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COMPENSACIN DE ATRASO
Contenido
1.
COMPENSACIN DE ATRASO
1
1
1
1
1
1
1
Pole-Zero Map
4
0.64
0.5
0.38
0.28
0.17
3 0.8
0.08 3.5
2.5
2
1
Imaginary Axis
1
1
0.5
0.05
1.5
0.94
0.5
0
cero
-1
0.5 polo
1
0.94
1.5
-2
2
2.5
-3 0.8
3
0.64
-4
-4
-3.5
0.5
-3
-2.5
0.38
-2
Real Axis
-1.5
0.28
-1
0.17
-0.5
0.08 3.5
40
de un sistema
La constante de error esttico de velocidad
compensado:
1
1
lim
1
1
1
lim
1
G(s)
Ejemplo 3.1
1.06
1 2
1.06
1
3
2 1.06
O de la forma
1.06
2.3386 0.3307 *0.5864 0.3307 *0.5864
4 0.4912
0.8
0.52
0.4
0.26
0.12
1.5
0.9
1
0.5
Imaginary Axis
0.97
-0.5
1.5
0.5
0.97
-1
0.9
-1.5
0.8
-2
-2.5
0.66
-2
0.52
-1.5
0.4
-1
Real Axis
0.26
-0.5
0.12
0
0.5
Amplitude
0.8
0.6
0.4
0.2
10
Time (sec)
12
14
16
18
out
12
10
Amplitude
8
Time (sec)
10
12
14
16
Root Locus
2
0.3307 *0.5864
0.66
0.8
0.52
0.4
0.26
System: sys
Gain: 0.997
Pole: -0.33 + 0.585i
Damping: 0.491
Overshoot (%): 17
Frequency (rad/sec): 0.671
1.5
0.9
1
0.5
Imaginary Axis
0.97
-0.5
0.12
1.5
0.5
0.97
-1
0.9
-1.5
0.8
-2
-2.5
0.66
-2
0.52
-1.5
0.4
-1
Real Axis
0.26
-0.5
0.12
0
0.5
0.53 "#$
1
1
5
Por lo tanto
0.53 5
1
Cero :
Polo :
El compensador en atraso
1
0.05
1
0.005
1
0.05
1
0.005
Polo: 0.005
Cero: 0.05
Root Locus
0.52
0.4
0.28
0.2
0.13
0.6
0.5
0.7
0.06 0.6
0.4
0.4
0.3
0.2
0.1
Imaginary Axis
0.88
0.1
-0.2
0.2
0.88
? @ 115.58 119.05
3.47
0.3
-0.4
0.4
0.7
0.5
-0.6
0.52
-0.5
-0.45
-0.4
0.4
-0.35
-0.3
0.28
-0.25
Real Axis
-0.2
0.2
-0.15
0.13
-0.1
0.06 0.6
-0.05 0.7 0
Donde 1.06
0.86
0.64
0.5
0.34
0.16
3
2 0.94
1 0.985
Imaginary Axis
6
0
-1 0.985
-2 0.94
-3
0.86
-4
-6
0.76
-5
0.64
-4
-3
0.5
0.34
-2
Real Axis
0.16
-1
0.86
0.64
0.5
0.34
0.16
sns
sc
2 0.94
1 0.985
Imaginary Axis
6
0
-1 0.985
-2 0.94
-3
0.86
-4
-6
0.76
-5
0.64
-4
-3
0.5
0.34
-2
Real Axis
0.16
-1
0.47
0.44
0.41
0.38
0.355
0.7
0.66
0.64
0.331 *581
Polos dominantes sistema
compensado
0.312 *0.548
0.675
0.65
Imaginary Axis
0.6
0.58
0.53
System: sys
Gain:0.56
0.988
Pole: -0.331 + 0.581i
Damping: 0.495
0.54 (%): 16.7
Overshoot
Frequency 0.56
(rad/sec): 0.669
0.52
0.5
-0.35
0.625
0.6
System: sys
Gain: 0.96
Pole: -0.312 + 0.548i
Damping: 0.495
Overshoot (%): 16.7
Frequency (rad/sec): 0.63
-0.3
Real Axis
0.575
0.55
-0.25
obteniendo
1 2 0.005
0.05
$. OP.Q R
1.0235
De donde
1.0235
0.9693
1.06
1.06
1
1.0275 0.0514
1.0360 3.1141 2.0881
1.0379 0.0514
Amplitude
0.8
0.6
0.4
0.2
10
20
30
40
50
Time (sec)
60
70
80
90
snc
sc
30
25
Amplitude
20
15
10
10
15
20
Time (sec)
25
30
35
40
Ejemplo 3.2
Solucin
Paso 1.
