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Solucin
Polos:
s 21.1772=0 s= 1.085
Ceros:
=cos=0.7 =45.573
s= + j
= n=( 0.7 )( 0.5 )=0.35
= n 1 2=0.5 1(0.7)2=0.357 rad /seg
Los polos en lazo cerrado deseados son:
s=035 j 0.357
De otra forma
tan 1=
1 2= 180 (2 n+1)
0.357
1=25.9065
1.0850.35
180
0.357
( 2)=
2=166.0295
1.085+ 0.35
tan
=180+1 +2 =180+25.9065+166.0295=371.936=360+11.936
=11.936
tan=
z=
0.357
0.357
x=
=1.689
x
tan ( 11.936)
1
=0.35+ x=0.35+1.689=2.039
Td
T d=0.4904 seg
El valor de la ganancia
Kp
K p (1+T d s)
10000(s 21.1772)
=1 en s=0.35+ j 0.357
=1
K p [0.82836+ j0.1751]
=1
10000[1.18215 j 0.2499]
K p [ (0.82836)2 +(0.1751)2 ]
=1
0.8467 K p
=1
10000(1.2083)
K p=14282.506
La funcin de transferencia del controlador es:
Gc ( s ) =14282.506(1+0.4904 s)
close all; clear all; clc
%Problema: control PD de una planta inestable
%--------------------------------------------%lugar geometrico de la planta
ns=[0 0 1];
ds=[10000 0 -11772];
rlocus(ns,ds);
figure
%respuesta en el tiempo de la funcion de transferencia
ns=[0 0 1];
ds=[10000 0 -11773];
step(ns,ds);
grid
figure
%lugar geometrico del sistema controlado
nc=[0 1 2.0392];
dc=[1 0 -1.1772];
rlocus(nc,dc);
figure
%respuesta en el tiempo del sistema
nc=[0 0.7 1.4273];
dc=[1 0.7 0.25024 ];
step(nc,dc);
grid
Root Locus
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-1.5
-1
-0.5
0.5
1.5
Step
Response
Real
Axis
600
500
A m p litu d e
400
300
200
100
10
Time (sec)
15
Root Locus
2
1.5
Im a g in a ry A x is
1
0.5
0
-0.5
-1
-1.5
-2
-8
-7
-6
-5
-4
-3
-2
-1
Real Axis
Step Response
Am plitude
10
12
14
16
18
Time (sec)
xlabel('t seg')
ylabel('salidas c1 y c2')
gtext('sistema compensado')
gtext('sistema no compensado')
salidas c1 y c2
sistema compensado
1
sistema no compensado
0
5
t seg
10
DISEO DE UN CONTROLADOR PI
Ing. Julio Cesar Borjas Castaeda
Solucin
Gc ( s ) =K o +
K i K o ( s+ )
=
,
s
s
Ki
Ko
14 K o (s+ )
2
s (s +5.9)
Ko
(con
Ko
K o=4
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-7
-6
-5
-4
-3
Real Axis
-2
-1
Step Response
1
0.9
0.8
0.7
Amplitude
0.6
0.5
0.4
0.3
0.2
0.1
0
50
100
150
200
250
Time (sec)
Root Locus
10
System: sys
Gain: 4.01
Pole: -2.39 + 6.71i
Damping: 0.336
Overshoot (%): 32.6
Frequency (rad/sec): 7.13
Imaginary Axis
-2
-4
-6
-8
-10
-7
-6
-5
-4
-3
Real Axis
-2
-1
Step Response
1.5
Amplitude
0.5
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
Time (sec)
1.5
sistema compensado
salidas c1 y c2
0.5
sistema no compensado
10
15
20
t seg
25
30
35
40
1
s (s +1)
Gc ( s ) =K p 1+
1
+T s)
Tis d
) (
1
s +2 s+ 1
+0.5 s =K p
2s
2s
G p ( s ) G c ( s )=K p
2
K p (s + 2 s+1)
s +2 s+ 1
1
=
3
2
2s
s(s+1)
2 s +2 s
Root Locus
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1.2
-1
-0.8
-0.6
-0.4
-0.2
0.2
Real Axis
Step Response
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
6
Time (sec)
10
12
Root Locus
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-4
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0.5
Real Axis
Step Response
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0.5
1.5
2.5
Time (sec)
3.5
4.5
1.4
sistema con control PI con Kp=4
1.2
sistema sin controlador
1
0.8
0.6
0.4
0.2
0
10
12