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Control III
Nmero de matrcula: 2
SISTEMA 1.
FIGURA 1. Sistema de control en tiempo discreto
R(s)
E(s)
T (t )
V(s)
U(s)
E*(s)
GD(s)
M(s)
Y(s)
Ga(s)
Gh0(s)
Gp(s)
T (t )
T (t )
Gm(s)
G(s) =
1 eTs
s
6.4
s+3.2 s+6.4
N0=2
T(seg) = 0.040 seg. T= periodo de muestreo
Gp(s) =
Ga(s) =
s+3.2
6.4
S+6.4
Gm(s) =
GH0(s) =
10
SOLUCIN 1.a.
Hallamos la transformada Z de G(s)
G(s) =
s+10
1 eTs
s
G(s)
1 e0.04s
s
1 e0.04s
s
6.4
s+3.2 s+6.4
51.2
s2 +9.6s+20.48
Y*(s)
Matlab
T=0.04;
NGS=[51.2];
DGS=[1 9.6 20.48];
GS=tf(NGS,DGS)
[NGZ,DGZ]=c2dm(NGS,DGS,T,'zoh');
GZ=tf(NGZ,DGZ,T)
T=0.040;
NGS=[512];
DGS=[1 19.6 116.48 204.8];
GS=tf(NGS,DGS)
[NGZ,DGZ]=c2dm(NGS,DGS,T,'zoh');
GZ=tf(NGZ,DGZ,T)
Matlab
GS =
Matlab
GS =
512
-------------------------------s^3 + 19.6 s^2 + 116.5 s + 204.8
51.2
------------------s^2 + 9.6 s + 20.48
0.03609 z + 0.03175
---------------------z^2 - 1.654 z + 0.6811
Sample time: 0.04 seconds
Discrete-time transfer function.
G(z) =
G(z) =
0.03609Z+0.03175
Z2 1.654Z+0.6811
0.03609(Z+0.879745)
(Z 0.880188)(Z0.773812)
1 eTs
GmG(s) =
1 eTs
s
s
6.4
10
512
GmG(z) =
0.004499Z2 + 0.01483Z+0.00304
Z3 2.324Z2 + 1.79Z 0.4566
GmG(z)
Z1 = 0.66134
Z2 = (0.880188 + 0.857657) / 2 = 0.8689225
Z3 = (0.773812 + 0.805003) / 2 = 0.7894075
Y(z)
R(z)
(zz1)(zz2)(zz3)
0.03609(Z+0.879745)
(z1)(zp1)(zp2) (Z 0.880188)(Z0.773812)
(zz1)(zz2)(zz3)
0.004499(Z + 0.219623)(Z + 3.07667)
1+Kc (z1)(zp1)(zp2) x(Z 0.857657 )(Z 0.805003)(Z 0.66134)
Kc
GD(s) R(s)
1+ GD(s) Gm G(s)
... (9)
Y(z) = G(z)
GD(s) R(s)
1+ GD(s) Gm G(s)
GD(z) R(z)
1+ GD(z) Gm G(z)
Y(z)
R(z)
.. (10)
R(z)
R(z)
Y(z)
R(z)
G(z)GD(z)
1+GD(z)Gm(z)G(z)
0.03609(Z+0.879745)
GD(z)x(Z 0.880188)(Z0.773812)
0.03609(Z+0.879745)
Kc(zz1) (z1)(zp1)(zp2)
1+Kc
Kc(z0.66134) (z1)(zp1)(zp2)
1+Kc
.. (11)
Y(z)
Y(z)
R(z)
Kc0.03609(z0.66134)(Z+0.879745)
(z1)(zp1)(zp2)+Kc0.004499(Z + 0.219623)(Z + 3.07667)
GD(z) = Kc
Mp =
2
1
e
ts(2%) = 2.25 =
= 0.045 = 0.702505
4
4
rad
= Wn = 2.53063
Wn
s
= 1.77777777778
W = Wn1 2 = 1.80099
W = 1.80099rad/s
s1,2 = jW
s1 = 1.7777778 + j1.80099
s2 = 1.7777778 j1.80099
Kc = 0.124298
Entonces obtenemos
Z = eTS
P1*P2 = 0.608287
P1 + p2 = 1.55916
P1 = 0.77958+ j0.023304
GD(z) = Kc
Z3 = exp((0.040 (8.88889)))
GD(z) = 0.124298
(z 0.66134)(z 0.8689225)(z 0.7894075)
Z3= 0.7008
GD(z) = 0.124298
Y(z)
R(z)
0.03609(0.66134)(+0.879745)
= (1)(1)(2)+0.004499(
+ 0.219623)( + 3.07667)