Avaliação e sintonia de controladores PID nos domínios do tempo e frequência.

Abstract

In this dissertation, contributions in the area of ​​performance evaluation of systems of control and tuning of SISO closed loop PID controllers are presented. It is proposed an automatic performance evaluation technique based on indices that identify characteristics in the time and frequency domain, such as oscillations and robustness, and the compare a given chosen reference model. These indices are calculated experimentally from data generated by a specific reference signal based on in relay methods. After the result of the evaluation, the data collected in the experiment are used for calculate new parameters for PID controllers from values stable arbiters of tuning. To solve this problem, three optimal closed-loop fitting techniques are presented and discussed. The first performs a time molding, the second adapts this procedure to a time constrained molding. by a frequency data. The last one is a closed-loop fit method by frequency spectrum shaping. Iterative versions of these methods are presented to improve the results. These techniques do not require a parametric identification complete process, just a time delay estimate for the reference model selection. Simulations and experimental results are discussed to validate the proposed techniques.