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T ( s )=
1
s +1
T ( j ) =
1
j +1
1
(1 j )
j +1
T ( j ) =
(1 j )
T ( j ) =
2 2
j
+ 1 +1
2 2
|T ( j)|=
|T ( j)|=
1
+1
tg =
1
2 2
+
2 2
2
2 2
2
( +1) ( +1)
2 2
/( 2 2 +1)
1/(2 2 +1)
=tg1( )
Parte real:
1
+1
2 2
parte imaginaria:
2 2 +1
=1/ |T ( j )|=1/ 2
=45
Con estos puntos podemos definir que el diagrama de Nyquist queda como
un semicrculo como se muestra a continuacin.
Con lo cual nos damos cuenta que la parte real es igual a |T(jw)|*cos
|T(j)|
0.5
0.4532
<T(jw)
(seg)
-2.4315
0.2467
-0.8831
0.0497
-0.2727
0.0356
-0.2175
0.0278
-0.1718
10
0.025
-0.1586
12
0.0207
-0.1373
log w
-0.30103
20log|
T(jw)|
6.8742019
8
0
12.156617
0.69897
26.072872
2
0.845098
-28.971
04
0.954242
51 31.119104
1
1
32.041199
8
1.079181
25 33.680593
1
<T(jw)
|T(j)|cos
|T(j)|
(rad)
(<T(j))
(<T(j
-1.2158
0.157526
-0.8831
0.156595
-1.3634
0.010234
-1.5227
0.001712
-1.5458
0.000695
-1.5856
-0.000370
-1.6479
-0.001594
15
0.0163
-0.1152
17
0.0142
-0.1044
20
0.0118
-0.0919
25
0.0113
-0.0379
30
0.0084
-0.0665
40
0.0056
-0.0529
50
0.0045
-0.0228
10
0
0.0023
-0.0133
50
0
0.0005
-0.0037
1.176091
26 35.756247
9
1.230448
92 36.954233
1
1.30103
38.562359
9
1.397940
01 38.938431
1
1.477121
25 41.514414
3
1.602059
99 45.036239
5
1.69897
46.935749
7
2
52.765443
3
2.69897
66.020599
9
-1.7285
-0.002560
-1.7753
-0.002884
-1.8390
-0.003127
-0.9473
0.006598
-1.9952
-0.003459
-2.1155
-0.002902
-1.1393
0.001882
-1.3306
0.000547
-1.8684
-0.000147
0
-0.5
0.5
1.5
2.5
2.5
-10
-20
-30
20log|T(jw)|
-40
-50
-60
-70
log w
0.0000
-0.5
-0.5000
-1.0000
<T(jw) (rad)
-1.5000
-2.0000
-2.5000
0.5
1.5
0.0000
0
100
200
300
400
500
-0.5000
-1.0000
<T(jw) (rad)
-1.5000
-2.0000
-2.5000
W
0.2467
<T(jw)
(seg)
-0.8831
10
0.025
-0.1586
100
0.0023
-0.0133
|T(j)|
log w
20log|
T(jw)|
0
12.15661
7
32.04119
98
52.76544
<T(jw)
(rad)
-0.8831
-1.5856
-1.3306
600
33
0
-10 0
0.5
1.5
2.5
-20
-30
-40
-50
-60
0.0000
-0.2000 0
0.5
1.5
2.5
-0.4000
-0.6000
-0.8000
-1.0000
-1.2000
-1.4000
-1.6000
-1.8000
=tg1 ( ) donde =4
|T(j)|
w
0.5
1
5
7
9
10
log w
20log|
T(jw)|
<T(jw)
(rad)
6.874201
0.4532 -0.30103
98 -1.10715
12.15661
0.2467
0
7 -1.32581
26.07287
0.0497 0.69897
22 -1.52084
0.84509
0.0356
804
-28.971 -1.53510
0.95424 31.11910
0.0278
251
41 -1.54303
0.025
1
- -1.54580
32.04119
12
0.0207
1.07918
125
15
0.0163
1.17609
126
17
0.0142
1.23044
892
20
0.0118
1.30103
25
0.0113
1.39794
001
30
0.0084
1.47712
125
40
0.0056
1.60205
999
50
0.0045
1.69897
100
0.0023
500
0.0005
2.69897
98
33.68059
31
35.75624
79
36.95423
31
38.56235
99
38.93843
11
41.51441
43
45.03623
95
46.93574
97
52.76544
33
66.02059
99
-1.54997
-1.55413
-1.55609
-1.55830
-1.56080
-1.56246
-1.56455
-1.56580
-1.56830
-1.57030
0
-0.5
0.5
1.5
2.5
-10
-20
-30
20log|T(jw)|
-40
-50
-60
-70
log w
0.00000
-0.5
0
-0.20000
0.5
1.5
2.5
-0.40000
-0.60000
<|T(jw)|
-0.80000
-1.00000
-1.20000
-1.40000
-1.60000
-1.80000
log w
|T(j)|cos
|T(j)|sen
(<T(j))
(<T(j))
