Universidad Politcnica De Guanajuato

Problemas del primer

y segundo parcial
Arias Campos Salud Emmanuel

RAUL ALVARDO ALMANZA

Arias Campos Salud Emmanuel

Problemas de Mecatrnica
a. Primer Parcial.
1. Resolver el siguiente sistemas de ecuaciones por el mtodo de transformada de
Laplace:

( 2 )() + ( 2 )() = 2
1

(2)() + ( 2 )() = 2

2 ] = 4 2 3 = 3 ( 2)
2

= [
2
=

1
2
[ 1
2

= [

2
2

2
2

1
2
1 ]
2

2 2

] = 2 + 2 = 2

22
2
3 (2)
1
2 2
2
3 (2)
1

2
2

2
2

2 2
2

2 2
3 (2)2

2 2
3 (2)2

FRACCIONES PARCIALES POR RAICES REPETIDAS

2 2
3 (2)2

= + 2 + 3 + (2) + (2)2

2 2 = 2 ( 2)2 + ( 2)2 + ( 2)2 + 3 ( 2) + 3

2 2 = 2 ( 2 2 + 4) + ( 2 2 + 4) + ( 2 2 + 4) + 3 ( 2) + 3
2 2 = 4 2 3 + 4 2 + 3 2 2 + 4 + 2 2 + 4 + 4 2 3 + 3

Arias Campos Salud Emmanuel

4 0 = +
3 0 = 2 + 2 +
2 2 = 4 2 +
0 = 4 2
0 = 4
1

=2 =0
1

=0
1

= 2

=0

= 2 1 () 2 1 (2)
1
2

2 2

2 2
3 (2)2

= +

(2)

(2)2

2 2 = 2 ( 2)2 + ( 2)2 + ( 2)2 + 3 ( 2) + 3

2 2 = 2 ( 2 2 + 4) + ( 2 2 + 4) + ( 2 2 + 4) + 3 ( 2) + 3
2 2 = 4 2 3 + 4 2 + 3 2 2 + 4 + 2 2 + 4 + 4 2 3 + 3

4 0 = +
3 0 = 2 + 2 +
2 1 = 4 2 +
2 = 4 2
0 = 4
1

= 2 = 2
1

=0
1

=2
1

=2
1

= 2 1 () 2 1 ( 2 ) + 2 1 (2) + 2 1 ((2)2 )
1

2 2 + 2 2 + 2 2

Arias Campos Salud Emmanuel

2. Obtener el modelo matemtico del siguiente sistema dinmico, utilizando las leyes
fsicas adecuadas y encontrar las corrientes que circulan en cada malla.

= ()
()
=

R
L
=

C
Ley de OHM V=IR
Leyes de Kirchhoff VT= V1 +V2 +V3 +Vn

1 ()

(2 () 1 ()) + 2 () = 0

1 ()

()

()

= () = ()

IT= I1+I2+I3+IN

+ (1 () 2 ()) = ()

+ 4 (1 () 2 ()) = ()

4 (2 () 1 ()) + 42 () = 0
21 () + 4
()
4 1

1 ()

()
4 2

2 ()

()

+ 42 () = 0
4

2 + (1 ()) (2 ()) =
4

()

(1 ()) + (4 + ) (2 ()) = 0

=[

2 +

= 8 +

4+
+

16

] = (2 + ) (4 + ) ( ) ( )
16

16

8 2 +8+16

2 ++2

Arias Campos Salud Emmanuel

()

1 = [
1 =

4+

()

]=(

) (4 + ) 0

4()+4()
2
4

2 +

2 = [
4

()

2 =

4()

1() =

2() =

()

]=0(

) ( )

=
=

4()+4()
2
2 ++2

4()
2
2 ++2

4()+4()

( 2 ++2)

4()
( 2 ++2)

FRACCIONES PARCIALES
4()+4()
( 2 ++2)

( 2 ++2)

= +

4() + 4() = ( 2 + + 2) + 2 +
4() + 4() = 2 + + 2 + 2 +

2 0 = +
4() = +
4() = 2
= 2() = 2()

= 2()

1() = 2()1 ( ) 2()1 ( 2

) + 2()1 ( 2++2)

++2
1() =

1
2()1 ( )

2()

1
1
2
2
1 2 7
(+ ) +
2
4

(+ )

) + 2()1 (

1
1 2 7
2
4

(+ ) +

Arias Campos Salud Emmanuel

TEOREMA DE TRASLACION

1 (
)
7
2
+4

1
(+ )
2

1
1 7/4
1 7/4
1 (
)
1 (
)
7
7
2
2
2
+4
+4
1
1
(+ )
(+ )
2

2() 2() 2 +
4

()
7
4

2() 1

7
4

Racionalizar

2() 2()

