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0-1 Intro Control
0-1 Intro Control
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posicion
posicion [rad]
50
velocidad [rad/s]
100
0.2
0.4
0.6
velocidad
0.8
100
50
0.2
0.4
0.6
0.8
corriente de armadura
50
velocidad [rad/s]
posicion [rad]
100
0.2
0.2
0.4
0.6
velocidad
0.8
0.4
0.6
0.8
corriente de armadura
50
4
corriente [A]
corriente [A]
0.2
100
4
3
2
1
0
0.2
0.4
0.6
tiempo [s]
(a)
0.8
3
2
1
0
0.4
0.6
tiempo [s]
(b)
0.8
%
7
) # G
B
) # G
$
'
( )*
posicin y vs y
d
r
posicin xd vs xr
340
260
xd (x deseada)
240
xr (x real)
300
220
280
200
posicin y [mm]
posicin x [mm]
320
260
240
220
180
160
140
200
120
180
100
160
80
140
60
0.5
1
tiempo [s]
1.5
yd (y deseada)
yr (y real)
0
0.5
1
tiempo [s]
1.5
posicin y [mm]
200
180
160
140
120
100
80
60
140
trayectoria deseada
trayectoria real
160
180
200
220
240
260
posicin x [mm]
280
300
320
340
%
5D
) # G
=
& , "
10!"0(J# G
Seguimiento de trayectoria en el espacio de trabajo de un robot
Robot SCARA 3GDL
trayectoria del robot
trayectoria deseada
20
30
z [mm]
40
50
60
70
80
200
350
150
300
100
250
200
50
150
y [mm]
100
x [mm]
%
5H
) # G
=
& #B00 > "
0.1
profile [m]
0.08
0.06
0.04
0.02
time [s]
body aceleration
body position
active
pasive
5
0
5
0.05
0.015
0
0.015
10
0
active
pasive
0.08
position [m]
aceleration [m/s2]
10
0.05
suspension deflection
0.05
deflection [m]
deflection [m]
0.02
active
pasive
0
0.05
0.1
active
pasive
0.01
0
0.01
0.02
actuator force
0.12
0.1
position [m]
500
0
1000
1500
0
3
time [s]
wheel position
1000
force [N]
wheel deflection
0.1
2000
active
pasive
0.05
0
0.02
time [s]
<
%
,,
# G
&
(
*
0
est dt [f (t)]
lm
0
f (t) est dt
)5*
f (t) : f (t) = 0, t < 0
s :
L :
F (s) :
"
(
( (
1 0 est dt
1 f (t)
;
% 1
*
f (t) = c, t, eat
1 1 !
f (t) = c t 0
L[c] =
=
0
est c dt =
lm
c
lm
+
1 st t=
e
s
t=0
est dt
1 s
1 s0
=
lm c e
+ e
+
s
s
c
= 0+
s
c
=
)?*
, s>0
s
( s es 0 !
+ : s
)
eax dx =
eax
a
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0
est t dt =
lm
+ 0
est t dt
t=
1 st
2 e (st + 1)
=
lm
+
s
t=0
s + 1
1
=
lm
2 st + 2 es0(s 0 + 1)
+
s e
s
s
1
1
+ 2 =0+ 2
=
lm
+ s3 es
s
s
1
= 2, s>0
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s
1A2
) s + 1
s2es
+C ; (
( s > 0
"
udv = uv vdu
ax
+
xe dx u = x+ du = dx+ dv = eax dx
& dv = ea + ) =+
ax
ax
ax
e
e
xeax eax
ax
xe dx = x
dx =
2 +c
a
a
a
a
ax
e
1
=
x
+c
a
a
0
est eat dt =
lm
+ 0
t=
(as)t
e(as)t dt
1
e
+ a s
t=0
1
1
(as)
e
e(as)0
=
lm
+ a s
as
1
= 0+
sa
1
=
, s>a
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sa
s > a ( !
B
$ ( F (s) !
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s 0 0 s0
=
lm
*
,
1
C u(t) v(t) !
a t
b
b
a
t=b
t=a
b
a
u(t)v(t)dt
= d(uv) vdu
= uv vdu
d
dt
f (t)
d
f (t) dt
+ 0
dt
st
t=
d
( est) f (t) dt}
=
lm { e f (t) t=0
+
0 dt
s
f ( ) es0 f (0) + s
est f (t) dt
=
lm e
=
lm
est
= f (0) + sF (s)
(
+
es 0
1 1 !