0.5
0.157526
-0.424942
1
0.156595
-0.190628
5
7
9
10
12
15
17
20
25
30
40
50
10
0
50
0
-0.100000
0.010234
0.001712
0.000695
-0.000370
-0.001594
-0.002560
-0.002884
-0.003127
0.006598
-0.003459
-0.002902
0.001882
0.000547
-0.048635
-0.035559
-0.027791
-0.024997
-0.020638
-0.016098
-0.013904
-0.011378
-0.009174
-0.007655
-0.004790
-0.004088
-0.002234
-0.000147
-0.000478
0.000000
0.000000
-0.050000
0.100000
0.200000
-0.100000
-0.150000
-0.200000
-0.250000
-0.300000
-0.350000
-0.400000
-0.450000
|T(j)|
20log|
T(jw)|
log w
0
1
0.25 0.707107
0.2467
0.0497
6.874201
98
12.15661
7
26.07287
22
0.0278
0.025
-28.971
31.11910
41
-
0.5
7
9
10
0.4532 -0.30103
0
0.69897
0.845098
0.0356
04
0.954242
51
1
<T(jw)
(rad)
|T(j)|cos
(<T(j))
|T(j)|sen
(<T(j))
0
-0.785398
1
0.5
0
-0.5
-1.10715
0.202677
-0.405355
-1.32581
0.059835
-0.239334
-1.52084
0.002482
-0.049638
-1.53510
0.001271
-0.035577
-1.54303
-1.54580
0.000772
0.000625
-0.027789
-0.024992
1.079181
25
12
0.0207
15
1.176091
0.0163
26
17
0.0142
1.230448
92
20
0.0118
1.30103
25
0.0113
1.397940
01
30
0.0084
1.477121
25
40
0.0056
1.602059
99
50
0.0045
1.69897
100
0.0023
500
0.0005
0
2.69897
32.04119
98
33.68059
31
35.75624
79
36.95423
31
38.56235
99
38.93843
11
41.51441
43
45.03623
95
46.93574
97
52.76544
33
66.02059
99
-1.54997
0.000431
-0.020696
-1.55413
0.000272
-0.016298
-1.55609
0.000209
-0.014198
-1.55830
0.000147
-0.011799
-1.56080
0.000113
-0.011299
-1.56246
0.000070
-0.008400
-1.56455
0.000035
-0.005600
-1.56580
0.000022
-0.004500
-1.56830
0.000006
-0.002300
-1.57030
-6.283185
0.000000
0
-0.000500
0
0
0
0.2
0.4
0.6
0.8
1.2
-0.1
-0.2
parte imaginaria
-0.3
-0.4
-0.5
-0.6
parte real
=1/ |T ( j )|=1/ 2
=45
T ( s )=
K
n
( s+1)
=1/c
Por lo tanto
= 0.05
T ( s )=
10
2
( 0.05 s+ 1)
Ahora se har uso de la GUI llamada bodenyq2, para lo cual hay que
tener en consideracin que esta GUI trabaja con una funcin:
T ( s)
K e ( s c1 )( s c 2 )( s cn )e ds
( s p1 )( s p 2 )( s p m )
T ( s )=
10
( 0.05 s+1 )( 0.05 s+1 )
K e=
K
=4
000
2
25.00
20.00
15.00
Ganancia (DB)
10.00
5.00
0.00
0.00
10.00
20.00
30.00
40.00
50.00
60.00
W(rad/seg)
|T ( j)|=
K
+1
2 2
0.000
0
1.000
0
2.000
0
3.000
0
4.000
0.05
00
0.05
00
0.05
00
0.05
00
0.05
w^2
0.0000
1.0000
4.0000
9.0000
16.0000
t^2
0.00
25
0.00
25
0.00
25
0.00
25
0.00
1+
(w^2)*(t^
2)
1.0000
1.0025
1.0100
1.0225
1.0400
raiz
E
1.00
00
1.00
12
1.00
50
1.01
12
1.01
1/F
1.00
00
0.99
88
0.99
50
0.98
89
0.98
k*G
20log
H
10.00
00
9.987
5
9.950
4
9.889
4
9.805
20.00
00
19.98
92
19.95
68
19.90
34
19.82
modi
f
20.00
00
20.00
00
20.00
00
20.00
00
20.00
0
5.000
0
6.000
0
7.000
0
8.000
0
9.000
0
10.00
00
11.00
00
12.00
00
13.00
00
14.00
00
15.00
00
16.00
00
17.00
00
18.00
00
19.00
00
20.00
00
21.00
00
22.00
00
23.00
00
24.00
00
25.00
00
26.00
00
27.00
00
28.00
00
29.00
00
30.00
00
31.00
00
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
25.0000
36.0000
49.0000
64.0000
81.0000
100.000
0
121.000
0
144.000
0
169.000
0
