DISEÑO DE LOS CONTROLADORES PID

Modelo matemático

Función de transferencia

dm (t)dt

=pqi(t )

m (t )=pV (t )=pAh(t)

dm (t)dt

=pA dh(t)dt

pA dh(t)dt

=pq i(t)

dh(t)dt

= 1A

[qi(t )]

dh(t)dt

=h (t )= 1A

[qi(t )]

sH (s)= 1AQi(s)

H (s)Qi(s)

= 1As

Area del tanque:

A=π∗r2=3,1416∗22=12,56d2

La función de transferencia queda:

H(s )

Q(s )=

112,5664 S