L
d2
dt
f (t)
2
= L
dd
dt dt
f (t)
= sL
d
dt
f (t)
d
f (0)
dt
d
f (0)
dt
= s2 F (s) sf (0) f (0)
= s{sF (s) f (0)}
A.C
dn
dtn
f (t)
A7C
*
,
*
f (t) 1
F (s)
*
1
1 L1 F (s)
C
1
L1[F (s)] = f (t) =
2j
c+j
F (s)estds,
cj
para t > 0
A5-C
c
(
F (s)
" j c
$
!
f (t) 2 $
f (t) ;
$
a
1s
L1 2
s
1
L1 n
s
1
L1
s+a
1
1
L
(s + a)2
1
L
(s2 + 2)
s
1
L
(s2 + 2)
1
L
(s + a)2 + 2
s+a
1
L
(s + a)2 + 2
= a
A55C
= t
A5,C
tn1
(n = 1, 2, 3, . . .)A5>C
(n 1)!
= eat
A5@C
= teat
A5DC
= sen t
A5.C
= cos t
A57C
= eat sen t
A5HC
= eat cos t
A56C
A,-C
-% ./ 0
$
1
1
s( s + 1)
1
s2( s + 1)
1
s2( s + s + 1)
A
B
+
s
( s + 1)
A,5C
C
A
B
+ 2+
s
s
( s + 1)
A,,C
A
Bs + C
+
s
( s + s + 1)
A,>C
A B
$
$ %
C
)* 1 x = Cest
)
* 1 # 1
$ ( !
$ !
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!
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# $ $
$
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!
$ $ %!
k
(
%
xh
x = Cest
C s :!
!
d2
m 2 Cest + kCest = 0,
dt
Cest(ms2 + k) = 0,
ms2 + k = 0.
x(0) = A1 = x0,
x(0)
= n A2 = x 0.
)?>*
/ A1 = x0 A2 = x 0/n
)?<*
)?>* !
x 0
x(t) = x0 cos nt +
sen nt,
)?=*
n
1 )?=*
$
x(t) = xm sen(nt ),
)@H*
x 0
xm =
x20 + (
) Amplitud [m, in, f t]
x0n
x 0
= tan1 (
) Angulo de F ase
x0 n
2
n =
P eriodo [s]
n
1
n
f =
=
F recuencia [Hz]
n
2
A>5C
A>,C
A>>C
A>@C
B
)?7* !
1
1
m
x + kx = 0,
L{m
x} + L{kx} = 0,
m[s2X(s) sx0 x 0] + kX(s) = 0,
sx0
1
}
+
L
{
k
x 0
},
k
s2 + m
s2 + m
s
x 0 1
n
1
= x0 L { 2
}+
L { 2
},
2
2
s + n
n
s + n
x 0
x(t) = x0 cos nt +
sen nt.
n
)@D*
posicion [m]
0.1
0.05
0
0.05
0.1
1
2
tiempo [s]
Plano de fase
1
0
1
2
1
2
tiempo [s]
[dx]
1
0
1
2
0.1
0.05
0
[x]
0.05
0.1
1
(
$ xh
xp
( !
1
%
xh(t) = C1 cos nt + C2 sen nt,
)@<*
n = (k/m)1/2
1 F (t) !
xp(t)
$ !
(
xp(t) = X cos t,
)@>*
X (
xp(t) : )@>*
)@G* X
F0
X=
.
)@=*
2
k m
1 )@G*
x(t) = C1 cos nt + C2 sen nt +
F0
cos t.
2
k m
)7H*
x
0
F0
x(t) = x0
cos nt +
sen nt
2
k m
n
F0
cos nt
)7?*
+
2
k m
F = ma,
cx kx = m
x,
m
x + cx + kx = 0.
)7@*
2
x(t) = Cest,
)77*
C s !
)77*
) )7@**
ms2 + cs + k = 0,
c2 4mk
s1,2 =
2m
c
k
c 2
=
.
2m
2m
m
c
)7D*
)7G*
x2(t) = C2es2t
c )2 k } t
( 2m
m
c ( c )2 k } t
{ 2m
2m
m
c +
{ 2m
e
+C2e
)7<*
C1 C2
!
/
% xh
(
$
'
!
cc %
c
)7G* C
c
2
k
c
= 0,
2m
m
cc = 2m
k
= 2 km = 2m n .
m
A@HC
)DH*
2m
cc 2m
s1,2 = ( 2 1 ) n.
)D5*
)7<*
{+
x(t) = C1e
2 1}nt
+ C2e
2 1}nt
)D?*
1 s1 s2 !
)D?*
5
= 0 -
(
5
= 0
C
c/2m <
cc
) = 1 c = cc c/2m =
(
k/m*
1
)D7*
c/2m >
k/m*
)5@*
x(t) = C1e{+
2 1}nt
2
+ C2e{ 1}nt
)DD*
C2
2 1 + x 0 )
,
2
2n 1
x0n ( 2 1 x 0)
2n 2 1
x0n ( +
AD.C
1
(
$ xh
xp
( !
1
% !
1
)D<*
$
(
xp(t) = X cos(t )
)D>*
X !
!
AD6C
)GH*
!
X )D>*
X =
F0
2)2 + c2 2]1/2
[(k m
c
= tan1
k m 2
)G5*
)G?*
1 0
' 2
34
0
2
34
( !