Fase 1
Colombia
Septiembre de 2017
Contenido
z(z + 2)
[] =
( 0.5)( 0.1)2
[] (z + 2) A B C
= 2
= 2
+ +
( 0.5)( 0.1) ( 0.1) ( 0.1) ( 0.5)
RESOLVIENDO
OBTENIENDO
(B + C) = 0
A 0.6B 0.2C = 1
0 1 1 0
|1 0.6 0.2 1| CAMBIO LA LINEA 1 Y 2 DE POSICIN
0.5 0.05 0.01 2
1 0.6 0.2 1
|0 1 1 0| A la lnea 3 le sumo la lnea 1*(0.5)
0.5 0.05 0.01 2
1 0.6 0.2 1
| 0 1 1 0 | lnea 1 + lnea 2*(0.6) y a lnea 3 + lnea 2 * (0.25)
0.5 0.25 0.09 2.5
1 0 0.4 1
|0 1 1 0 | divido la lnea 3 entre 0.16
0 0 0.16 2,5
1 0 0.4 1
|0 1 1 0 | lnea 1 lnea 3; el resultado* (0.4) y lnea 2 lnea 3
0 0 1 15.62
1 0 0 5.25
|0 1 0 15.6|
0 0 1 15.62
Obteniendo que:
= 5.25
= 15.6
= 15.6
Reemplazando tendramos
1 [() ] = 525 1 [ ] 15.6 1
[ ] + 15.6 1
[ ]
( 0.1)2 ( 0.1) ( 0.5)
Para k=0
= 0 15.6(1) + 15.6
= 0
Para k=1
= 0.9 1
Para k=2
= 4.8
2 0.4 + 0.04
2 + 0.8
1 + 1.2 1 + 0.44 2 + 0.128 3
2 + 0.4 0.04
0 1.2 0.04
1.2+0.480.048 1
0 + 0.44 0.048 1
0.44 + 0.176 1 0.176 2
0 0.128 1 0.0176 2
[] = ()
=0
(0) = 1
(1) = 1.2
(2) = 0.44
(3) = 0.128
( + 2)
() =
( 0.5)( 0.1)2
() ( + 2)
=
( 0.5)( 0.1)2
()
= + +
0.5 ( 0.1)2 0.1
( + 2)
=
( 0.1)2
= 0.5
(0.5 + 2) 2.5
= = = 6.25
(0.5 0.1)2 0.4
( + 2)
=
( 0.5)
= 0.1
(0.1 + 2)
=
(0.1 0.5)
2.1
= = 5.25
0.4
( + 2)
= [ ]
( 0.5)
= 0.1
(0.1)( 0.5) ( + 2)(0.1)
=
( 0.5)2
(0.1)(0.1 0.5) (0.1 + 2)(0.1)
=
(0.1 0.5)2
0.19
= = 1.1875
0.16
() ( + 2)
=
( 0.5)( 0.1)2
() 10 6 10
= + 2
0.5 ( 0.1) 0.1
( + 0.8)
() =
( 0,2)2
2 +
() =
2 + 0,1
0.8 + 1
() =
0.8 1 + 0,1 2
0.8 1 + 0,12
0.8 + 21 + 2,12 + 1,93 + 1.74 +
0.8 + 1 + 0,1 2
0 + 2 1 + 0,1 2
2 1 + 2 2 0,2 3
0 + 2,1 2 0,2 3
( + 1)
() =
( 0.5)( 0.1)2
() +1
= = + +
( 0.5)( 0.1)2 0.5 0.1 ( 0.1)2
() +1
= 3 2
0.7 + 0.11 0.005
Num= [1 1]
A= 9.375
B= -9.375
C=-2.75
( + 2)
() =