1

2

+
4

1 = 2() 2()
7
4

2()
7
4

1
2

()
7
4

+
4

7
1
4
7
4

2()

7
4

()
7
4

7
4

7
1
4
7
4

+
4

FRACCIONES PARCIALES
4()
( 2 ++2)

( 2 ++2)

= +

4() = ( 2 + + 2) + 2 +
4() = 2 + + 2 + 2 +
2 0 = +
0=+
4() = 2
= 2() = 2()

= 2()

1
2() = 2()1 ( ) 2()1 ( 2
) 2()1 ( 2
)

++2
++2

Arias Campos Salud Emmanuel

2() =

1
2()1 ( )

2()

1
1
2
2
1 2 7
(+ ) +
2
4

(+ )

) 2()1 (

1 2 7
(+ ) +
2
4

TEOREMA DE TRASLACION

1 (

2 +

7
4 (+1)
2

7
1 1 1 4
1 7/4

1 (
)
7
7
2
2 +
2 +
1
4
4
(+ )
(
)(+1)
2
2

1

2

= 2() 2()

( )

1

2

7
4

2()
7

1

2

7
4

Racionalizar

2() 2()

+
4

2() 2()

2()
4
7
4

1
2

()
7
4

7
1
4
7
4

+
4

2()

7
()
4
7
4

7
4

7
1
4
7
4

Arias Campos Salud Emmanuel

3. Obtener el modelo matemtico del siguiente sistema dinmico, utilizando las leyes
fsicas adecuadas y obtener los desplazamientos x1 y x2.

2da ley de Newton = =

2
2

Componente

2
2

Fuerza
= ( ()) =
2

() =
(() =
Utilizando la 2da ley de Newton
1 1 1 1 1 + 2 (2 1 ) = 0
2 (2 1 ) 2 2 + () = 0
1 1 + 1 1 + 1 2 2 + 2 1 = 0
2 2 + 2 2 2 1 = ()
TRANSFORMADA DE LA PLACE
1 2 1() + 1 1() + (1()) 2 2() + 2 1() = 0
2 2 2() + 2 2() 2 1() =

()

Arias Campos Salud Emmanuel

(1 2 + + 1 + 2 )(1()) 2 2() = 0
2 (1()) + (2 2 + 2 )(2()) =

()

( 2 + + 1 + 2 )
2
=[ 1
]
(2 2 + 2 )
2
= 4 (1 2 ) + 1 2 2 + 2 3 + 2 + 1 2 2 + 1 2 + 2 2 2 + 2 2 2 2
= 4 (1 2 ) + 2 3 + 1 2 2 + (1 + 2 )2 2 + 2 + 1 2

0
1 = [()

2 = [

]=0+
(2 2 + 2 )

(1 2 + + 1 + 2 )
2

(())(2 )

()]

(())(1 2 ++1 +2 )

+0

(())(2 )
1

1 =
= 4
(1 2 ) + 2 3 + 1 2 2 + (1 + 2 )2 2 + 2 + 1 2

1
1 =

1
(())(2 )
=
4
3
() ( (1 2 ) + 2 + 1 2 2 + (1 + 2 )2 2 + 2 + 1 2 )

(())(1 2 + + 1 + 2 )
2

2 =
= 4
(1 2 ) + 1 2 2 + 2 3 + 2 + (1 + 2 )2 2 + 1 2

1
2 =

2
((())(1 2 + + 1 + 2 )
=
()( 4 (1 2 ) + 2 3 + 1 2 2 + (1 + 2 )2 2 + 2 + 1 2 )

Arias Campos Salud Emmanuel

b. Segundo Parcial.
1. Encontrar la funcin de transferencia G(s) = EC (s)/ Ei (s) y transformarla al tiempo.

Impedancia

Elementos
R

((

(1)( )
2
1

1+2

) + 1) 1() 1(2()) = ()
3

1(1()) + ( + ) (2()) = 0
1

=[

1
2

2+ +1

+1
3

1
3
1
4+ +2

1
1

(2 + 2 )
+

1
4+ +2

]=(

1
2+ +1
2

1
4+ +2

+ + 1=
2

+ 1) ( + ) 1

1
4+ +2

+ +

2
2
1
1
1
1
3 (4 + + 2) (4) + (4 + + 2) (4) + (2) (4 + + 2) + 1(2) (4 + + 2)

=
1
1
(4 + + 2)(4 + + 2)(2)(2)

12

48+ +24+16 2 +4+8+32 3 +32 2 +8+24+32 2 +32++24

16
64 2 +64+ +48

48 2 +12+24+16 3 +4+8 2 +32 4 +32 3 +8+24 2 +32 3 +32 2 +8+24

64 3 +64 2 +48+16

Arias Campos Salud Emmanuel

32 4 +80 3 +112 2 +48+20

64 3 +64 2 +48+16

()
1 = [
0

1 () =

] = (2 + 2 ) () 0
1
+ 2 )

