± jωn = −0, 322 ± j0, 63.

9 / 27
10 / 27
10 / 27
 0,1Kc
Para Gc (s) = Kc , o LGR de Gma (s) = (s+0,2)(s+0,644)
não
passa por s1,2 = −0, 322 ± j0, 63.
10 / 27
11 / 27
 (s + z1 )
Gc (s) = K ·
s

11 / 27
 (s + z1 )
Gc (s) = K ·
s
K(s + z1 ) 0, 1
Gma (s) = Gc (s)G(s) = ·
s (s + 0, 2)(s + 0, 644)

11 / 27
 (s + z1 )
Gc (s) = K ·
s
K(s + z1 ) 0, 1
Gma (s) = Gc (s)G(s) = ·
s (s + 0, 2)(s + 0, 644)

Adotar o zero do controlador para cancelar o pólo mais

lento de G(s) :

11 / 27
 (s + z1 )
Gc (s) = K ·
s
K(s + z1 ) 0, 1
Gma (s) = Gc (s)G(s) = ·
s (s + 0, 2)(s + 0, 644)

Adotar o zero do controlador para cancelar o pólo mais

lento de G(s) :
z1 = 0, 2.

11 / 27
 (s + z1 )
Gc (s) = K ·
s
K(s + z1 ) 0, 1
Gma (s) = Gc (s)G(s) = ·
s (s + 0, 2)(s + 0, 644)

Adotar o zero do controlador para cancelar o pólo mais

lento de G(s) :
z1 = 0, 2.

0, 1K
Gma (s) = ·
s(s + 0, 064)

11 / 27
12 / 27
 
Gma (s) = 1.
 
s1 =−0,322+j0,63

12 / 27
  
Gma (s) = 1.
 
s1 =−0,322+j0,63

 0, 1K 
= 1.
 
s(s + 0, 644) s1 =−0,322+j0,63
 

12 / 27
  
Gma (s) = 1.
 
s1 =−0,322+j0,63

 0, 1K 
= 1.
 
s(s + 0, 644) s1 =−0,322+j0,63
 
 0, 1K 
 = 1.
 
s1 (s1 + 0, 644)


12 / 27
  
Gma (s) = 1.
 
s1 =−0,322+j0,63

 0, 1K 
= 1.
 
s(s + 0, 644) s1 =−0,322+j0,63
 
 0, 1K 
 = 1.
 
s1 (s1 + 0, 644)


|s1 ||s1 + 0, 644|

K= ·
0, 1

12 / 27
  
Gma (s) = 1.
 
s1 =−0,322+j0,63

 0, 1K 
= 1.
 
s(s + 0, 644) s1 =−0,322+j0,63
 
 0, 1K 
 = 1.
 
s1 (s1 + 0, 644)


|s1 ||s1 + 0, 644|

K= ·
0, 1
| − 0, 322 + j0, 63||(−0, 322 + 0, 644) + j0, 63|
K= ·
0, 1

12 / 27
  
Gma (s) = 1.
 
s1 =−0,322+j0,63

 0, 1K 
= 1.
 
s(s + 0, 644) s1 =−0,322+j0,63
 
 0, 1K 
 = 1.
 
s1 (s1 + 0, 644)


|s1 ||s1 + 0, 644|

K= ·
0, 1
| − 0, 322 + j0, 63||(−0, 322 + 0, 644) + j0, 63|
K= ·
0, 1
0, 7075 × 0, 7075 ∼
K= = 5.
0, 1

12 / 27
13 / 27
 (s + z1 ) (s + 1)
Gc (s) = K =5 ·
s s

13 / 27
 (s + z1 ) (s + 1)
Gc (s) = K =5 ·
s s

P = K = 5.
I = Kz1 = 5 × 0, 2 = 1.

