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DATOS:
Ua=220v
Ra=12.4ohm
La=3.1mH
Ka=kb=0.024
J=1.01*10^-6
B=1.81*10^-6
0.024
0.024
3.1*10 ^-3s+12 .4
Step
1
1.01 *10 ^-6s+1.81 *10 ^-6
Gain
Transfer Fcn
Gain 1
0.024
1
s
Integrator
Transfer Fcn 1
Scope
0.0000
Programacin en Matlab:
s=tf('s');
RA=12.4
LA=3.1*10^-3
KA=0.024
KB=KA
J=1.01*10^-6
B=1.81*10^-6
G=KA/(LA*J*s^3+(LA*B+J*RA)*s^2
+(KA*KB+RA*B)*s)
0.0000
0 -1.9114 -0.0400
b=
0
0
%variable fase
a=[0 1 0;0 0 1;0 (KB*KA+RA*B)/(LA*J) (LA*B+J*RA)/(LA*J)]
b=[0;0 ;1]
c=[KA/(LA*J) 0 0]
d=[0]
1
c = 1.0e+006 *
7.6653
d=
0
ANALISIS EN VARIABLE FISICAS
Del anlisis de la ecuaciones en el tiempo
( )
( )
af = 1.0e+004 *
( )
Programado en Matlab:
%variable fsica
af=[0 1 0; 0 -B/J
0 -KB/LA -RA/LA]
KA/J;
0.0001
0 -0.0002
0
2.3762
0 -0.0008 -0.4000
bf =
cf =
df =
322.5806
0 0
agnitude (dB)
50
0
-50
figure(2)
GLC=feedback(G,1)
GLCnuevo=feedback(Gnuevo,1)
step(G)
hold on
step(GLCnuevo)
figure(3)
step(1/s)
hold on
step(GLC/s)
step(GLCnuevo/s)
RESULTADOS
Compensador
PI
Transfer function:
Step Response
0.9499 s + 3.022
----------------
s
1.5
Amplitude
PD
Transfer function:
s+1
PID:
0.5
Transfer function:
0
0.005
0.01
0.015
0.02
0.025
0.03
Time (sec)
---------------------------S
APLICANDO EL COMPENSADOR PID Y REALIMENTANDO:
Transfer function:
0.0228 s^2 + 0.09534 s + 0.07254
---------------------------------------------------------3.131e-009 s^4 + 1.253e-005 s^3 + 0.0234 s^2 + 0.09534 s + 0.07254
0.9499
Gain 2
du/dt
Scope 1
Scope 2
Derivative
1
0.024
3.1*10 ^-3s+12 .4
Step 1
3.972 s+3.022
Transfer Fcn
1
1.01 *10^-6s+1.81 *10^-6
Gain
1
s
Integrator
Transfer Fcn 1
Scope 3
1.253*10^-5
0.0234
0.09534
0.07254])
ans = 1.0e+003 *
-1.9989 + 1.8606i
-1.9989 - 1.8606i
-0.0031
-0.0010
( )
) (
) (
( )
HALLANDO LAS CONSTANTES DE REALIMENTACION, EN VARIABLES
FISICAS:
Continuando la programacin de variables de estado
%CALCULO DE MATRIZ P:
C=[bf af*bf af^2*bf]
Cast=[b a*b a^2*b]
C = 1.0e+010 *
0
0 0.0008
0 0.0008 -3.0675
0.0000 -0.0001 0.5102
Cast = 1.0e+007 *
0
0 0.0000
0 0.0000 -0.0004
0.0000 -0.0004 1.5823
CALCULO DE LA MATRIZ DE TRANSICION
P=Cast*C^-1
P=
0.0000
0
0
-0.0000 0.0000
0
0 -0.0000 0.0031
CALCULO DE LAS CONSTANTES:
D =1.0e+007 *
2.3120
0.7469
0.0000
DONDE:
Ko=3.0162
A=
0
-191140
-4000
K = 1.0e+007 *
2.3120
0.7660
0.0004
kr =
3.0162
0.9983
13.6403
Kw=0.9983
Ki=13.6403
DIAGRAMA DE BLOQUES POR REALIMENTACION:
Scope
Scope 1
1
Scope 2
1
0.024
3.1*10 ^-3s+12 .4
Step 1
Gain 2
Transfer Fcn
Integrator
Gain
Transfer Fcn 1
Gain 1
0.024
Gain 3
13.6403
Gain 4
0.9983
Gain 5
3.0162
1
s
Scope 3
Uf
Rf
Lf
Kt
J
B
) (
Step
s+1
s+4
1
s
Transfer Fcn
Transfer Fcn 1
Integrator
Scope
FUNCION DE TRANSFERENCIA
(
) (
VARIABLES DE ESTADO:
Programado en
matlab:
%variables de fase
a=[0 1 0; 0 0 1; 0 -4 -5]
b=[0 0 1]'
c=[4 0 0]
VARIABLES DE FASE:
a=
0 1 0
0 0 1
0 -4 -5
b=
VARIABLES FISICAS:
af =
0 1 0
0 -1 2
0 0 -4
bf =
d=[0]
%variables fisicas
af=[0 1 0 ; 0 -1 2 ;0 0 -4]
bf=[0 0 2]'
cf=[1 0 0]
df=[0]
0
0
1
c=
4
d=
0
0
0
2
cf =
1
df =
0
Se desea ubicar los polos del sistema en lazo cerrado en s=-2, s=-2-2i , s=-2+2i
( )
Hallando los k de realimentacin:
% hallando k de
realimentacion:
A=[0 4 5]
D=[16 16 6]
k=D-A
C=[b a*b a^2*b]
Cast=[bf af*bf af^2*bf]
P=C*(Cast^-1)
kt=k*P
A=
0
D=
16
16
k=
16
12
VALORES DE REALIMENTACION:
kt =
4.0000
2.7500
0.5000
C=
0 0 1
0 1 -5
1 -5 21
Cast =
0 0 4
0 4 -20
2 -8 32
P=
0.2500
0
0 0.2500
0 -0.2500
0.5000
0
0
Scope 2
If
1
Step
Scope 1
w
s+1
s+4
1
s
Transfer Fcn
Transfer Fcn 1
Integrator
Gain
0.5
Gain 1
2.75
Gain 2
4
Scope