( + )()

3 4 +5 3 +7 2 +3+
4 3 +4 2 +3+1

5
4

3
(2

1
16
1
16

3 1
2 2

4
3
2
3 +5 +7 +3+5
4
3
2
4 +4 +3+1

LEY DE OHM
V=IR

() =

() =

3 1
(2+2)()

4
3
2
3 +5 +7 +3+5
4
3
2
( 4 +4 +3+1 )
()
()

1
2

( )

3+2
)(4 3 +4 2 +3+1)
2
5
2(3 4 +5 3 +7 2 +3+ )
4

12 4 + 21 3 + 17 2 + 9 + 2
12 4 + 21 3 + 17 2 + 9 + 2
2
() =
=
5
5
2 (3 4 + 5 3 + 7 2 + 3 + 4) 4 (3 4 + 5 3 + 7 2 + 3 + 4)
1

Arias Campos Salud Emmanuel

2.-Encontrar la funcin de transferencia G(s) = X2(s)/Fa(s).

Componente

Impedancia
2

((1 + 3 ) 2 + 1 () + (1 + 2 ))1 () (2 )2 () + ((1 + 3 ) 2 + 1 () + 1 )3 () = ()

(2 )1 () + ((2 + 3 ) 2 + 2 () + 2 )2 () + ((2 + 3 ) 2 + 2 ())3 () = 0

((1 + 3 )2 + 1 () + 1 )1 () ((2 + 3 )2 + 2 ())2 () + ((1 + 2 + 3 )2 + (1 + 2 )() +

1 )3 () = 0

((1 + 3 )2 + 1 () + (1 + 2 ))
(

(2 )

((1 + 3 ) + 1 () + 1 )
2

(2 )

((1 + 3 ) + 1 () + 1 )

((2 + 3 )2 + 2 () + 2 )
2
((2 + 3 ) + 2 ())

((2 + 3 ) + 2 ())

+((1 + 2 + 3 ) + (1 + 2 )() + 1 )
2

((1 + 3 )2 + 1 () + (1 + 2 ))

(2 )

((1 + 3 ) + 1 () + 1 )

(2 )

((2 + 3 )2 + 2 () + 2 )

((2 + 3 ) + 2 ())

= (((1 + 3 )2 + 1 () + (1 + 2 ))((2 + 3 )2 + 2 () + 2 )((1 + 2 + 3 )2 + (1 + 2 )() +

1 )) + ( (2 )(((2 + 3 ) + 2 () ) ) ((1 + 3 ) + 1 () + 1 )) + (((1 + 3 ) + 1 () +
2

1 )(2 )((2 + 3 ) + 2 ())) ((2 )(2 )((1 + 2 + 3 ) + (1 + 2 )() + 1 ))

2

(((1 + 3 ) + 1 () + (1 + 2 ))(((2 + 3 ) + 2 ()))(((2 + 3 ) + 2 ()))

2

((((1 + 3 ) + 1 () + 1 ))((2 + 3 ) + 2 () + 2 )((1 + 3 ) + 1 () + 1 )

2

Arias Campos Salud Emmanuel

= ( 4 ((1 + 3 )(2 + 3 )) + 2 3 (1 + 3 ) + 2 2 (1 + 3 ) + 1 3 (2 + 3 ) + 1 2 2 + 1 2
((1 + 2 )(2 + 3 )) + 2 (1 + 2 )
2
+ 2 (1 + 2 )) ((1 + 2 + 3 ) + (1 + 2 )() + 1 )
4
3
2
3
+ (( (( 2 3 ) (1 + 3 )) + 1 ( 2 3 ) + 1 ( 2 3 ) 2 (1 + 3 )
2

2 1 2 1 ) (2 ))+ ((2 (2 3 ) + 2 1 + 1 2 ) ((2 + 3 ) + 2 ()) )

2

((2 )((1 + 2 + 3 ) + (1 + 2 )() + 1 ) (( (2 + 3 ) 2( 2 (2 + 3 ))

2

2 ) ((1 + 3 ) + 1 () + (1 + 2 ))) (( (1 + 3 ) 2(1 (1 + 3 ))

2 2

21 (1 + 3 ) 21 1 1 1 )((2 + 3 ) + 2 () + 2 ))
2

2 2

((1 + 3 )(2 + 3 )(1 + 2 + 3 )) + 5 ((1 + 3 )(2 + 3 )(1 + 2 ))

4
5
+ 1 ((1 + 3 )(2 + 3 )) + 2 ((1 + 3 )(1 + 2 + 3 ))
((1 + 3 )(1 + 2 )) + 2 3 1 ((1 + 3 )) + 2 4 ((1 + 3 )(1 + 2 + 3 ))
3
2
5
+ 2 ((1 + 3 )(1 + 2 )) + 1 2 (1 + 3 ) + 1 ((2 + 3 )(1 + 2 + 3 ))
4

