UdeC - DIE
Problema
Ilustrar el Diagrama de Bode a partir de una F. de T. y/o de una representacin {A, b, c, d}.
Caso 1
Masa suspendida.
Parmetros
lo := 0.50
m := 1.5
d := 3
g := 9.8
x(t)
k := 20
0 1
A := k d
m m
0
b := 1 :=
m
0
k l
o +
m
d
c := ( 1 0 )
lo es la distancia
entre el techo y el
centro de m con el
resorte en reposo.
n f := 1000
n := 0 .. n f
esc( t) := ( t)
D( t , x) := A x
F(t)
)T + bu(t) +
CI := A
(b u(0) + )
u ( t) := f( t)
Zal := rkfixed CI , 0 , tf , n f , D
2
0
0
10
15
20
25
1 de 27
30
35
40
UdeC - DIE
f( t) := 15 sin[ 2 ( t 1 ) ] ( esc( t 1 ) esc( t 13) ) + sin[ 3 ( t 13) ] ( esc ( t 13) esc( t 26) ) ...
+ sin[ 4 ( t 26) ] ( esc( t 26) )
D( t , x) := A x
)T + bu(t) +
CI := A
(b u(0) + )
u ( t) := f( t)
Zal := rkfixed CI , 0 , tf , n f , D
2
0
0
10
15
20
25
30
35
f( t) := 15 sin[ 5 ( t 1 ) ] ( esc( t 1 ) esc( t 13) ) + sin[ 6 ( t 13) ] ( esc ( t 13) esc( t 26) ) ...
+ sin[ 7 ( t 26) ] ( esc( t 26) )
D( t , x) := A x
)T + bu(t) +
CI := A
(b u(0) + )
40
u ( t) := f( t)
Zal := rkfixed CI , 0 , tf , n f , D
x(t)
F(t)
m
0
d
0
10
15
20
25
2 de 27
30
35
40
UdeC - DIE
F. de T.
0 1
A := k d
m m
0
b := 1 :=
m
0
k l
o +
m
c := ( 1 0 )
g( s) := c ( s identity( 2 ) A)
0 1 0
g( s) := ( 1 0 ) s identity( 2 ) k d 1
m m m
Grfico
n max := 250
n := 1 .. n max
F( n ) :=
180
fmax := 10
0.075
50
ratio := log
0.1
0.025
fmax 1
fmin nmax
( arg( g( j ( n ) ) ) )
0.05
s m + s d + k
Fase
Magnitud
M ( n ) := g( j ( n ) )
fmin := 10
g( s) :=
( n) := fmin 10
n ratio
x(t)
100
150
10
200
F(t)
d
0
3 de 27
10
Diagrama de Bode
Problema
UdeC - DIE
Presentacin del Diagrama de Bode a partir de una F. de T. y/o de una representacin {A, b, c, d}.
u(t)
y(t)
h(t)
y (t ) = h(t ) * u (t ) = h()u (t )d ,
donde h(t) es la respuesta a impulso del S.L.I.. Considerando la entrada como u(t) = ejt,
que corresponde a la base de generacin de seales peridicas, en particular sinusoidales,
se tiene que,
h() = h()e j d ,
h( s ) =
bi si
i=0
n
a s
b s m + bm1s m 1 + L + b1s + b0 n( s )
= mn
=
=
s + an 1s n 1 + L + a1s + a0
d ( s)
i =1
n
(s + p )
i
i=0
(s + z )
i =1
Adj( sI A )
det{sI A}
b+d
4 de 27
UdeC - DIE
Caso 2
g( s) :=
s m + s d + k
n max := 250
n := 1 .. n max
F( n ) :=
fmax 1
fmin nmax
ratio := log
180
( arg( g( j ( n ) ) ) )
fmax := 10
20
50
Fase
Magnitud
M( n ) := 20 log( g( j ( n ) )
fmin := 10
40
60
80
( n) := fmin 10
n ratio
100
150
0.1
10
100
200
0.1
5 de 27
10
100
UdeC - DIE
Caso 3
g( s , N) :=
n max := 250
n := 1 .. n max
fmin := 10
M ( n , N) := 20 log( g( j ( n) , N)
fmax 1
fmin nmax
fmax := 10
F( n , N) :=
180
ratio := log