La FT de lazo abierto
10
4
10
10
4 4
10
10
1
4 10
1
4
10
2 *2.45 2 *2.45
2 *2.45
./ 3.16 012/"#
K L. ST
0.74
1 0.98
5
0
0.6
0.46
0.32
0.16
System: sys
Gain: 1
Pole: -2 + 2.45i
Damping: 0.632
Overshoot (%): 7.7
Frequency (rad/sec): 3.16
2 0.93
Imaginary Axis
-1 0.98
-2 0.93
0.84
-3
-5
-4.5
0.74
-4
-3.5
-3
0.6
-2.5
-2
Real Axis
0.46
0.32
0.16
-1.5
-1
-0.5
0.5
1.2
Amplitude
0.8
0.6
escalon
sys c
0.4
0.2
0.5
1.5
Time (sec)
2.5
14
rampa
sys c
12
10
Amplitude
8
Time (sec)
10
12
14
16
0.74
1 0.98
2 *2.45
5
0
0.6
0.46
0.32
0.16
System: sys
Gain: 1
Pole: -2 + 2.45i
Damping: 0.632
Overshoot (%): 7.7
Frequency (rad/sec): 3.16
2 0.93
Imaginary Axis
-1 0.98
-2 0.93
0.84
-3
-5
-4.5
0.74
-4
-3.5
-3
0.6
-2.5
-2
Real Axis
0.46
0.32
0.16
-1.5
-1
-0.5
0.5
1
1
Paso 3. Calcular la constante de error esttico del sistema no
compensado y determine el incremento necesario de la constante
de error esttico para satisfacer las especificaciones
Sistema no compensado
10
10
lim lim
4
4
2.5 "#$
1
1
50
Por lo tanto
2.5 50
1
1
1
1
20
Cero:
Polo:
El compensador en atraso
1
0.1
1
0.005
1
0.1
1
0.005
Cero: 0.1
Polo: 0.005
0.58
0.44
0.32
0.23
0.15
0.07
0.74
2.5
2
1.5
Imaginary Axis
1 0.92
0.5
0
0.5
-1 0.92
? @ 127.79 129.15
1.36
1
1.5
-2
0.74
0.58
-3
-2.5
-2
0.44
-1.5
0.32
-1
Real Axis
0.23
0.15
-0.5
0.07
2.5
30
Donde 10
0.7
0.56
0.42
0.28
0.14
0.28
0.14
0.91
2
1
Imaginary Axis
0.975
5
0
-1
0.975
-2
0.91
0.82
-3
-5
-4.5
-4
0.7
-3.5
-3
0.56
-2.5
Real Axis
-2
0.42
-1.5
-1
-0.5
0.56
0.42
0.28
0.14
0.28
0.14
sys c
0.975
5
0
-1
0.7
sys nc
Imaginary Axis
0.975
-2
0.91
0.82
-3
-5
-4.5
-4
0.7
-3.5
-3
0.56
-2.5
Real Axis
-2
0.42
-1.5
-1
-0.5
Root Locus
0.59
2.8
2 *2.45
Polos dominantes sistema
compensado
0.565
0.535
0.62
System: sys
Gain: 0.999
Pole: -2 + 2.45i
Damping: 0.633
2.6
Overshoot (%): 7.68
0.655 Frequency (rad/sec): 3.16
Imaginary Axis
3.2
2.4
System: sys
Gain: 0.995
Pole: -1.95 + 2.4i
Damping: 0.631
Overshoot (%): 7.78
Frequency (rad/sec): 3.09
0.685
2.2
0.72
2
2.8
2.6
0.75
sys nc
sys c
1.8
1.95 *2.4
-2.15
-2.1
-2.05
-2
-1.95
-1.9
-1.85
-1.8
Real Axis
-1.75
obteniendo
4 0.005
0.1
9.9502
$.UQOP
.
De donde
9.9502
0.995
10
10
0.1
10
0.005 4
9.95 0.995
4.005
0.02
1
9.95 0.995
4.005
9.97 0.995
1.2
Amplitude
0.8
sys nc
0.6
sys c
0.4
0.2
10
15
Time (sec)
20
25
14
rampa
12
sys nc
sys c
10
Amplitude
8
Time (sec)
10
12
14
16
Respuesta rampa
Step Response
12.5
12
rampa
11.5
sys nc
sys c
11
Amplitude
10.5
10
9.5
9
8.5
8
7.5
5
Time (sec)
10
11
12
Ejemplo 3.3
Solucin
Paso 1.
