8-6 Suponga que la ganancia K del amplificador del sistema de control de vuelo descrito

en el problema 4-9 es variable. Con el criterio de Nyquist halle el intervalo de valores

de K para los que el sistema es estable.
a. T = 0.01 s
b. T = 0.1 s

Los parmetros del sistema son:

Resistencia del motor R = 5
Inductancia del motor L = 0.05 H
Inercia del motor y la carga J = 0.001 oz-in-s
2

Relacin de engranes N = 100
Constante de par del motor K
a
= 10 oz-in/A
Constante de fuerza contraelectromotriz del motor K
b
= 0.07 V/rad/s
Ganancia del tacmetro en retroalimentacin K
t
= 0.0005 V/rad/s
Ganancia en corriente en retroalimentacin K
i
= 1 V/A
Ganancia del amplificador K

= variable

* * *
1
e i o
e i o
a
s
m
o
i c
L R
w
sN
u u u
u u u
u
=
=
| |
=
|
+
\ .
=
^
( )
( ) ( )
( )
( )
*
m
m
m
m
e
ia ka
w
Js
c ka
w
Ls R Js
B A ia ki w kt
C B w kb
A zoh k u
=
| |
=
|
+
\ .
=
=
=


( ) ( )
( ) ( )
( )
( )
*
*
1
e m
e
s
B zoh k ia ki w kt
c ka
B zoh k c ki kt
L R Js Ls R
u
u
=
| |
=
|
+ +
\ .


( )
( )
2
m
o
c ka w
sN Js Ls R N
u = =
+


( ) ( ) ( )
( )
( )
( )
( )
( )
( )
( )
( ) ( )
( )
( )
*
*
*
1
1
1
m e
s
e
e
c ka kt c ka kb
c B w kb zoh k c ki
L R Js Ls R Js Ls R
ka kb
ki
c zoh k
Ls R Js Ls R
zoh k
c
ka kb
ki
Ls R Js Ls R
u
u
u
| |
= =
|
+ + +
\ .
| |
+ + =
|
|
+ +
\ .
=
| |
+ +
|
+ +
\ .

( ) ( )
( ) ( ) ( ) ( )
( )
( ) ( )
( )
( ) ( )
*
*
e
e
zoh k
c
Js Ls R ki Js ka kt ka kb
Js Ls R
zoh k Js Ls R
c
Js Ls R ki ka kt kb
u
u
=
+ + + +
+
+
=
+ + + +


( ) ( )
( )
( ) ( )
( )
( ) ( )
( )
( ) ( ) ( )
( ) ( )
( )
( ) ( ) ( ) ( ) ( )
*
2
*
2
*
e
o
e
o
e
o
zoh k Js Ls R
ka
Js Ls R ki ka kt kb
Js Ls R N
zoh k Js Ls R ka
Js Ls R N Js Ls R ki ka kt kb
zoh k Ls R ka
Ns Ls R Js Ls JsR Js ki ka kt ka kb
u
u
u
u
u
u
+
+ + + +
=
+
+
=
+ + + + + (

+
=
+ + + + + (


( ) ( )
( )
( )
( )
( ) ( ) ( ) ( )
( )
*
2
2
e
o
zoh k Ls R ka
Ns Ls NRs Js Ls JsR Js ki ka kt ka kb
u
u
+
=
+ + + + +

( ) ( )
( )
( ) ( ) ( ) ( ) ( ) ( ) ( )
*
2 2
10 0.5 5
100*0.05 (100*5) 0.05*0.001 5*0.001 0.001 10*0.0005 10*0.07
e
o
zoh s
s s s s
u
u
+
=
+ + + + +

( ) ( )
( )
( ) ( )
*
2 2
0.5 50
5 500 0.00005 0.006 0.705
e
o
zoh k s
s s s s
u
u
+
=
(
+ + +


( ) ( )
( )
( )
*
4 3 2
*
* 4 3 2
0.5 50
0.00025 0.055 6.525 352.5
0.5 50
0.00025 0.055 6.525 352.5
e
o
o
e
zoh k s
s s s s
zoh s
k
s s s s
u
u
u
u
+
=
+ + +
+
=
`
+ + +
)
Z


Con T = 0.01 s

>> G=tf([0.5 50],[0.00025 0.055 6.525 352.5 0])
>> A=c2d(G,0.01,'zoh')
Transfer function:
0.0002376 z^3 + 0.000583 z^2 - 0.0001176 z - 4.747e-005
-------------------------------------------------------
z^4 - 1.938 z^3 + 1.449 z^2 - 0.6217 z + 0.1108
Sampling time: 0.01
>> rlocus(A);grid



Observando la grafica del lugar geomtrico de races obtenemos que el sistema es
estable para:
595 0 < s K

Con T = 0.1 s

>> G=tf([0.5 50],[0.00025 0.055 6.525 352.5 0])
>> A=c2d(G,0.1,'zoh')
Transfer function:
0.01298 z^3 + 0.001252 z^2 + 3.305e-006 z - 1.526e-010
-----------------------------------------------------------------------------
z^4 - 0.9967 z^3 - 0.003323 z^2 - 5.991e-006 z + 2.789e-010
Sampling time: 0.1
>> rlocus(A);grid


Observando la grafica del lugar geomtrico de races obtenemos que el sistema es
estable para:
170 0 < s K
8-9 Considere el sistema de control de datos discretos con muestreo mltiple descrito en
el problema P4-15 (Fig. P4-15). Dibuje las graficas de Nyquist de la funcin de
transferencia de lazo abierto normalizada G(z)/K = C(z)/KE(z), para z = e
jt
, 0 <

s
/2, N = 1, 2, 3, 4, 5, 10 e . Para cada valor de N, encuentre el valor crtico de K a fin
de que el sistema de lazo cerrado sea posible. El periodo de muestro es 1 s.