196.000
0
225.000
0
256.000
0
289.000
0
324.000
0
361.000
0
400.000
0
441.000
0
484.000
0
529.000
0
576.000
0
625.000
0
676.000
0
729.000
0
784.000
0
841.000
0
900.000
0
961.000
0
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
1.0625
1.0900
1.1225
1.1600
1.2025
1.2500
1.3025
1.3600
1.4225
1.4900
1.5625
1.6400
1.7225
1.8100
1.9025
2.0000
2.1025
2.2100
2.3225
2.4400
2.5625
2.6900
2.8225
2.9600
3.1025
3.2500
3.4025
98
1.03
08
1.04
40
1.05
95
1.07
70
1.09
66
1.11
80
1.14
13
1.16
62
1.19
27
1.22
07
1.25
00
1.28
06
1.31
24
1.34
54
1.37
93
1.41
42
1.45
00
1.48
66
1.52
40
1.56
20
1.60
08
1.64
01
1.68
00
1.72
05
1.76
14
1.80
28
1.84
46
06
0.97
01
0.95
78
0.94
39
0.92
85
0.91
19
0.89
44
0.87
62
0.85
75
0.83
84
0.81
92
0.80
00
0.78
09
0.76
19
0.74
33
0.72
50
0.70
71
0.68
97
0.67
27
0.65
62
0.64
02
0.62
47
0.60
97
0.59
52
0.58
12
0.56
77
0.55
47
0.54
21
8
9.701
4
9.578
3
9.438
6
9.284
8
9.119
2
8.944
3
8.762
2
8.574
9
8.384
4
8.192
3
8.000
0
7.808
7
7.619
4
7.432
9
7.250
0
7.071
1
6.896
6
6.726
7
6.561
8
6.401
8
6.247
0
6.097
1
5.952
3
5.812
4
5.677
3
5.547
0
5.421
3
97
19.73
67
19.62
57
19.49
81
19.35
54
19.19
91
19.03
09
18.85
22
18.66
46
18.46
95
18.26
81
18.06
18
17.85
16
17.63
84
17.42
32
17.20
68
16.98
97
16.77
26
16.55
61
16.34
04
16.12
61
15.91
34
15.70
25
15.49
37
15.28
71
15.08
29
14.88
12
14.68
20
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
20.00
00
16.77
26
16.55
61
16.34
04
16.12
61
15.91
34
15.70
25
15.49
37
15.28
71
15.08
29
14.88
12
14.68
20
32.00
00
33.00
00
34.00
00
35.00
00
36.00
00
37.00
00
38.00
00
39.00
00
40.00
00
41.00
00
42.00
00
43.00
00
44.00
00
45.00
00
46.00
00
47.00
00
48.00
00
49.00
00
50.00
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
0.05
00
1024.00
00
1089.00
00
1156.00
00
1225.00
00
1296.00
00
1369.00
00
1444.00
00
1521.00
00
1600.00
00
1681.00
00
1764.00
00
1849.00
00
1936.00
00
2025.00
00
2116.00
00
2209.00
00
2304.00
00
2401.00
00
2500.00
00
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
0.00
25
3.5600
3.7225
3.8900
4.0625
4.2400
4.4225
4.6100
4.8025
5.0000
5.2025
5.4100
5.6225
5.8400
6.0625
6.2900
6.5225
6.7600
7.0025
7.2500
1.88
68
1.92
94
1.97
23
2.01
56
2.05
91
2.10
30
2.14
71
2.19
15
2.23
61
2.28
09
2.32
59
2.37
12
2.41
66
2.46
22
2.50
80
2.55
39
2.60
00
2.64
62
2.69
26
0.53
00
0.51
83
0.50
70
0.49
61
0.48
56
0.47
55
0.46
57
0.45
63
0.44
72
0.43
84
0.42
99
0.42
17
0.41
38
0.40
61
0.39
87
0.39
16
0.38
46
0.37
79
0.37
14
5.300
0
5.183
0
5.070
2
4.961
4
4.856
4
4.755
2
4.657
5
4.563
2
4.472
1
4.384
2
4.299
3
4.217
3
4.138
0
4.061
4
3.987
3
3.915
6
3.846
2
3.779
0
3.713
9
14.48
55
14.29
17
14.10
05
13.91
21
13.72
63
13.54
33
13.36
30
13.18
53
13.01
03
12.83
79
12.66
80
12.50
07
12.33
59
12.17
35
12.01
35
11.85
59
11.70
05
11.54
75
11.39
66
14.48
55
14.29
17
14.10
05
13.91
21
13.72
63
13.54
33
13.36
30
13.18
53
13.01
03
12.83
79
12.66
80
12.50
07
12.33
59
12.17
35
12.01
35
11.85
59
11.70
05
11.54
75
11.39
66