13 / 27
Projeto do Controlador PI no Matlab

14 / 27
Projeto do Controlador PI no Matlab

clear all
close all
s = tf(’s’);
G = 0.1/((s+0.2)*(s+0.644));
rltool(G)

14 / 27
Simulação do Controlador PI no Simulink

15 / 27
Simulação do Controlador PI no Simulink

15 / 27
Simulação do Controlador PI no Simulink

Bloco PID Controller

Controller PI, Form Parallel, P = 5 e I = 1.
PID Advanced with Output Saturation
Lower saturation limit: 0.
Upper saturation limit: 6.
0, 1
G(s) = ·
(s + 0, 2)(s + 0, 644)

15 / 27
16 / 27
16 / 27
17 / 27
PROJETO 2
Mp ≤ 16, 3%.
ts (2%) ≤ 5s.
e(∞) = 0 para R(s) = 1s ·

17 / 27
18 / 27
 − √−ξπ 2
Mp = e 1−ξ = 0, 16.

18 / 27
 − √−ξπ 2
Mp = e 1−ξ = 0, 16.

ξ∼
= 0, 5.

18 / 27
 − √−ξπ 2
Mp = e 1−ξ = 0, 16.

ξ∼
= 0, 5.

4
ts2% = = 4.
ξωn

18 / 27
 − √−ξπ 2
Mp = e 1−ξ = 0, 16.

ξ∼
= 0, 5.

4
ts2% = = 4.
ξωn

ωn = 2.

18 / 27
 − √−ξπ 2
Mp = e 1−ξ = 0, 16.

ξ∼
= 0, 5.

4
ts2% = = 4.
ξωn

ωn = 2.

p
s1,2 = −ξωn ± jωn 1 − ξ2.

18 / 27
 − √−ξπ 2
Mp = e 1−ξ = 0, 16.

ξ∼
= 0, 5.

4
ts2% = = 4.
ξωn

ωn = 2.

p
s1,2 = −ξωn ± jωn 1 − ξ2.

√
s1,2 ∼
= −1 ± j 3.

18 / 27
19 / 27
19 / 27
 2Kc
Para Gc (s) = Kc o LGR de Gma (s) = s(s+1)
não passa
√
por s1,2 = −1 ± j 3.
19 / 27
20 / 27
 (s + z1 )
Gc (s) = K ·
(s + p1 )

20 / 27
 (s + z1 )
Gc (s) = K ·
(s + p1 )
2
G(s) = ·
s(s + 1)

20 / 27
 (s + z1 )
Gc (s) = K ·
(s + p1 )
2
G(s) = ·
s(s + 1)

Vamos cancelar o zero do controlador com o pólo estável

de G(s).

20 / 27
 (s + z1 )
Gc (s) = K ·
(s + p1 )
2
G(s) = ·
s(s + 1)

Vamos cancelar o zero do controlador com o pólo estável

de G(s).
zc = 1.

20 / 27
 (s + z1 )
Gc (s) = K ·
(s + p1 )
2
G(s) = ·
s(s + 1)

Vamos cancelar o zero do controlador com o pólo estável

de G(s).
zc = 1.

Gma (s) = Gc (s)G(s).

20 / 27
 (s + z1 )
Gc (s) = K ·
(s + p1 )
2
G(s) = ·
s(s + 1)

Vamos cancelar o zero do controlador com o pólo estável

de G(s).
zc = 1.

Gma (s) = Gc (s)G(s).

K(s + 1) 2 2K
Gma (s) = = ·
(s + p1 ) s(s + 1) s(s + p1 )

20 / 27
21 / 27
 
]Gma (s) = 180◦ .

√
s1 =−1+j 3.

21 / 27
 
]Gma (s) = 180◦ .

√
s1 =−1+j 3.

−](s1 ) − ](s1 + p1 ) = 180◦ .

21 / 27
 
]Gma (s) = 180◦ .

√
s1 =−1+j 3.

−](s1 ) − ](s1 + p1 ) = 180◦ .

√ √
−](−1 + j 3) − ]((−1 + p1 ) + j 3) = 180◦ .

21 / 27
 
]Gma (s) = 180◦ .

√
s1 =−1+j 3.

−](s1 ) − ](s1 + p1 ) = 180◦ .

√ √
−](−1 + j 3) − ]((−1 + p1 ) + j 3) = 180◦ .
√
◦
 3 
−120 − arctan = 180◦ .
−1 + p1

21 / 27
 
]Gma (s) = 180◦ .

√
s1 =−1+j 3.

−](s1 ) − ](s1 + p1 ) = 180◦ .

