Sintonia de controlador PID de sistema servopneumático de posicionamento

Abstract

This work presents the results of the study of a PID controller for a pneumatic position control system through the analysis of an experimental plant developed at the Hydraulic and Pneumatic Laboratory of the Federal Technological University of Paraná - UTFPR Câmpus Cornélio Procópio - PR. The plant consists of a double acting actuator without rod, a proportional directional valve and a PID controller kit. Through the systematics studied the values for gains in the controller are projected computationally and the project is carried out experimentally, observing the physical parameters and the characteristics of the plant in order to guarantee the validity of the proportional control model for the dynamics of the system. The data obtained are the behavior of the supply voltage of the valve under the action of the controller and the response of the actuator to such conditions. In the laboratory development the reliability of the project was verified in obtaining a consistent response for the positioning of the rodless rod by the modeling adopted for the system and through the identification of the plant a proper transfer function was obtained to the real system. It was possible to observe the interference of electro-mechanical effects on the system and the need for a more refined analysis than a linear model for future work.