Sintonía de controladores PID: un enfoque analítico basado en el moldeo de la función de sensibilidad
Enviado: 13-04-2021
|Aceptado: 17-07-2021
|Publicado: 30-09-2021
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Palabras clave:
PID, Control de Procesos, Análisis de Robustez, Rechazo de perturbaciones, Seguimiento
Agencias de apoyo:
Ministerio de Economía y Competitividad (DPI-2016-77271-R y PID2019-105434RB-C33)
Resumen:
El controlador PID es la opción más común en el ámbito de las aplicaciones de control, siendo la opción predominante en el control de procesos industriales. Entre los métodos analíticos más usuales utilizados para su diseño, el Control por Modelo Interno (IMC) ha ganado una notable aceptación industrial debido a su naturaleza robusta y buenas respuestas ante cambios de consigna. Sin embargo, la aplicación tradicional del IMC da como resultado un bajo rendimiento para el rechazo de perturbaciones en carga para plantas integradoras y/o con largas constantes de tiempo. Este trabajo presenta un método de diseño, basado en IMC, que evita esta deficiencia y está diseñado para funcionar bien en plantas de complejidad moderada para las cuales, por otro lado, el ajuste analítico de un controlador PID es plausible. Por simplicidad, el diseño solo se centra en la función de sensibilidad en lazo cerrado. El enfoque proporciona un ajuste basado en modelo en términos de los compromisos robustez/rendimiento y de servo/regulación. Aunque comúnmente se considera el compromiso robustez/rendimiento, no es tan común tener en cuenta también, por ejemplo, el conflicto entre las perturbaciones de entrada y salida, también conocido como el compromiso servo/regulación. Con el objetivo de proporcionar un enfoque de ajuste unificado, se muestra como la metodología propuesta permite tratar diferentes dinámicas de proceso de manera unificada.
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