+ 2

((2 + 3 )(1 + 2 )) + 1 1 3 (2 + 3 ) + 1 2 4 (1 + 2 + 3 )
3
2
3
2
+ 1 2 (1 + 2 ) + 1 2 1 + 1 2 (1 + 2 + 3 ) + 1 2 (1 + 2 ) + 1 2 1
4
3
+ ((1 + 2 )(2 + 3 )(1 + 2 + 3 )) + ((1 + 2 )(2 + 3 )(1 + 2 ))
2
3
+ 1 ((1 + 2 )(2 + 3 )) + 2 ((1 + 2 )(1 + 2 + 3 ))
4

+ 1

((1 + 2 )(1 + 2 )) + 2 1 (1 + 2 ) + 2 2 ((1 + 2 + 3 )(1 + 2 ))

4
+ 2 ((1 + 2 )(1 + 2 )) + 2 1 (1 + 2 ) 2 (( 2 3 ) (1 + 3 ))
3
2
3
2
1 2 ( 2 3 ) 1 2 ( 2 3 ) + 2 2 (1 + 3 ) + 2 1 2
4
3
3
2
2 1 2 2 ((2 3 )(2 + 3 )) 2 1 2 + 2 1 (2 + 3 ) + 2 1 2
2
2
2
2
2
+ 1 2 (2 + 3 ) + 1 2 2 )) 2 (1 + 2 + 3 ) 2 (1 + 2 ) 2 1
2

+ 2

+ ((2 + 3 ) (1 + 3 )) + 2( 2 (2 + 3 )(1 + 3 )) + 2 (1 + 3 )
6

2 4

+ 1 (2 + 3 ) + 2( 2 1 (2 + 3 )) + 1 2 +
5

2 3

(1 + 2 )(2 + 3 )2

+ 2( 2 (2 + 3 )(1 + 2 )) + 2 (1 + 2 )
3

2 2

+ (+ (1 + 3 ) (2 + 3 ) + 2 (1 + 3 ) + 2 (1 + 3 )
6

+ 2(1 (1 + 3 )(2 + 3 )) + 2(1 2

5

+ 21

(1 + 3 )) + 2(1 2 3 (1 + 3 ))

((1 + 3 )(2 + 3 )) + 21 2 3 ((1 + 3 )) + 21 2 2 ((1 + 3 ))

+ 2 ( 1 1 (2 + 3 )) + 2 ( 1 1 2 ) + 2(1 2 1 ) + 1
3

2 4

+ 1 2 + 1 (2 + 3 ) + 1 2 + 1 2 ))
2

2 2

(2 + 3 ) + 1 2 2 3

Arias Campos Salud Emmanuel

2 = 0 + 0 + ((((1 + 3 )2 + 1 () + 1 )) ( ()) ((2 + 3 )2 + 2 ()))

((2 )( ())( (1 + 2 + 3 )2 + (1 + 2 )() + 1 )) 0 0
2 = ( ())((4 ( (1 + 3)(2 + 3)) 3 2(1 + 3) 1 3 (2 + 3) 12 2
1 2 (2 + 3 ) 1 2 ) + 2 2 (1 + 2 + 3 ) + 2 (1 + 2 ) + 1 2 ))

2() =
G(s) =

2()
()

4 ( (1 +3 )(2 +3 ))3 2 (1 +3 )1 3 (2 +3 )1 2 2 1 2 (2 +3 )1 2 )+2 2 (1+2 +3 )+2 (1 +2 )+1 2 ))

Arias Campos Salud Emmanuel

3.-Encontrar la funcin de transferencia G(s) = 6(s)/1(s).

ELEMENTO

IMPEDANCIA
K
DS
2

( )

= ((4 + 5 + 6 ) + (2 + 3 )( 3 )2 + ( 1 ( 1 ) 2 ( 3 )2 )

= 3 + ( 3 ) 2 + ( 1 ) 2 ( 3 ) 2
4

= 2 + 1 ( 3 ) 2
4

(((4 + 5 + 6 ) + (2 + 3 )(3 )2 + ( 1 (1 ) 2 (3 )2 ) 2 + (3 + ( 3 ) 2 +
4

( 1
2

2 3
(
4

()

) ) + (2 +
6(s)
=
=
1(s)

1 ( 3
4

) ) )6(s) =

1(s) ( 2 ) ( 4 )
1
3

(2 ) (4 )
1
3
3 2

(((4 + 5 + 6 ) + (2 + 3 )( ) + ( 1 (1 ) 2 (3 )2 ) 2
4
2
4
3 2
1 2 3 2

+(3 + ( ) + ( ) ( ) ) + (2 + 1 ( 3 ) 2 ) )
4
2
4
4