( 0.5)( 0.1)2
( + 2)
() =
( 0.5)( 0,1)2
() ( + 2)
= = + +
( 0,1)2 ( 0.5) 0.5 0,1 ( 0,1)2
( 0.5)( + 2)
=[ ]
( 0.5)( 0,1)2
=0.5
( 0,1)2 ( + 2)
=[ ]
( 0.5)( 0,1)2
=0,1
( + 2) 0,1 + 2 2,1
=[ ] = = = 5,25
( 0.5) 0,1 0.5 0.4
=0,1
( 0,1)2 ( + 2)
=[ ]
( 0.5)( 0,1)2
=0,1
( + 2) 0,1( 0.5) 0,1( + 2)
=[ ] =[ ]
( 0.5) ( 0.5)2
=0,1 =0,1
= 1,5625
( + 0.8)
() =
( 0.2)2
2 + 0,8
() = 2
0,4 + 0,04
0 + 1,2 0,04
0 + 0,44 + 0,048 1
0,44 + 0,2 1 0,02 2
0 + 0,248 1 0,02 2
0 + 0,029 2 9,92 3
a. ()
b. u(t)
c. r(t)
1
Funcin 1 0 () =
1
Funcin 2 () = +0.5
() = 0 () ()
1 1
() =
+ 0.5
Transformando:
1 1
() = (()) = ( )
+ 0.5
() = (1 )
+ 0.5
1 (1 0.5 )
() = (1 1 ) ( )
0.5 ( 1)( 0.5 )
1 (1 0.5 )
() =
0.5( 1)( 0.5 )
( 1)(1 0.5 )
() =
0.5( 1)( 0.5 )
(1 0.5 )
() =
0.5( 0.5 )
Reemplazamos t=0,5:
(1 0.5 )
() =
0.5( 0.5 )
(1 0.5(0,5) )
() =
0.5( 0.5(0,5) )
(1 0.25 )
() =
0.5( 0.25 )
(1 0,7788)
() =
0.5( 0,7788)
0,2212
() =
0.5 0,7788
0,2212
() 0.5 0,7788
=
() 1 + 0.3934
0.5 0,7788
0,2212
() 0.5 0.30326
=
() 1 + 0,2212
0.5 0,7788
0,2212
() 0.5 0,7788
=
() (0,5 0,7788) + 0,2212
0.5 0,7788
0,2212
() 0.5 0,7788
=
() 0,5 0,7788 + 0,2212
0.5 0,7788
0,2212
() 0.5 0,7788
=
() 0,5 + 0,5576
0.5 0,7788
() 0,1106 + 0,1233
=
() (0.5 0,7788) (0,5 0,7788)
() 0,1106 + 0,1233
=
() 0.25 2 0,1795 0,3894 + 0,6065
() 0,1106 + 0,1233
=
() 0.25 2 0,5689 + 0,6065
() 0,1106 + 0,1233
=
() 0.25 2 0,5689 + 0,6065
(0.25 2 0,5689 + 0,6065) () = () 0,1106 + 0,1233
a) () z=1
0.2876
() =
0,285
() = 1,0091
b) u(t)
=
1
( 1)2
Funcin de transferencia:
() = () ()
() = () ()
1 1 ()
() =
+ 0.5 1 + ()
Transformada z se aplica:
() = ()
=0
Sumatoria:
b. ()
Funcin:
() = [()] = [1]
Transformada Z se aplica:
() = 1 =
=0 =0
Sumatoria:
() = 1 + 1 + 2 + 3 +. ..
