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1.2.
G p ( s )=
10
( s+1)(s +2)
k p , el error en estado
G p ( s)
s
10
( s+1 ) ( s +2 )
10
G ( z )= ( 1z1 )
=( 1z 1 )
s
s(s+1)( s+2)
G ( z )= ( 1z1 )
5
10
5
z
10 z
5z
+
=( 1z1 ) (
+
)
10 t
5 t
s (s +1) (s+2)
z1 ze
ze
Funcin de transferencia:
G ( z )=
z (22.429910.8731 z )10.8807
(z0.606531)(ez 1)
Realimentacin:
z ( 22.429910.8731 z ) 10.8807
(z0.606531)(ez 1)
Gw ( z )=
z ( 22.429910.8731 z )10.8807
1+
(z0.606531)(ez1)
Gw ( z )=
K p=lim
z 1
Error estacionario:
e p=
1
1
=
=0.6665
1+ k p 1+ 0.500452
Tiempo de establecimiento:
2
G p ( s )=
n
10
10
= 2
= 2
( s+ 1 )( s+2 ) s + 3 s+ 2 s +2 n+ 2n
2
2
n
51.41
G p ( s )= 2
=
2
2
2
s +2 n+ n s +2 (1,06 )( 1,41 ) s +1,41
n=1,41
=1,06
(b) Disee un controlador PI digital para que el sistema en lazo
cerrado tenga un sobreimpulso mximo de 20% y un tiempo de
establecimiento menor de 2 segundos. Suponga que el tiempo de
muestreo es T s=0.1 segundos.
Funcin de transferencia Pulso:
Gw ( z )=
e ss =
1
kv
k v=
1
=1.5
e ss
k v=
1
lim ( z1 ) D ( z ) G w (z )
T z1
1.5=
1
lim (z1)
T z1
T s=0.1
1.5=
[ k i T +2 k c ]
z+
k i T 2 k c
z ( 1.33333 Z2.75051 ) +1.3342
k i T +2 k c
Segundos
1
(4.01803+0.853586 k i )
0.1
k i=4.88296
k i T 2 k c
=1.6732
k i T +2 k c
0.4882962 k c
=1.6732
0.488296+2 k c
k c =0.969484
Cancelando Polos y Ceros:
0.488296+1.938968
]
0.4882961.938968
2(z1)
[ 0.4882961.938968 ] [z +
D (z)=
D(z)=
0.725336( z 1.6732)
z1
1
s (s +1)
k v , el error en estado
1
lim (z1) HG (z)
T z1
{ }
1
s (s +1)
1
1
1
1
1
HG ( z )=( 1z )
=( 1z ) Z 2 +
s
s s +1 s
HG ( z )=( 1z 1 )
0.0187308(z +0.935525)
0.2 z
z
z
+
=
2
0.2
z1
( z1)( z0.818731)
( z1 ) ze
k v=
0.0187308(z +0.935525)
1
lim (z1)
T z1
( z1)( z0.818731)
k v=
0.0187308(z +0.935525)
1
lim (z1)
=0.04
T z1
( z1)(z0.818731)
Error de posicin:
0.0187308( z+ 0.935525)
( z1)(z0.818731)
k p =lim
=1
0.0187308(z +0.935525)
z 1
1+
( z1)(z0.818731)
e p=
1
=0.5
1+ k p
G ( z )=(1z 1 )Z
k
s ( s+1)
2
0.01873+0.01752 z1
G ( z )=(1z 1 )k z1
1 2
( 1z ) (10.81871z1 )
G ( z )=k
z=
(0.01873 z+0.01752)
( z1)(z0.81871)
1+0.5 Tw 1+ 0.1 w
=
10.5 Tw 10.1 w
1+ 0.1 w
+0.01752
10.1 w
G ( w )=k
1+ 0.1 w
1+ 0.1 w
(
1)(
0.81871)
10.1 w
10.1 w
0.01873
k v =lim
w 0
k=
1+w
0.000332653 w20.096332w +0.996585
k
=2
1w
w2 +0.996805 w
)(
2
=2
0.999779
z1
(
z+ 1 ) 2.3798 z1.93869
G ( z )=
=
z0.558888
z1
1+0.35340 (10
)
z+ 1
1+0.9790 10
36
s (s +3.6)
ln ( M p )
t s=
+ ( ln ( M p ) )
ln ( 10 )
+ ( ln ( 10 ) )
2
=0.591
4
wn
w n=
f=
4
4
=
=13.54 rad / s
t s 0.5910.5
13.54
=2.15 hertz
2
G p ( s )=
{ }
G p (s)
s
36
1.89742
=10
s (s +3.6)
s(s+3.6)
1
HG ( z )=( 1z ) Z 10
( z1 ) (ze0.36 )
HG ( z )=( 1z 1 ) Z
HG ( z )=
0.576763 z + 0.511602 z
( z1 )2 ( z0.697676)
0.5768 z +0.5116
z 1.6977 Z +0.6977
2
Ecuacin de controlador
D (z)=
U ( z )
=K [zI A +BK + LC ]1 L
Y (z)
[ zI A+ BK + LC ] = Z +3.6993
D (z)=
4.365
8.9731
Z +0.4998
1.26038 z15.1141
z 2 +4.1991 z+ 41.0165
Gw ( z )=
lim
z1
HG( z )
0.5768 z 3 +2.93364 z 2+ 25.8066 z +20.984
=
1+ D ( z ) HG( Z ) z 4 +2.5014 z 3 +35.3124 z 274.777 z +20.8848
HG(z )
=1
1+ D ( z ) HG(Z)
=k 0 1.00475
k 0 1.00475=1
k 0 =0.99527
Gw ( z )=
Magnitude (dB)
100
(a) Dibujar el
diagrama
de Bode del
sistema
50
0
-50
225
180
135
90
-2
10
-1
10
10
10
10
10
10
Frequency (rad/s)
40
Magnitude (dB)
20
0
-20
-40
-60
270
Phase (deg)
Phase (deg)
-100
270
225
180
135
90
-1
10
10
10
10
Frequency (rad/s)
10
10
Step Response
1.6
1.4
1.2
Amplitude
1
0.8
0.6
0.4
0.2
0
10
20
30
40
Time (seconds)
50
60
70