La FT de lazo abierto
5 15
5 15
0.66
0.78
0.5
0.34
0.18
10 0.87
0.94
5
Imaginary Axis
0.985
0
16
14
12
10
0.985
-5
0.94
-10 0.87
-15
0.78
0.66
-15
0.5
-10
0.34
-5
0.18
0
Real Axis
10
15
4 0.3
15
1.47 *4.69
De la condicin de magnitud
5 15
0.5
0.34
0.18
System: sys
Gain: 413
Pole: -1.47 + 4.69i
Damping: 0.299
Overshoot (%): 37.3
Frequency (rad/sec): 4.91
10 0.87
Imaginary Axis
0.66
0.78
0.94
5
0.985
0
-51
16
14
12
10
0.985
0.94
YZ
-10 0.87
413.14
-15
0.78
0.66
-15
0.5
-10
0.34
-5
0.18
0
Real Axis
10
15
3
0.54
5.50
3
< 0.1
30
La FT de lazo abierto
413.14
413.14
5 15 20
75
Lazo cerrado
413.14
1
20
75 413.14
Amplitude
0.8
0.6
0.4
0.2
0.5
1.5
Time (sec)
2.5
3.5
out
6
Amplitude
5
4
3
2
1
0
5
Time (sec)
10
0.66
0.78
0.5
0.34
0.18
System: sys
Gain: 413
Pole: -1.47 + 4.69i
Damping: 0.299
Overshoot (%): 37.3
Frequency (rad/sec): 4.91
10 0.87
1.49 *4.69
0.94
5
Imaginary Axis
0.985
0
16
14
12
10
0.985
-5
0.94
-10 0.87
-15
0.78
0.66
-15
0.5
-10
0.34
-5
0.18
0
Real Axis
10
15
5.50 "#$
30 (dato)
Sistema compensado
lim lim
30
Por lo tanto
Elegimos 6
5.50 30
1
1
Cero:
1
0.12
Polo:
El compensador en atraso
[ \
0.02
1
0.12
1
0.02
Cero: 0.12
Polo: 0.02
Pole-Zero Map
5
0.32
0.115
0.07
0.035
4
0.48
3
Imaginary Axis
0.16
0.23
1
0
-1
-2
? @ 112.89 106.06
6.83
2
0.75
1
0.75
2
-3
3
0.48
-4
4
0.32
-5
-2
-1.8
-1.6
0.23
-1.4
-1.2
0.16
-1
Real Axis
-0.8
0.115
-0.6
0.07
-0.4
0.035
-0.2
50
Donde 413.14
0.7
0.56
0.38
0.2
0.89
sys c
20
0.95
10
0.988
Imaginary Axis
40
30
20
10
0.988
-10
0.95
-20
0.89
0.81
-30
-50
-40
0.7
-30
0.56
-20
0.38
-10
Real Axis
0.2
0
10
20
0.7
0.56
0.38
0.2
0.89
20
sys nc
0.95
sys c
10
0.988
Imaginary Axis
40
30
20
10
0.988
-10
0.95
-20
0.89
0.81
-30
-50
-40
0.7
-30
0.56
-20
0.38
-10
Real Axis
0.2
0
10
20
0.44
5.5
5
0.54
Root Locus
System: sys
0.32
Gain: 412
Pole: -1.47 + 4.68i
Damping: 0.3
Overshoot (%): 37.2
Frequency (rad/sec): 4.91
1.47 *4.69
Polos deseados sistema
compensado
0.22
0.12
5.5
5
4.5
4.5
Imaginary Axis
System: sys
Gain: 405
Pole: -1.45 + 4.61i
Damping: 0.3
Overshoot (%): 37.3
Frequency (rad/sec): 4.83
4 0.64
3.5
3.5
3 0.74
2.5
2.5
0.83
1.45 *4.61
-3
-2.5
-2
-1.5
Real Axis
-1
-0.5
obteniendo
404.86
De donde
404.86
0.98
413.14
]$. QOP .^
1
404.88 48.56
20.02 75.40
406.38 48.56
1.2
Amplitude
0.8
0.6
escalon
sys nc
sys c
0.4
0.2
6
Time (sec)
10
12
sys nc
sys c
7
6
Amplitude
5
4
3
2
1
0
5
Time (sec)
10
Respuesta rampa
Step Response
rampa
sys nc
9.5
sys c
9
Amplitude
8.5
7.5
8.5
9
Time (sec)
9.5
Ejemplo 3.4
820
10 20
Solucin
Paso 1.
La FT de lazo abierto
820
820
10 20 30
200