() =
1
c. ()
Funcin:
() = [()] = []
Transformada Z se aplica:
() =
=0
Sumatoria:
() =
=0
() = ( 1 + 2 2 + 3 3 +. . . )
Serie geomtrica:
1
() =
(1 1 )2
Multiplicamos
() =
( 1)2
()()
Aplico () = 1+()
Transformada z de G(s):
1 1
() =
+ 0.5
1 1 1
() = [ ] = (1 1 ) [ ]
+ 0.5 ( + 0.5)
1 0.5
() = = () = 2
( + 0.5) ( + 0.5)
0.5 0.5
() = [2 ] = 2 [ ]
( + 0.5) ( + 0.5)
(1 0.5 ) 1
() = 2
(1 1 )(1 0.5 1 )
1 )
2(1 0.5 ) 1
() = (1
(1 1 )(1 0.5 1 )
2(1 0.5 ) 1
() =
(1 0.5 1 )
Aplicamos ():
Secuencia a:
2(1 0.5 ) 1
() =
(1 0.5 1 ) 2(1 0.5 ) 1
1+
(1 0.5 1 )
Secuencia b:
2(1 0.5 ) 1 1
() =
(1 0.5 1 ) 2(1 0.5 ) 1
1+
(1 0.5 1 )
Secuencia c:
2(1 0.5 ) 1 ( 1)2
() =
(1 0.5 1 ) 2(1 0.5 ) 1
1+
(1 0.5 1 )
Para secuencia a:
2(1 0.5 ) 1
() = 1
(1 0.5 1 ) 2(1 0.5 ) 1
1+
[ (1 0.5 1 ) ]
2(1 0.5 ) 1
() = 1 [ ]
(1 0.5 1 ) + 2(1 0.5 ) 1
Para secuencia b:
1
2(1 0.5 ) 1 1
() =
(1 0.5 1 ) 2(1 0.5 ) 1
1+
[ (1 0.5 1 ) ]
2(1 0.5 ) 1 1
1
() = [ ]
(1 0.5 1 ) + 2(1 0.5 ) 1
Para secuencia c:
0.5 1
2(1 ) ( 1)2
() = 1
(1 0.5 1 ) 2(1 0.5 ) 1
1+
[ (1 0.5 1 ) ]
2(1 0.5 ) 1
( 1)2
() = 1 [ 0.5 ]
(1 ) + 2(1 0.5 ) 1
1
1
() =
0.2 3 + 1.6 2 + 3.4 + 2
= 0.3
= 2,6
Resolviendo:
= 1.2
2.6
= 1.2
0.3
= 10.4
= 2 = 2 0.3 = 0,6
Para determinar los valores de las ganancias que tendr el controlador PID se
tiene las siguientes ecuaciones:
10.4
= = = 69.3
0.15
= 10.4
0.18
=
0.98
= 0.18
= 0.18 0.98
= 0.176
1
() =
( + 2)( + 1)(0.2 + 1)
1 1
() = =
( + 2)( + 1)(0.2 + 1) 0.2 + 1.6 2 + 3.4 + 2
3
1 2 + +
() = (1 + + )=
Control PID:
1 5.4 2 + 13.5 + 9
() = 9 (1 + 0.4 + )=
1.5 1.5
0.01 0.4
0 = (1 + + ) = 9 (1 + + ) = 369.03
2 2 1.5 0.01
2 0.01 2 0.4
1 = ( 1 ) = 9( 1 ) = 728.97
2 2 1.5 0.01
0.4
2 = =9 = 360
0.01
369.04 728.97 1 + 360 2
() =
1 1
RiseTime: 0.5700
SettlingTime: 1.1600
SettlingMin: 0.9539
SettlingMax: 1.0363
Overshoot: 3.6252
Undershoot: 0
Peak: 1.0363
PeakTime: 0.9500
Cdigo empleado:
clear all
clc
s=tf('s');
Gp=1/((s+2)*(s+1)*(0.2*s+1));
[y,t]=step(Gp,8);
n=length(y);
yd=diff(y);
[m1,I]=max(yd);
b=y(I)-m*t(I);
t2=0:0.1:2.7;
yt=m*t2+b; % linea tangente
%% PID cotinuo
clc
Kp=1.2*T/L
Ti=2*L
Td=0.5*L
Gc=Kp*(1+1/(Ti*s)+Td*s) % PID
%% PID Digital
q0=Kp*(1+T/(2*Ti)+Td/T)
q1=Kp*(T/(2*Ti)-1-2*Td/T)
q2=Kp*Td/T
z=tf('z',T);
() 1/2 1 1/2
[ ]= 0.2 1
+ 0.01 1
+
1 1 1 1
() 1/2 1 1/2
() (1 1 ) [ ] = (1 1 ) { 0.2 1
+ 0.01 1
+ }
1 1 1 1
Para que el sobre impulso no sea mayor al 20% se puede seleccionar l = 0.5 Y
para lograr un tiempo de establecimiento menor a 1.5 segundos, se usa la
relacin:
Por lo tanto:
3
= = 1.5
3 3
= = = 4/
1.5 1.5 0.5
Sabemos que:
1= + 2 1 (1 )2
Por lo tanto:
1 = 0.5 4 + 41 0. 52 = 2 + 3.464
Dado que T=0.1 y que: =
Dado que T=0.1 y que: 1 = (2+3.464)0.1 0.77 + 0.28
Procedemos a cancelar el polo que est en 0.8146, por lo tanto: 0 = 0.8146, =
0.77 + 0.28p Planteamos:
0.004528 + 0.004
= 180+ [ ]
( 0.9093
= 180 106 = 73.16
{1 } 0.28
= {1 } = 0.77 = 0.685
{ } 3.30
Para hallar Kc, aplicamos:
1
= | | = 12.05
0.8146
()| = 0.77 + 0.28|
0.685
( 0 ) ( 0.8146)
= = 12.05
( ) ( 0.685)
ADOLFO RUIZ
Despejamos la funcin:
() =
( + + + )(, + )
() =
( + + , + + + + . + )
() =
( + , + , + )
>> num=[1]
ftcolab1=tf(num,den)
figure(1)
step(ftcolab1)
step(ftcolab1,'r')
num = 1
den =
ftcolab1 =
-------------------------
= 4,574
= 3,938
Tipo de Kp Ti Td
controlador
P 0
PI 0
0.9
0.3
PID 2 0,5
1.2
Tipo de Kp Ti Td
controlador
P 4,574 0
0,636
PI 4,574 0,636 0
0.9
0,636 0.3
PID 4,574 2(0,636) 0,5(0,636)
1.2
0,636
Tipo de Kp Ti Td
controlador
P 7,19 0
PI 6,472 2,12 0
( 1 )( 2 )
() =
( 1)
2 + +
() =
( 1)
3
=
2
++
=
= + +
2
2
=
2
KiT Kd
a= + + Kp
2 T
a = 22,43
KiT 2Kd
b= Kp
2 T
b = 36,22
Kd
c=
T
0,138
c=
0,01
c = 13,8
Controlador P
4,758
= = 9,67
0,492
Controlador PI
0.9 = 0.9(9,67) = 8,70
0,492
= = 1,64
0,3 0,3
Controlador PID
1.2 ( ) = 1.2(9,67) = 11,60
2 = 2(0.492) =0,984
0,5(0,492) = 0,246
Mediante el empleo de Simulink podemos modelar los sistemas sin controlador y con
controlador
Con Controlador PID
b. Disee un controlador digital (T=0.01s) en adelanto, tal que el tiempo de
establecimiento sea menor a 1.5 segundos y el sobreimpulso sea menor al 20%, para la
siguiente planta:
1
() =
( + 1)( + 2)
1
() =
( + 1)( + 2)
1
() =
2 + 2 + 1 + 2
1
() =
2 + 3 + 2
= 0,5
4
1,5 =
0,5
4
1,5 =
0,5
1,5 = 8
8
=
1,5
= 5,33
2
= 1 2
2
= 5,33 1 (0,5)2
2
= 5,33 1 0,25
2
= 5,33 0,75
= 5,33 (0,866)
= 4,61
2
=
2
=
0,1
= 20
= 62,83
62,83
=
4,61
= 13,62
[] =
2
( 2 )
[] = 12
2(0,5) 4,61
( 2 )
1(0,5) 2 62,83
[] =
3,1416 4,61
( )
[] = 0,866 62,83
4,61
(3,6277 )
[] = 62,83
[] = 0,266
[] = 0,766
=
= 2
4,61
= 2
62,83
= 2 (0,0733)
= 0,461
= 26,35
= 0,766 26,35
= 0,4158 + 0,2381
Funcin de transferencia:
1 0,1 1
() = [ ]
( + 1)( + 2)
1
() = (1 1 ) [ ]
( + 1)( + 2)
0,0951( + 0,9048)
() =
( 1)( 0,766)
+
() =
+
0,766
() =
0,1843
0,0951( + 0,9048)
()() =
( 1)( 0,1843)
| ()()|=0,4158+0,2381 = 1
0,0951( + 0,9048)
| | =1
( 1)( 0,1843) =0,4158+0,2381
= 11,67
0,766
() =
0,1843
0,766
() = 11,67
0,1843
CONCLUSIONES
tomado de
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