( n) := fmin 10
n ratio
( arg( g( j ( n) , N) ) )
N = 1, 2
N = 1, 2
40
0
30
60
Fase
Magnitud
20
90
120
150
20
180
40
0.01
0.1
10
100
210
0.01
6 de 27
0.1
10
100
UdeC - DIE
Caso 4
1 1
ga( s , a) := if s < a , ,
a s
( s + a)
n max := 250
n := 1 .. n max
M ( n , a) := 20 log ( g( j ( n ) , a)
fmin := 10
M a( n , a) := 20 log ga( j ( n ) , a)
fmax := 10
fmax 1
ratio := log
fmin nmax
( arg( g( j ( n ) , a) ) )
180
Fa( n , a) :=
arg ga( j ( n ) , a)
F( n , a) :=
( n) := fmin 10
n ratio
180
( (
a = 10,
))
a = 10
135
90
Fase
Magnitud
45
20
0
45
90
40
0.1
10
100
1 .10
135
0.1
7 de 27
10
100
1 .10
UdeC - DIE
Caso 5
n max := 250
ga( s , a) := if ( s < a , a , s)
1
n := 1 .. n max
M ( n , a) := 20 log ( g( j ( n ) , a)
fmin := 10
M a( n , a) := 20 log ga( j ( n ) , a)
fmax := 10
fmax 1
fmin nmax
ratio := log
( arg( g( j ( n ) , a) ) )
180
Fa( n , a) :=
arg ga( j ( n ) , a)
F( n , a) :=
( n) := fmin 10
n ratio
180
( (
a = 10,
))
a = 10
135
40
90
Fase
Magnitud
45
20
0
45
90
0
0.1
10
100
1 .10
135
0.1
8 de 27
10
100
1 .10
Caso 6
Sistemas de la forma: k
n2/(s2+ 2
ns + wn2).
g s , k, , n := k
n max := 250
s + 2 n s + n
2
1
n := 1 .. n max
UdeC - DIE
fmin := 10
( (
M n , k, , n := 20 log g j ( n) , k , , n
))
fmax := 10
fmax 1
fmin nmax
ratio := log
180
F n , k , , n :=
( ((
arg g j ( n) , k , , n
n ratio
) ))
20
k=1
n = 1
( n) := fmin 10
0
45
Fase
Magnitud
0
90
135
20
180
40
0.1
225
10
0.1
= 0.5
n = 1
10
20
0
45
Fase
Magnitud
0
90
135
20
180
40
0.1
10
225
0.1
9 de 27
10
Sistemas Lineales Dinmicos - 543 214
UdeC - DIE
20
k=1
= 0.2
45
Fase
Magnitud
0
90
135
20
180
40
0.1
10
225
0.1
10 de 27
10
UdeC - DIE
Caso 7
:= 0.2
Sistemas arbitrarios.
g( s) := k
s+a
s+b
n := 1000
s + 2 n s + n
g( s) := k ( s + a)
1
s+b
n
1 1
s + 10
n max := 500
n := 1 .. n max
M ( n ) := 20 log ( g( j ( n ) )
k := 10
fmin := 10
M a( n ) := 20 log ga( j ( n ) )
fmax := 10
fmax 1
fmin nmax
ratio := log
( arg( g( j ( n ) ) ) )
180
Fa( n) :=
arg ga( j ( n ) )
F( n ) :=
b := 10
s + 2 n s + n
a := 1
( n) := fmin 10
n ratio
180
( (
40
))
135
90
45
20
Fase
Magnitud
0
45
90
135
180
20
0.1
10
100
1 .10
1 .10
225
0.1
11 de 27
10
100
1 .10
1 .10
UdeC - DIE
Caso 8
( )
1
g s , tr := k
e
s+b
n max := 500
( )
tr s
tr0 := 0.0
2
n := 1 .. n max
( (
fmin := 10
))
k := 20
b := 0.5
tr1 := 0.07
tr2 := 0.15
fmax := 10
( )
M n , tr := 20 log g j ( n ) , tr
F n , tr :=
40
fmax 1
fmin nmax
ratio := log
180
( ((
( n) := fmin 10
n ratio
)))
arg g j ( n ) , tr
30
0
30
Fase
Magnitud
20
60
90
120
150
20
0.01
0.1
10
180
0.01
12 de 27
0.1
10
Motor de
Corriente
Continua.
