Ingeniera Mecatronica
Instituto Tecnologico Superior de Huauchinango
Huauchinango, Mxico
juanrgh1990@gmail.com
Ingenieria Mecatronica
Instituto Tecnolgico Superior de Huauchinango
Huauchinango, Mxico
kylirices@gmail.com
Edmundo
Ingeniera Mecatronica
Instituto Tecnologico Superior de Huauchinango
Huauchinango, Mxico
I.
INTRODUCCION
zair
Ingeniera Mecatronica
Instituto Tecnologico Superior de Huauchinango
Huauchinango, Mxico
kiinstark@hotmail.com
EJERCICIO 1:
Para el sistema de control de la figura, disear
un compensador de retardo
DESARROLLO
tal que lo
seg
kv
s=2 j 6
k v 50 seg1
n=1 0
d=(s 2+ 4 s)
G ( s )=
II.
G c (s)
10
s +4 s
2
GLC (s )=
10
s + 4 s+10
2
p=s2 + 4 s +1 0
T=
ROOTS:
S 1=2+24495 i
1
20
0.05
T
1
=
=O.02 5
BT 2 ( 20 )
S 2=224495 i
y Wn
Determinar
Gc ( S )=K C
S 1,2= wn wn 1 2
wn 12 =2.4495
wn=2
wn=
2
2
1 =2.4495
2
0.639
1 2=1.224
wn=3.129
0.639=
10
k v =lim SG (s)=lim S
s 0
s0
s ( s+ 4)
lim 10
4
1 =1.498 1
1
= 2
2.498
s 0
s +0.05
s +0.025
Gc G ( S ) =K C
2+ 24495i
wn=
]
][
s+ 0.05
10
s+ 0.025 s ( s+ 4)
K C ( 10 ) ( s +0.05 )
k=K C ( 10 )
s ( s+0.025 )( s+ 4 )
10 s+0.5
s + 4.025 s 2+ 0.15+0.5
3
Roots:
S 1=4.0 3
S 2=0.003+ 0.35i
S 3=0.0030.35 i
K=Kc (1G)
K=
s( s+ 0.025)( s+ 4)
( s+0.05)
=2.5 seg
cte. est
5
=
=2
kv
2.5
1
t
Gc ( s ) =k c
1
s+
BT
s+
B=2
P=0.0 5
s=0.003+ 0.35i
k =|0.1204+1.401 i|
k =1.40 6
Entonces
k =Kc(10)
Kc=
k 1.406
=
=0.14 0
10
10
Gc ( S )=0.140
s +0.05
s +0.025
GL ( S )=
1
( s+ )
Ts+1
T
Gc ( S )=K C
=K C
Ts+1
1
(s +
)
T
1.406(10)+0.05
s (s+0.025)( s+ 4)
Kv=lim s
s 0
del
1.406(10)+( s+0.05)
s( s+ 0.025)(s +4)
G ( S )=
1.406 (10)+(0.05)
s1
=112.48
(0.025)(4 )
5
s (0.5 s +1)
H ( s )=1
1
Ts+1
T
Gc G ( S ) =K C
=Kc
(0< 1)
Ts+1
1
s+
T
s+
y=arC tg
Dnde:
py
=6 0
px
py=2 3 y px =Z y
w=180
Y donde w es el ngulo formado entre PA y P0
El mdulo OP ser:
OP= p x 2 + p y 2=5
EJERCICIO 2:
En el sistema de la figura, disear un
compensador de adelanto para que los polos
dominantes en lazo cerrado se localicen en
s=2 j2 3
dibujar
la
respuesta
Por otro
5
s ( 0.5 s+1 )
de
S=-2
j 2 3
2+ j2 3 2 +1
0.5
=
5
2.5+ j 2 3
5
arctg
5
2.5+ j 2 3
5
0.5(5+ j 4 3) =
Magnitud:
|
)
k (s+29)
s (0.5 s +1)( s+ 5.4)
s=2
= 30
j 2 3
k =18.7
Bc=180 y
k (s +29)
s (0.5 s+ 1)( s+5.4 )
/2 =45
2
Kc=187=4.6 8
Constante de error esttico:
lim s18(s+29)
k v =lim Gc ( s ) G ( s )=
s 0
s0
w
Bp=180 y
/2 =75
2
Para poder determinar la posicin del polo y el cero,
ocuparemos el teorema del seno.
