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RESPUESTA A LA FRECUENCIA
Measurement Systems Application and Design, Ernest O. Doebelin
Modern Control Engineering, Ogata IYSCh
Instrumento
X(t)=A sen ωt Y(t)
1
3/24/2011
K
X(t)=A sen ωt Y(t)=KA sen ωt
Desfasamiento φ:
φ=0 X(t)
Y(s ) k
=
X(s ) τs + 1
X(t)=A sen ωt Y(t)
Aω
X(s ) = 2
s + ω2
K Aω Δt
Y (s ) =
τs + 1 s 2 + ω2 Δt φ
=
T 2π
KAωτ − t τ
Y (t ) = 2 2
ω τ +1
e +
KA
(
sen ωt − tan −1 (ωτ ) )
ω2 τ2 + 1
prevalece
Y(t)
Yf (t ) =
KA
( )
sen ωt − tan −1 (ωτ )
ω2 τ2 + 1 X(t)
φ = − tan −1
(ωτ) t
0
2
3/24/2011
Y(s ) k
=
X(s ) τs + 1
X(t)=A sen ωt Y(t)
Aω
X(s ) = 2
s + ω2
Δt
Yf (t ) =
KA
(
sen ωt − tan −1 (ωτ) ) Δt φ
=
ω2 τ2 + 1
T 2π
Relación de amplitud AR:
KA Y(t)
AR =
Ay
= ω2 τ2 + 1 = K
Ax A ω2 τ2 + 1
X(t)
Desfasamiento φ:
φ = − tan −1 (ωτ)
t
0
3
3/24/2011
Y ( j ω)
G ( jω) =
K
=
X( jω) jτω + 1
Y ( j ω) K
AR = G ( jω) = =
X( jω) jτω + 1
K
AR =
τ ω2 + 1
2
Y ( j ω)
φ = ∠G ( jω) = ∠ = ∠K − ∠( jτω + 1) = 0 − tan −1 (τω)
X ( j ω)
φ = − tan −1 (τω) 0 ≤ φ ≤ −90°
Escala logarítmica
Permite analizar la razón de amplitud en forma aditiva (en oposición a
multiplicativa)
G a ( jω ) G b ( jω ) G c ( jω ) L
AR = G ( jω) =
G1 ( j ω ) G 2 ( j ω ) G 3 ( j ω ) L
log AR = log G a ( jω) + log G b ( jω) + ... − log G1 ( jω) − log G 2 ( jω) − ...
4
3/24/2011
System: Tao1=0.5
Frequency (rad/sec): 2.05 Tao1=0.5
-10 Magnitude (dB): -3.12
Tao2=0.25
Tao3=0.125
-20
Magnitude (dB)
-30
-40
-50
-60
0
Phase (deg)
-45
-90
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
5
3/24/2011
30
20 0.8s+1
1/(0.166s+1)
Magnitude (dB)
10
-10
-20
-30
90
45
Phase (deg)
-45
-90
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Y( jω)
G ( jω) =
K
= 2 2
X( jω) − τ ω + j2τζω + 1
Y( jω) K
AR = G ( jω) = =
X( jω) j2τζω + 1 − τ2ω2
K
AR =
(1 − τ ω )
2 2 2
+ 4τ2ζ 2ω2
Y ( j ω)
φ = ∠ G ( j ω) = ∠
X ( j ω)
= ∠K − ∠ j2τζω + 1 − τ2ω2 ( )
⎛ 2τζω ⎞
φ = − tan −1⎜ 2 2⎟
0 ≤ φ ≤ −180°
⎝1− τ ω ⎠
6
3/24/2011
AR dB = 20 log10 K − 20 log10 (1 − τ ω ) + 4τ ζ ω
2 2 2 2 2 2
fa1=2
20 fa2=1
fa3=0.8
fa4=0.6
fa5=0.4
0 fa6=0.2
fa7=0.1
Magnitude (dB)
fa8=0.05
-20
-40
-60
-80
0
-45
Phase (deg)
-90
-135
-180
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
7
3/24/2011
fa8=0.05
System: fa1=2
-20
Frequency (rad/sec): 1
Magnitude (dB): -12
-40
-60
-80
0
-45
Phase (deg)
-90
-135
-180
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
80
60
40
(s/80)2 + (0.6s/80) + 1
Magnitude (dB)
20 1/((s/500) 2 + (0.2s/500) + 1)
-20
-40
-60
180
135
90
45
Phas e (deg)
-45
-90
-135
-180
0 1 2 3 4
10 10 Frequency10(rad/sec) 10 10
8
3/24/2011
G i (s ) = s n
G i ( jω) = ( jω)
n
G i ( jω) = ωn
⎛ jω ⎞
φ = ∠G i ( jω) = n tan −1 ⎜ ⎟
⎝ 0 ⎠
φ = n (90°)
40
20
Magnitude (dB)
-20
-40
-60
270
s-3
s-2
180 s-1
1
s
90 s2
s3
Phase (deg)
-90
-180
-270
0 1
10 10
Frequency (rad/sec)
100 101
9
3/24/2011
Tiempo muerto
G i (s ) = e − θs
G i ( jω) = e − jθω
G i ( jω) = 1
G i ( jω) dB = 0
180°
φ=− θω
π
0.8
0.6
0.4
M agnitude (dB)
0.2
-0.2 exp(-s)
-0.4 exp(-2s)
exp(-3s)
-0.6
exp(-4s)
-0.8
-1
0
-360
-720
720
Phas e (deg)
-1080
-1440
-1800
-2160
-2520
0 1
10 10
Frequency (rad/sec)
100 101
10
3/24/2011
30
20
12 87dB
12.87dB
10
Magnitude (dB)
-10
-20
-30
-40
90
4.4
s
1/(0.2s+1)
1/(s+1)
45 4.4s/((0.2s+1)(s+1))
Phase (deg)
-45
-90
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
11