Parmetros
F. de T.,
salida es la
velocidad
d := 0.08
R := 1.2
km := 0.6
L := 50 10
Jl := 0.135
= h wva( s) va + h wTl( s) Tl
h wva( s) :=
Ceros
km
Jl L
h wTl( s) :=
2
km + d R
R
d
s + + s +
Jl L
L Jl
2
zw1 :=
no hay
zw1 = 24
Jl
R
L
2
km + d R
R
d
s + + s +
Jl L
L Jl
2
km + d R
R
d
R
d
+ + + 4
Jl L
L Jl
L Jl
p 1 :=
2
km + d R
R
d
R
d
+ + 4
Jl L
L Jl
L Jl
p 2 :=
2
km + d R
R
d
R
d
+ + 4
Jl L
L Jl
L Jl
p 2 :=
2
2
s+
km + d R
R
d
R
d
+ + + 4
Jl L
L Jl
L Jl
p 1 :=
2
2
Polos
UdeC - DIE
p 1 = 3.151
p 2 = 21.442
km
1 1
1 1
gwva( s) :=
if s < p1 ,
, if s < p 2 ,
,
Jl L
p 1 s
p 2 s
1
gwTl( s) :=
if
Jl
1 1
if s < p 2 ,
,
p 1 s
p 2 s
13 de 27
ia = h iava( s) va + hiaTl ( s) Tl
F. de T.,
salida es la
corriente ia
s+
h iava( s) :=
1
L
UdeC - DIE
d
Jl
h iaTl( s) :=
km + d R
R
d
s + + s +
Jl L
L Jl
2
zia1 :=
Ceros
zia1 = 0.593
p 1 = 3.151
km + d R
R
d
s + + s +
Jl L
L Jl
2
p 2 = 21.442
1 1
1 1
,
if s < p2 ,
,
p1 s
p 2 s
D. de B.
n max := 500
n := 1 .. n max
M ( n ) := 20 log h wva( j ( n ) )
M a( n ) := 20 log gwva( j ( n) )
fmin := 10
fmax 1
fmin nmax
ratio := log
( (
))
( n) := fmin 10
n ratio
arg h wva( j ( n ) )
180
Fa( n) :=
if arg gwva( j ( n ) ) > 0 , arg gwva( j ( n ) ) 2 , arg gwva( j ( n ) )
F( n ) :=
fmax := 10
180
( ( (
)))
90
20
Fase
0
Magnitud
Jl L
no hay
Jl
1
giava( s) := if
L
hwva(s)
km
20
90
180
40
60
270
0.1
10
100
1 .10
360
0.1
14 de 27
10
100
1 .10
UdeC - DIE
hwTl(s)
M ( n ) := 20 log h wTl( j ( n ) )
M a( n ) := 20 log gwTl( j ( n) )
)
)
( (
))
( (
))
180
Fa( n) :=
arg gwTl( j ( n) ) 360
F( n ) :=
180
90
20
Fase
Magnitud
20
180
40
60
hiava (s)
270
0.1
10
M ( n ) := 20 log h iava( j ( n) )
M a( n ) := 20 log giava( j ( n ) )
100
0.1
( (
))
( (
))
arg h iava( j ( n) )
180
Fa( n) :=
arg giava( j ( n ) )
F( n ) :=
360
1 .10
180
10
100
1 .10
10
100
1 .10
90
20
Fase
0
Magnitud
90
20
90
180
40
60
270
0.1
10
100
1 .10
360
0.1
15 de 27
Elevador
de Tensin
Parmetros
3
L := 5 10
C := 200 10
d o := 0.5
eo := 6
eo
vo :=
1 do
UdeC - DIE
R := 12
vo = 12
io :=
d o
vo
R 1 d o
io = 2
u o := d o
R
R
R
2
2
d
in =
1 do vn + 1 d o d o d n + 1 d o en
L
L
L
dt
Funcin de Transferencia
h nu( s) = kpd
h np( s) = kpe
+
v(t)
Sw(t)
i(t)
R
C