sen Bc
=
Op
sen Bp
=
Op
sen
( 2 + 2 )
0C
sen
2 2
0D
Obteniendo:
0 C=5.4 0 D=2.9
T=
1
=0.345 T
2.9
1
5.4
=0.185
=0.537
Gc ( S ) G ( s )=Kc
s+29
5
s +5.4 s (0.5 s+1)
t s < 4 seg.
Mp=100 e
wd
wn 1 2
=100 e
= wn
)
wd=wn 1 2
20=100 e
ln
1 2 20
100
=e
1 2
( 1s ) [ ln ( 1s )] 2=
2
ln
( 1s ) =
2
2
2
ln
1 2
1 2 2
=
+(ln s
s
2
()
=62.877 9
( 1.0519
1 )
w=117.1270
2
1.9519
2
1 +
|OP|=
1 2
ln
( 1s ) =0.4559
2
ln
s=1+1.9519 i
1
s2
1
=2.193 2
0.4559
p= px + py i
1+1.9519 i
Por lo tanto:
=0.4559 Y
wn=2.193 2
=tg1
=54.7604
( 0.1687
0.1214 )
=27.1302
2
By=856971
Bc=31.4334
0.10870.000061
k =1
0.00006 2
6.1087 2+
k 2
k ( 0.1087 ) =1
k=
po
2.1932
=
sen(31.43) sen (85.6071)
DO=2.1932
1
0.1087
k =9.197 6
sen (31.43)
sen (85.6071)
1=k c
Entonces:
DO=1.116 8
Gc=9.1996
1
s+
T
s+ 1.1461
Gc=Kc
=Kc
1
s+ 4.1936
s+
T
T=
1
1
=
OC T
Gc G=
k (s+1.1961)
Kc s+ 4.61 1
= 2
=1
2
s+ 4,36 s
s (s +4.1436)
27
195 ( )=1
s=1
Gc=9.1991
s+1.461
s +4.1936
s 1= wn+ wn 1 2 j
s 2= wnwn 12 j
s 1=0.4 (1.4 ) +1.4 1(.4)2 j =0.56+1.176 j
k =Kc
Para encontrar K
s+ 1.146
s+ 4.1936
10.6)
O
1
OD=
D
T
T =
k (s+1.1461)
=1
s 2 (s +4.1936)
k
s (s +3)(s +1)
K
s +4 s 2+35+ k
GLC=
s=4261+.3690 i
Polos:
(.4261+.3690 i )+ 2.37
1=.4261+.3690i
( ( (.4261.3690 ) +1.32) )
2=.4261.3690 i
y=ta n
py
=40.89
px
=180 y=139.10
1.94 +.3690 j
0.8939.3690 j
OP=.5637
(194+.3690 j)k
.448 j 3 +.3238 j+.9299
.448 j3 .3238 j.9299 .0448 j 3+ .3238+ .9299
OC=.7534
=42.25
k
.0502 j +.0501 j.99
3
DO=.4217
bc=48.42
BD =90.68
T =2.3714
1.2153+ .4283
T =1.32 =.559 7
Gc(s) G(s) = Kc
1
s+
t
1
s+
T
( )
k
2
3 +4 s +3 s
.4283 2
1.2153 2 +k 1
k2
k =(1.31)
Kc=(
s +2.31
k
)
s +1.32 s (s+3)( s+1)
kc=
1
=0.763 3
1.31