LABORATORIO DE CONTROL DISCRETO

4.1 ENCONTRAR EL EQUIVALENTE DISCRETO DEL EJERCICIO 3.3 DEL TRABAJO PREPARATORIO SI:

G1

1 e Ts
s

G2

1
H(s)= 1
s ( s 2)

Utilice el rltool de Matlab

>> g2=tf([1],[1 2 0])
g2 =
1
--------s^2 + 2 s
Continuous-time transfer function.
>> gt=feedback(g2,1)
gt =
1
------------s^2 + 2 s + 1
Continuous-time transfer function.
>> step(gt)

Tiempo de muestreo 3.36/10 ) 0.336

>> gd=c2d(g2,0.336,'zoh')
gd =
0.04567 z + 0.03653
---------------------z^2 - 1.511 z + 0.5107
Sample time: 0.336 seconds
Discrete-time transfer function.

>> gdz=c2d(g2,0.336,'impz')
gdz =
0.0822 z + 1.825e-17
---------------------z^2 - 1.511 z + 0.5107
Sample time: 0.336 seconds
Discrete-time transfer function.
>> fun_z=gd/(1+gd+gdz)

fun_z =
0.04567 z^5 - 0.1015 z^4 + 0.0405 z^3 + 0.05022 z^2 - 0.04446 z + 0.009528
-------------------------------------------------------------------------z^6 - 4.404 z^5 + 8.029 z^4 - 7.765 z^3 + 4.202 z^2 - 1.205 z + 0.1427
Sample time: 0.336 seconds
Discrete-time transfer function.

.4.2 OBTENER LA FUNCIN DE TRANSFERENCIA EN LAZO ABIERTO Y LAZO CERRADO DEL MOTOR DC T=0.1 Y 0.01S
Kb

i
+

e
-

ROC

+
K

+
-

1
Ls R

Ka

1
Js

1
s

1
N

Ki

Kt

R=0.4 () L=0.04 (H), J=0.0010 oz-in-s2, N=100 ,Ka=10 oz-in/A ,Kb=0.7 (V/rad/s), Kt=0.0005 (V/rad/s),
Ki=1 (V/A) K=20, (Utilice Matlab)

>> g1=tf([1],[0.04 0.4])

g1 =
1
-----------0.04 s + 0.4
Continuous-time transfer function.
>> g2=feedback(g1,1);
>> a=tf([1],[0.001 0])
a=
1
------0.001 s
Continuous-time transfer function.
>> g3=series(g2,0.0005,a)
Error using InputOutputModel/series (line 83)
When using I/O names to connect systems, all I/O names of all systems must be defined.
>> g3=series(g2,0.0005)
g3 =
0.0005
-----------0.04 s + 1.4

Continuous-time transfer function.

>> g4=series(g3,a);
>> g3=series(g2,10)
g3 =
10
-----------0.04 s + 1.4
Continuous-time transfer function.
>> g4=series(g3,a)
g4 =
10
-------------------4e-05 s^2 + 0.0014 s
Continuous-time transfer function.
>> g5=feedback(g4,0.0005);
>> g6=feedback(g5,0.7);
>> b=tf([1],[1 0]);
>> g7=series(g6,b);
>> g8=series(g7,(1/100));

PERIODO DE MUESTRE DE 0.1

>> gd=c2d(g8,0.1,'zoh')
gd =
0.001429 z^2 + 0.0002732 z + 4.835e-05
-------------------------------------z^3 - 0.8037 z^2 - 0.1661 z - 0.0302
Sample time: 0.1 seconds
Discrete-time transfer function.
>> gt=feedback(gd,1)
gt =

0.001429 z^2 + 0.0002732 z + 4.835e-05

-------------------------------------z^3 - 0.8023 z^2 - 0.1658 z - 0.03015
Sample time: 0.1 seconds
Discrete-time transfer function.
>> step(gt)

PERIODO DE MUESTREO 0.01

>> gd=c2d(g8,0.01,'zoh')
gd =
0.0001633 z^2 + 7.302e-05 z + 0.0001284
--------------------------------------z^3 - 0.1494 z^2 - 0.1459 z - 0.7047
Sample time: 0.01 seconds
Discrete-time transfer function.
>> gt=feedback(gd,1)
gt =
0.0001633 z^2 + 7.302e-05 z + 0.0001284

--------------------------------------z^3 - 0.1493 z^2 - 0.1458 z - 0.7046

Sample time: 0.01 seconds
Discrete-time transfer function.
>> step(gt)

4.4 PARA EL SIGUIENTE SISTEMA:

Encontrar el periodo de muestreo

Obtener la funcin de transferencia discreta del sistema
Obtener la salida del sistema continuo
Obtener la salida del sistema discreto
Obtener loas errores del sistema continuo y discreto.
Repetir los literales anteriores si el T= 0.01 seg. y T= 0.0001 seg,
Analizar los resultados y concluir.

>> s=tf('s')
s=
s
Continuous-time transfer function.
>> g_s=0.0274/(s*( (3.2284*10^-6*s+3.5077*10^-6)*(2.75*10^-6*s+4)+(0.0274^2)))
g_s =
0.0274
------------------------------------------8.878e-12 s^3 + 1.291e-05 s^2 + 0.0007648 s
Continuous-time transfer function.
>> ga=feedback(g_s,1)
ga =
0.0274
---------------------------------------------------8.878e-12 s^3 + 1.291e-05 s^2 + 0.0007648 s + 0.0274
Continuous-time transfer function.

Tiempo de muestreo = 0.00426

SALIDA CONTINUA

SALIDA DISCRETA

>> g_d_1=c2d(ga,0.00426,'zoh')
g_d_1 =
0.01767 z^2 + 0.01625 z + 7.794e-10
------------------------------------z^3 - 1.743 z^2 + 0.777 z - 1.199e-20
Sample time: 0.00426 seconds
Discrete-time transfer function.
>> step(g_d_1)

T=0.01
Salida Discreta

T=0.0001

Anlisis:
Debe tomarse importancia al tiempo de muestreo a ocupar en el anlisis de los sistemas discretos,
ya que los mismos afectarn directamente a la seal de salida del sistema.
Este tiempo debe ser considerado individualmente para cada sistema, y generalmente se lo toma
como un dcimo del tiempo de establecimiento del mismo.