Modelo
Normalizado
y Ordenado
Definiendo
2 n s n
n :=
s + 2 n s + n
n
p o := eo
1
1
d
vn =
vn +
i +
d n
R
C
R
C n R C 1 d o
dt
+
e(t)
1
L C
1 do
:=
1
2 R C
s + 2 n s + n
1
L C
1 d o
do
kpd :=
1 do
kpe := 1
h nd( s) := kpd
m := 1 .. mmax
min := 10
2 n s n
s + 2 n s + n
M d ( m) := 20 log h nd( j ( m) )
max 1
m ratio
( m) := min 10
min mmax
ratio := log
M a( m) := 20 log ga( j ( m) )
max := 10
Fa( m) :=
180
Fd ( m) :=
180
16 de 27
( ( (
, n , 2 n s if s < n ,
2
1
n
( ( (
) ))
)))
UdeC - DIE
Fase
Magnitud
90
20
180
40
10
100
h ne( s) := kpe
1 .10
10
M a( m) := 20 log ga( j ( m) )
M e( m) := 20 log hne( j ( m) )
1 .10
1 .10
100
2
s
s + 2 n s + n
270
1 .10
Fa( m) :=
180
Fe( m) :=
180
( ( (
( ( (
) ))
)))
0
0
+
e(t)
Fase
Magnitud
90
20
180
40
10
100
1 .10
1 .10
270
10
100
17 de 27
1 .10
L
Sw(t)
i(t)
+
v(t)
-
R
C
1 .10
fo := 25
Entrada Sinusoidal.
UdeC - DIE
1
1
0
0
u n ( t) := 0.2 sin( 2 fo t) + sin( 10 fo t ) + sin( 14 fo t ) +
sin( 22 fo t) +
sin( 26 fo t)
5
7
11
13
p n ( t) := 0
vda1 := hnd j 2 fo
vda5 = 0.838
vda7 = 0.491
vda5 := hnd j 5 2 fo
vda7 := hnd j 7 2 fo
2 fo 1
min ratio
vdf1 := Fd log
vda1 = 1.101
vdf1 = 30.868
5 2 fo 1
vdf5 := Fd log
min ratio
7 2 fo 1
vdf7 := Fd log
min ratio
vdf5 = 190.888
vdf7 = 215.845
vda5
vda7
+ 7 sin 14 fo t + vdf7 180
n f := 1000
1
1
R C
R C
An :=
R ( 1 d o ) 2 0
L
+
e(t)
n := 0 .. n f
d o
R C ( 1 d o )
b n :=
R
(1 do) do
L
x0
D( t , x) := An + b n u n ( t) + en pn ( t)
x
en := R
2
( 1 do )
L
0
0
1
Z
nonf 1 , 1
tf fo
x0
D( t , x) := An + b n u n ( t) + en pn ( t) CI :=
x1
Zno 1
nf t f , 2
f o
CI :=
L
Sw(t)
i(t)
+
v(t)
-
R
C
cn := ( 1 0 )
Zno := rkfixed CI , 0 , tf , n f , D
La CI se
calcula para
estar en S.S.
en t = 0.
18 de 27
Zno := rkfixed CI , 0 , tf , n f , D
UdeC - DIE
0
0
0.5
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.1
Zno
n, 0
d y e normalizados
unn tf nf
pnn tf nf
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.1
Zno
n, 0
tf
vd_cn
nf
Zno
n, 1
0
0
+
e(t)
-
0.5
0.01
0.02
0.03
0.04
0.05
n
tf
nf
0.06
0.07
0.08
L
Sw(t)
i(t)
+
v(t)
-
R
C
0.09
, Zno
n, 0
19 de 27
UdeC - DIE
Presentacin del Diagrama de Bode a partir de una F. de T. y/o de una representacin {A, b, c, d}.
