3 de junho de 2014
Emulao
u + au = ae (2)
Discretizando temos:
Z kT T Z kT
u(kT ) = [au( ) + ae( )]d + [au( ) + ae( )]d
kT T
z1
Backward (Euler) s Tz
2 z1
Trapezoid (Tustin ou Bilinear) s T z+1
a Forward
b Backward (Euler)
c Bilinear (Tustin)
Dada a funo
10
T (s) = (4)
s2 + 2s + 16
Discretize a funo utilizando os mtodos de Tustin, Euler e
Forward, trace as respostas obtidas (T = 0.2s)
10z 2
Teul = (6)
51z 2 60z + 25
5(z + 1)2
Ttus = (7)
4(17z 2 21z + 12)
Step Response
1
0.9 continuous
euler
0.8 tustin
0.7
Amplitude
0.6
0.5
0.4
0.3
0.2
0.1
0
0 1 2 3 4 5 6 7
Time (seconds)
Dada a funo
10
T (s) = (8)
s2 + 2s + 16
Discretize a funo utilizando os mtodos de Tustin, Euler e
Forward, trace as respostas obtidas (T = 0.05)
Step Response
1.1
forward
1
continuous
euler
0.9 tustin
0.8
Amplitude
0.7
0.6
0.5
0.4
1
G(s) = (9)
s(s + 1)
4
ts = (11)
n
z = esT (12)
Ento: X X
zc pc = p z (14)
Adicionar o compensador
z +a
Gd (z) = K (15)
z +b
4
ts = = 2 n = 4 (16)
n
p
d = 4 1 0.52 = 3.46 (17)
2 2
s = = = 31.4 9d (18)
T 0.2
p
s = n jn 1 2 = 2 j3.46 (19)
Discretizar a funo:
0.02(z + 0.93)
G(z) =
(z 1)(z 0.82)
0.43
tan(1 ) = = 0.2945 1 = 0.2864
0.53 + 0.93
0.43
tan(20 ) = = 0, 9148 2 = 20 = 2.400
1 0.53
0.43
tan(30 ) = = 1.5357 3 = 30 = 2.148
0.81 0.53
X
i = (2k + 1) rad
polos + zeros = , k = 0
2.400 2.148 + 0.2864 + p =
p = 7.403 = 1.12 + 2
Sabemos que os plos e zeros do compensador devem possuir
contribuio angular de 1.12 rad. Adicionaremos um
compensador na forma:
z +a
Gd (z) = K (21)
z +b
2.400 + 0.2864 p =
p = 5.255 p0 = p = 1.028
0.43
tan(p0 ) = b = 0.2706
0.53 b
Consequentemente:
z 0.81
Gd (z) = K
z 0.2706
K = 10.51
z 0.81
Gd (z) = 10.51
z 0.2706