03 A Sistemas Discretos

03 a Sistemas Discretos.
doc 1
rk uk u(t) y(t)
Computador CDA Proceso
-
CAD Sensor
yk
03 a Sistemas Discretos.doc 2
•
•
ERP: Enterprise Resource Planning
•
•
•
•
•
•
•
•
•
•
x  f  x  0
xk 1  f  xk 
f  x  3 x x  1,697
3
2.5
1.5
0.5
0
1 2 3 4 5 6 7 8 9 10
•
while control_automatico
r=lectura_referencia
y=lectura_variable_controlada
e=r-y % cálculo del error
u= ¿??????? % cálculo de la variable manipulada
escritura_ variable_manipulada
actualización del controlador (si se necesita)
tiempo_de_espera
end
•
u= Kp*e % cálculo de la variable manipulada
tiempo_de_espera
end
•
u=kp*(e+i) % cálculo de la variable manipulada
i=i+T*e/Ti
tiempo_de_espera
end
{uk} {yk}
Sistema
Discreto
 
k
 y k  = u i
i=1
1 
 y k    u k -1 + u k + u k+1  
=
3 
dy  t 
 ay  t   bu  t 
dt
y   k  1 T   y  kT 
 ay  kT   bu  kT 
T
y   k  1T   1  aT  y  kT   bTu  kT 
yk 1  1  aT  yk  bTuk
yk 1  a1 yk  b1uk
t
1
y t    u  t  dt
TT 0
k 1
1
y  kT  
TT
Tu iT 
i 0
k
y   k  1 T  
1
TT
Tu iT 
i 0
y   k  1 T   y  kT  
T
u  kT 
TT
y   k  1 T   y  kT  
T
u  kT 
TT
T
yk 1  yk  uk
TT
yk 1  a1 yk  b1uk
yk 1  a1 yk   an yk 1n  b0uk 1  b1uk   bmuk 1m
yk 1  a1 yk   an yk 1n  b0uk 1  b1uk   bmuk 1m

AR MA
 xk 

xk   x kT  (t - kT)
k=0

Ls  s    x kT e  kTs
k=0
  2 T


1


Z  xk   X  z   xz k
k
k= 
 k   1,0,0, 
 z 1
 xk   1, a, a 2 , 
 
X z     az 1 
k
k
k
a z 
k=  k= 
1
z a X  z 
1  az 1
Z  af  bg   aZ  f   bZ  g 
Z  qd f   z d Z  f 
lim  f k   lim Z  f 
k 0 z 
lim  f k   lim 1  z 1  Z  f 
k  z 1
1  z  Z  f 
1
pd
dt
 
T 1
qf k  f k 1
q 1 f k  f k 1
yk  na  a1 yk  na 1   ana yk  b0uk nb   bnb uk
na  nb
q na
 a1q na 1   
 ana yk  b0 q nb  b1q nb 1  
 bnb uk
A  q   q na  a1q na 1   ana
B  q   b0 q nb  b1q nb 1   bnb
A  q  yk  B  q  u k
yk B  q 

uk A  q 
yk  a1 yk 1   ana yk na  b0uk d   bnb uk d nb
d  na  nb
A*  q   1  a1q na 1   ana q na  q na A  q 1 
A*  q 1  yk  B*  q 1  uk d
yk q B  q 
d 1

uk A  q 1 
S  s S  q b q  b2
G  s  G  q   2 1 g t 
E  s E  q  q  a1q  a2
1 1  t 
Step Response
From: U(1)
1.4
1.2
T
1
Amplitude
0.8
To: Y(1)
q 1
0.6
s 1 0.4
0.2
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (sec.)
Step Response
From: U(1)
0.5
0.45
T 2  q  1
0.4
1
0.35
0.3
Amplitude
To: Y(1)
2  q  1
0.25
2
s2 t
0.2
0.15
0.1
0.05
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (sec.)
e  sT q 1
Step Response
1  e  K
From: U(1)
1
0.9
T

0.8
K
0.7
0.6
Amplitude
To: Y(1)
T
0.5

 s 1 Ke 0.4
T
qe 
0.3
0.2
0.1
0
0 1 2 3 4 5 6
Time (sec.)
Step Response
From: U(1)
10
 aT  1  e  aT  q  1  e  aT  aTe  aT 
9
1 1 8
a 1
1  e aT 
7
Amplitude
a a
s s  a
To: Y(1)
5
q  1  e  q  e  aT
4
2  aT a 3
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec.)
 b 1  e  aT   a 1  e  bT   a 1  e  bT  e  aT  b 1  e  aT  e  bT
Step Response
From: U(1)
0.5
0.45
 q 
0.4
ab ab
 bebT  aeaT 
0.35
 ba  ba
0.3
Amplitude
 s  a  s  b 
To: Y(1)
 