La salida de estos sistemas puede expresarse como la convolucin entre la entrada y la
respuesta a impulso de ste. As, para una entrada arbitraria se tiene que,
y (kT ) = h(kT )* u (kT ) =
h(iT )u(kT iT ) ,
i =
donde h(kT) es la respuesta impulso del S.L.I. tiempo discreto. Considerando la entrada
como u(kT) = e jkT , que corresponde a la base de generacin de seales peridicas, en
particular sinusoidales, se tiene,
y (kT ) =
h(iT )e
j ( kT iT )
i =
h(iT )e
jkT jiT
i =
= e jkT
h(iT )e
j iT
i =
h(iT )e
jiT
i =
Notar que,
m
h( z ) =
b z
a z
i =0
n
m 1
b z + bm 1 z + L + b1 z + b0 n( z )
= mn
=
=
z + an1 z n1 + L + a1 z + a0
d ( z)
m
i =1
n
(z + p )
i
i =0
(z + z )
i =1
Adj( zI A )
det{zI A}
b+d
20 de 27
UdeC - DIE
Caso I
ao := 10
b o := 1
g( s) :=
n max := 250
n := 1 .. n max
fmin := 10
M ( n ) := 20 log ( g( j ( n ) )
s + ao
sp = ao
Polo en:
180
( arg( g( j ( n ) ) ) )
( n) := fmin 10
n ratio
30
Fase
Magnitud
fmax 1
fmin nmax
ratio := log
bo
ao
fmax := 10
F( n ) :=
Ganancia:
20
60
40
0.1
10
100
90
0.1
21 de 27
10
100
UdeC - DIE
Caso discreto.
y( k + 1 ) + aa o y( k) = bbo u ( k)
Polo en:
zp = aa o
Ganancia:
bbo
1 + aa o
Parmetros Discretos
( )
n max := 250
n := 1 .. n max
M n , Tm := 20 log f e
fmin := 10
j ( n) Tm
, Tm
F n , Tm :=
180
( ))
, Tm
arg f e
j ( n) Tm
30
Fase
Magnitud
( )
( )
bo
bbo Tm
bbo Tm := 1 + aa o Tm
f z , Tm :=
ao
z + aa o Tm
fmax 1
2
n ratio
fmax := 10
ratio := log
( n ) := fmin 10
fmin nmax
( ) (
aa o Tm := exp ao Tm
20
60
40
0.1
10
100
90
0.1
22 de 27
10
100
Caso II
:= 0.2
kp := 1
n max := 250
n := 1 .. n max
M ( n ) := 20 log ( g( j ( n ) )
g( s) := kp
fmin := 10
UdeC - DIE
2
s + 2 n s + n
fmax 1
1
fmax := 10
ratio := log
fmin nmax
180
F( n ) :=
( arg( g( j ( n ) ) ) )
20
k=1
n = 1
( n) := fmin 10
n ratio
0
30
=0.5
0
Fase
Magnitud
60
90
20
120
150
40
0.1
180
10
0.1
10
Caso discreto.
( )
( )
( )
( )
( )
( )
( )) (
M n , Tm := 20 log f e
( ) ( )
aa o Tm := p1 Tm p 2 Tm
( ))
bbo Tm := kp 1 p 1 Tm 1 p 2 Tm
n := 1 .. n max
p 2 Tm := exp n n 1 Tm
aa 1 Tm := p 1 Tm + p2 Tm
n max := 250
( )
p 1 Tm := exp n + n 1 Tm
fmin := 10
j ( n) Tm
, Tm
f z , Tm :=
fmax := 10
F n , Tm :=
( )
bbo Tm
( )
fmax
ratio := log
fmin nmax
180
arg f e
23 de 27
( )
z + aa 1 Tm z + aa o Tm
j ( n) Tm
n ratio
( n ) := fmin 10
, Tm
20
UdeC - DIE
0
30
0
Fase
Magnitud
60
20
90
120
150
40
0.1
180
10
0.1
10
n := 0 .. n max
fmin := 0
, Tm
M n , Tm := 20 log f e
j ( n) Tm
fmax := 40
F n , Tm :=
( n ) :=
180
arg f e
j ( n) Tm
fmax fmin
n max
n + fmin
, Tm
Tm = 0.5, 0.2
20
2
0.5
0.2
Magnitud
20
40
10
15
20
25
30
24 de 27
35
40
Motor de
Corriente
Continua.
