G ( s )=
Teniendo en cuenta 2
2 s +24 s+ 40
2 s 2
+24 s +40=x=b b 24 ac
Se factoriza ecuacin de segundo grado: 2a
X 1=10
X 2=2
La frecuencia ser de
8 8
( K )= = =0,4
( s10 )( s2) 20
Hallando los decibeles
20 logK
20 log 0.4=50 dB
w2 2 rad / seg
N de dcadas= log =
w1 10 rad / seg
dB=-0,69897*(-20dB/dec)
dB=14dB
decibeles de ganancia
dB=50-14=36 dB de ganancia
1
G ( s )=Kp+ Ki + Kds
s
8
G ( s )= 2
2 s +24 s+ 40
X (s ) Kp
= 2
F ( s ) 2 s + 24 s +( 40+ K p )
X (s ) K d s+ K p
= 2
F ( s ) 2 s +(24 s+ K d )+( 40+ K p )
X (s ) K p s +Ki
= 3
F ( s ) 2 s +24 s2 + ( 40+ K p ) s + K i
+Kd
24 s
3
2 s +
2
X ( s ) K d s + K p s+ K i
=
F ( s)
2
24 s + ( 40 ) s+ K i =0
3
2s +
+ Kd
24 jw
2( jw )3+
2 jw 3 +24 j 2+ 4 0 w+ Ki=0
K i=12
w= 4 0
w=6,3
2
Pcr =
w
2
Pcr =
6,3
Pcr =0,99
Kp=KiTi
Kp=121.57
Kp=18.84
Kp=0.6Kcr
Kp=0.618.84
Kp=11.31
Ti=0.5Pcr
Ti=0.53 .1416
Ti=1.57 s
Td=0.125Pcr
Td=0.1253 .1416
Td=0.40 s