√ √
−](−1 + j 3) − ]((−1 + p1 ) + j 3) = 180◦ .
√
◦
 3 
−120 − arctan = 180◦ .
−1 + p1
 √3 
− arctan = 300◦ .
−1 + p1

21 / 27
 
]Gma (s) = 180◦ .

√
s1 =−1+j 3.

−](s1 ) − ](s1 + p1 ) = 180◦ .

√ √
−](−1 + j 3) − ]((−1 + p1 ) + j 3) = 180◦ .
√
◦
 3 
−120 − arctan = 180◦ .
−1 + p1
 √3 
− arctan = 300◦ .
−1 + p1
√
◦ 3
tan(300 ) = − ·
−1 + p1

21 / 27
 
]Gma (s) = 180◦ .

√
s1 =−1+j 3.

−](s1 ) − ](s1 + p1 ) = 180◦ .

√ √
−](−1 + j 3) − ]((−1 + p1 ) + j 3) = 180◦ .
√
◦
 3 
−120 − arctan = 180◦ .
−1 + p1
 √3 
− arctan = 300◦ .
−1 + p1
√
◦ 3
tan(300 ) = − ·
−1 + p1

p1 = 2.
21 / 27
22 / 27
 2K
Gma (s) = ·
s(s + 2)

22 / 27
 2K
Gma (s) = ·
s(s + 2)
 
Gma (s) = 1.
 
√
s1 =−1+j 3.

22 / 27
 2K
Gma (s) = ·
s(s + 2)
 
Gma (s) = 1.
 
√
s1 =−1+j 3.

 2K 
√ = 1.

s(s + 2) s1 =−1+j 3
 

22 / 27
 2K
Gma (s) = ·
s(s + 2)
 
Gma (s) = 1.
 
√
s1 =−1+j 3.

 2K 
√ = 1.

s(s + 2) s1 =−1+j 3
 

|s1 ||s1 + 2|
K= ·
2

22 / 27
 2K
Gma (s) = ·
s(s + 2)
 
Gma (s) = 1.
 
√
s1 =−1+j 3.

 2K 
√ = 1.

s(s + 2) s1 =−1+j 3
 

|s1 ||s1 + 2|
K= ·
2
√ √
| − 1 + j 3||(−1 + 2) + j 3|
K= ·
2

22 / 27
 2K
Gma (s) = ·
s(s + 2)
 
Gma (s) = 1.
 
√
s1 =−1+j 3.

 2K 
√ = 1.

s(s + 2) s1 =−1+j 3
 

|s1 ||s1 + 2|
K= ·
2
√ √
| − 1 + j 3||(−1 + 2) + j 3|
K= ·
2

K = 2.

22 / 27
23 / 27
 (s + z1 ) (s + 1)
Gc (s) = K =2 ·
(s + p1 ) (s + 2)

23 / 27
 (s + z1 ) (s + 1)
Gc (s) = K =2 ·
(s + p1 ) (s + 2)

N = p1 = 2.

23 / 27
 (s + z1 ) (s + 1)
Gc (s) = K =2 ·
(s + p1 ) (s + 2)

N = p1 = 2.

Kz1
P = = 1.
p1

23 / 27
 (s + z1 ) (s + 1)
Gc (s) = K =2 ·
(s + p1 ) (s + 2)

N = p1 = 2.

Kz1
P = = 1.
p1
K −P
D= = 0, 5.
N

23 / 27
Projeto do Controlador PD realista no Matlab

24 / 27
Projeto do Controlador PD realista no Matlab

clear all
close all
s = tf(’s’);
G = 2/(s*(s+1));
rltool(G)

24 / 27
Simulação do Controlador PD realista no
Simulink

25 / 27
Simulação do Controlador PD realista no
Simulink

25 / 27
Simulação do Controlador PD realista no
Simulink

Bloco PID Controller

Controller PD, Form Parallel, P = 1, D = 0, 5 e
N = 2.
PID Advanced with Output Saturation
Lower saturation limit: −6.
Upper saturation limit: 6.
2
G(s) = ·
s(s + 1)
25 / 27
26 / 27
26 / 27
Referências

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

Controle Automático.
LTC, 1th edition, 2011.

27 / 27