Parmetros
Modelo.
d := 0.08
R := 1.2
km := 0.6
L := 50 10
R km
L
L
Ac :=
km d
Jl Jl
= h wva( s) va + h wTl( s) Tl
F. de T.,
salida es la
corriente ia
ia = h iava( s) va + hiaTl ( s) Tl
Sistema
Discreto
Tm := 0.25
h wva( s) := ( 0 1 ) s identity( 2 ) Ac
h iava( s) := ( 1 0 ) s identity( 2) Ac
0
ec := 1
Jl
bc
bc
Variables de Estado
x1 = ia
x2 =
h wTl( s) := ( 0 1 ) s identity( 2 ) Ac
h iaTl( s) := ( 1 0 ) s identity( 2 ) Ac
ec
ec
0
exp( eigenvals( Ac) 0 t)
1
c( t) := T T( t) T
0
exp( eigenvals( Ac) 1 t)
Tm
Tm
( c ( Tm ) b c ) 0 d
( c ( Tm ) e c ) 0 d
0
b d :=
ed :=
Tm
Tm
( c ( Tm ) b c ) d
( c ( Tm ) e c ) d
1
1
0
0
( )
T := eigenvecs Ac
( )
Ad := c Tm
F. de T.,
salida es la
velocidad
Jl := 0.135
1
b c := L
0
F. de T.,
salida es la
velocidad
UdeC - DIE
T( t) :=
= fwva( z) va + fwTl( z) Tl
fwva( z) := ( 0 1 ) z identity( 2 ) Ad
bd
fwTl( z) := ( 0 1 ) z identity( 2 ) Ad
25 de 27
ed
UdeC - DIE
F. de T.,
salida es la
corriente ia
ia = fiava( z) va + fiaTl( z) Tl
D. de B.
n max := 500
n := 1 .. n max
fmin := 10
n max := 500
n := 1 .. n max
fmin := 10
hwva(s)
hiaTl(s)
fiava( z) := ( 1 0 ) z identity( 2 ) Ad
M ( n ) := 20 log h wva( j ( n ) )
M d ( n ) := 20 log fwva e
) 1 bd
fiaTl( z) := ( 1 0 ) z identity( 2 ) Ad
fmax := 10
fmax := 10
fmax 1
fmin nmax
fmax 1
ratio := log
fmin nmax
ratio := log
) 1 ed
( n) := fmin 10
n ratio
n ratio
( n ) := fmin 10
( (
))
arg h wva( j ( n ) )
j ( n) Tm
180
Fd ( n ) :=
arg fwva e
F( n ) :=
j ( n) Tm
180
90
20
2
Tm
Fase
Magnitud
20
90
180
40
60
270
0.1
10
100
360
0.1
26 de 27
10
100
UdeC - DIE
hwTl(s)
M ( n ) := 20 log h wTl( j ( n ) )
M d ( n ) := 20 log fwTl e
( (
))
j ( n) Tm
180
Fd ( n ) :=
arg fwTl e
360
F( n ) :=
j ( n) Tm
180
90
20
2
Tm
Fase
Magnitud
20
180
40
60
hiava (s)
90
270
0.1
10
M ( n ) := 20 log h iava( j ( n) )
M d ( n ) := 20 log fiava e
360
100
0.1
10
( (
100
))
arg h iava( j ( n) )
j ( n) Tm
180
Fd ( n ) :=
arg fiava e
F( n ) :=
j ( n) Tm
180
90
20
2
Tm
Fase
Magnitud
20
90
180
40
60
270
0.1
10
100
360
0.1
27 de 27
10
100