1
1
) (
+
=
s
s D
s
K
s G = ) (



)) ( ( ) ( ) (
)) ( ( ) ( ) (
s G zoh a c
s D zoh e a
=
=
-
-

| |
| |
- - -
- - -
=
=
)) ( ( ) ( ) (
)) ( ( ) ( ) (
s G zoh a c
s D zoh e a


| | | |
| | | |
- -
-
-
- - - -
=
=
)) ( ( ) ( )) ( ( ) (
)) ( ( ) ( )) ( ( ) ( ) (
s G zoh s D zoh
e
c
s G zoh s D zoh e c


( )
( )
( )
( ) ( )
( )
( )
( )
( ) ( )
( ) N T
e z z
e
K
z E
z C
z
z N T
K
e z z
z e
z
z
z E
z C
s
K
s s
z
s
s G
z
s
s D
z
z E
z C
T
T
T
T
/
1
1
) (
) (
1
/
1
1 1
) (
) (
1
1
1
) (
) 1 (
) (
) 1 (
) (
) (
2
2
2
2
1 1 1

|
|
.
|

\
|


=
|
|
.
|

\
|

|
|
.
|

\
|

|
.
|

\
|
=
)
`

Z
)
`

+
Z =
)
`

Z
)
`

Z =

Con T = 1, tenemos
( ) ( )
N Nz Nz K
z G
z z N
K
z G
z z N
K
z E
z C
582 . 0 164 . 2 582 . 1
1 ) (
368 . 0 368 . 1
632 . 0
) (
368 . 0 1
632 . 0
) (
) (
2
2
+
=
|
.
|

\
|
+
=
|
|
.
|

\
|

=


Con N =1 se tiene:
582 . 0 164 . 2 582 . 1
1 ) (
2
+
=
z z K
z G



Grafica de Nyquist
num=[0 1];
den=[1.582 -2.164 0.582];
[re,im]=dnyquist(num,den,1);
plot(re,im)
v=[-2.5 0.2 -3 0.5];
axis(v)
grid
xlabel('Eje Real');ylabel('Eje Imag')

Para que el sistema sea estable:


01 . 1 0 < s K

Con N =2 la grafica de Nyquist es:
164 . 1 328 . 4 164 . 3
1 ) (
2
+
=
z z K
z G


Grafica de Nyquist
num=[0 1];
den=[3.164 -4.328 1.164];
01 . 1
9895 . 0
1
= < K
[re,im]=dnyquist(num,den,1);
plot(re,im)
v=[-1.5 0.2 -3 0.5];
axis(v)
grid
xlabel('Eje Real');ylabel('Eje Imag')

Para que el sistema sea estable:
02 . 2
4949 . 0
1
= < K
02 . 2 0 < s K

Con N =3 la grafica de Nyquist es:
746 . 1 492 . 6 746 . 4
1 ) (
2
+
=
z z K
z G


Grafica de Nyquist
num=[0 1];
den=[4.746 -6.492 1.746];
[re,im]=dnyquist(num,den,1);
plot(re,im)
v=[-1 0.2 -3 0.5];
axis(v)
grid
xlabel('Eje Real');ylabel('Eje Imag')

Para que el sistema sea estable:
03 . 3
33 . 0
1
= < K
03 . 3 0 < s K

Con N =4 la grafica de Nyquist es:
328 . 2 656 . 8 328 . 6
1 ) (
2
+
=
z z K
z G


Grafica de Nyquist
num=[0 1];
den=[6.328 -8.656 2.328];
[re,im]=dnyquist(num,den,1);
plot(re,im)
v=[-1 0.2 -3 0.5];
axis(v)
grid
xlabel('Eje Real');ylabel('Eje Imag')

Para que el sistema sea estable:
04 . 4
2476 . 0
1
= < K
04 . 4 0 < s K

Con N =5 la grafica de Nyquist es:
91 . 2 82 . 10 91 . 7
1 ) (
2
+
=
z z K
z G


Grafica de Nyquist
num=[0 1];
den=[7.91 -10.82 2.91];
[re,im]=dnyquist(num,den,1);
plot(re,im)
v=[-0.6 0.2 -3 0.5];
axis(v)
grid
xlabel('Eje Real');ylabel('Eje Imag')

Para que el sistema sea estable:
05 . 5
198 . 0
1
= < K
05 . 5 0 < s K

Con N =10 la grafica de Nyquist es:
82 . 5 64 . 21 82 . 15
1 ) (
2
+
=
z z K
z G


Grafica de Nyquist
num=[0 1];
den=[15.82 -21.64 5.82];
[re,im]=dnyquist(num,den,1);
plot(re,im)
v=[-0.4 0.2 -3 0.5];
axis(v)
grid
xlabel('Eje Real');ylabel('Eje Imag')

Para que el sistema sea estable:
1 . 10
099 . 0
1
= < K
1 . 10 0 < s K