0.25
ba
0.2
q 2   e  aT  e  bT  q  e  
0.15
 a b T 0.05
0.1
0
0 1 2 3 4 5 6
Time (sec.)
  bT  aT
c 1  e  bT  c 1  e  aT  
e e   
Step Response
From: U(1)
1.2
  q  c e  a bT  b  c e  aT  c  a e  bT
1
sc b a
  b  c  ebT   a  c  eaT 
0.8
b a  b a a  b
1
 ba 
Amplitude
ab
0.6
 s  a  s  b 
To: Y(1)
  ba
0.4
0.2
  0
q 2   e  aT  e  bT  q  e  
 a b T
-0.2
0 5 10 15 20 25 30
Time (sec.)
 
 
b1  1  e 0T  cos 0 1   2 T 
0
0 1  
2
sen 0 1   2 T   

  1.4
Step Response
From: U(1)
  
     
1.2
02 0 1
b2  e 20T  e 0T  0
sen 0 1   2 T  cos 0 1   2 T  e0t sen 0 1   2 t
Amplitude
0.8
To: Y(1)
s 2  20   02   1 2  1 2
0.6
 0  0.4
 
0.2
a1  2e 0T cos 0 1   2 T

0
0 5 10 15 20
Time (sec.)
a2  e 20T
b1 
1
0 1   2 
e 0T sen  0 1   2 T  
1

e 0t sen 0 1   2 t    0.7
Step Response
From: U(1)
1
0.6
2 0.5
s b2  b1
0.4
0.3
Amplitude
To: Y(1)
s  2 0  
0.2
 1 
 
2 2 2
0.1
0T
a1  2e cos  0 1   T
0
  tan 1 
0

2 -0.1
  
-0.2
-0.3
 
0 5 10 15 20
Time (sec.)
20T
a2  e
Y s 2 yk 2 1  e0,1  0,1904
G s   T  0,1seg G q   
U s s 1 uk q  e0,1 q  0,9048
yk  q  0,9048  0,1904uk
yk 1  0,9048 yk  0,1904uk
N s N z
G s  Gz 
Ds Dz
zi  e siT
Plano S Plano Z
wN
-wN
Plano S Plano Z
Plano S Plano Z 3p/T
wN
p/T
-p/T
-wN -3p/T
z  e sT
Ejemplo 1.1.
02
s 2  20 s  02
z 2  a1 z  a2  0

a1  2e 0T cos 0 1   2 T 
a2  e 20T
G s
u(t) u(kt) y(kt) y(t)
CAD Algoritmo CDA
text
Reloj
dx  t  x  t  T   x  t  q  1
px    x t 
dt T T
dx  t  x  t   x  t  T  q  1
px    x t 
dt T qT
z 1 z 1
s s
T zT
z  e sT  1  sT
1
ze sT

1  sT
sT
1
z  e sT  2
sT
1
2
z 1
s 
T
z 1
s 
zT
2 z 1
s 
T z 1
H  z   G  s
Y s 2
G s  
U s s 1
dy  t 
  y  t   2u  t 
dt
y  kT  1  y  kT 
  y  kT   2u  kT   y  kT  1  y  kT 1  T   2Tu  kT 
T
yk 1  1  T  yk  2Tuk
T  0,1seg
yk 2 1  e 
0,1
yk 2T 0, 2 0,1904
G q    G q   
uk q  (1  T ) q  0,9 uk q  e0,1 q  0,9048
T  1  1 td
4 8
Tr
Tr
Nr 
T
N r  0,32
Nr  2  4

1
Tr  e tan 
  cos
0
Nr  2  4
T 
10
Señal "Ruidosa"
4
-1
-2
-3
0 10 20 30 40 50 60 70 80 90 100
1
s fk   sk  sk 1  sk 2 
3
1
S f s  S s
 s 1
1
S f s  S s
 s 1
1 e q
T

s fk  s T k
qe 
s fk  e
T


s fk 1  1  e
T

s k
s fk   s fk 1  1    sk
filtro.m

03 A Sistemas Discretos

Caricato da

Informazioni sul documento

Titolo originale

Copyright

Formati disponibili

Condividi questo documento

Condividi o incorpora il documento

Opzioni di condivisione

Hai trovato utile questo documento?

Questo contenuto è inappropriato?

Copyright:

Formati disponibili

03 A Sistemas Discretos

Caricato da

Copyright:

Formati disponibili

03 a Sistemas Discretos.

yk 1  a1 yk   an yk 1n  b0uk 1  b1uk   bmuk 1m

a1  2e 0T cos 0 1   2 T

Potrebbero piacerti anche