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Donde:

eb= Tensin inducido

= Posicin angular

1) Modelar el motor DC controlado por inducido. en tiempo y frecuencia. ( /Va;W/Va)

Del modelo EM del motor:

ia
ea = Ra* ia +La* +Eb ...(1)

T = K1* ia (2)

eb = K2* (3)

2
T = J* +b* (4)
2
K1* ia = J* +b* ()
ia
ea = Ra* ia +La* +K2 ...()

En frecuencia:

Ea(s) = RaIa(s)+LaSIa(s)+K2S(s) (5)

K1Ia(s) = JS2(s)+bS(s) (6)

De (6) en (5)

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

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

1) Aplicar SS(espacio de estado) , step , impulso , lsim , respuesta en frecuencia (bode) y

lugar geomtrico (rlocus),

Para:

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

>> J=0.0271;
>>L=0.0068;
>>b=0.00776;
>>k1=0.55;
>>k2=0.82;
>>R=1.1648;

>>num=[0 0 0 k1];

>>den=[J*L J*R+b*L b*R+k2*k1 0];

>>printsys(num,den)

num/den =

0.55
-----------------------------------------
0.00018428 s^3 + 0.031619 s^2 + 0.46004 s
>> [A,B,C,D]=tf2ss(num,den)

A=

1.0e+03 *

-0.1716 -2.4964 0
0.0010 0 0
0 0.0010 0

B=

1
0
0

C=

1.0e+03 *

0 0 2.9846

D=

0
>>step(num,den)

>>Impulse(num,den)
>>t=0:.1:10;
>>r=t;
>>y=lsim(num,den,r,t);
>>plot(t,r,'-',t,y,'o')

>>rlocus(num,den)
>> bode(num,den)

Para:

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

>> J=0.0271;
>> L=0.0068;
>> b=0.00776;
>> k1=0.55;
>> k2=0.82;
>> R=1.1648;
>> num=[0 0 k1];
>> den=[J*L J*R+b*L b*R+k2*k1 ];
>> printsys(num,den)
num/den =

0.55
-------------------------------------
0.00018428 s^2 + 0.031619 s + 0.46004

>> [A,B,C,D]=tf2ss(num,den)

A=

1.0e+03 *

-0.1716 -2.4964
0.0010 0

B=

1
0

C=

1.0e+03 *

0 2.9846

D=

0
>> step(num,den)

>> impulse(num,den)
>> t=0:.1:10;

>> r=t;

>> y=lsim(num,den,r,t);

>> plot(t,r,'-',t,y,'o')

>> rlocus(num,den)
>> bode(num,den)