Identificação e sintonia PID em malha fechada.

Abstract

In this work contributions to closed-loop continuous dead-time system identification and loop shaping PID controller tuning are presented. A method of closed-loop identification proposed uses cross-correlation approach to automatically define a range for dead-time search necessary in the model parameter estimate algorithm. This method uses a compose signal as excitation. Another closed-loop identification method is proposed. This method uses equality frequency constraints and a relay experiment as closed-loop excitation. In both identification methods, it is used least-squares minimization in model parameter estimation. In PID controller tuning a classical loop shaping design approach is used. In that sense, a controller parameter optimization procedure is presented and two specifications for loop transfer function are evaluated.