Universidad Nacional Mayor de San Marcos FIEE

INFORME N° 5: CONTROLADOR PD Y PID

Nombre: ZAHAIRA OBLITAS MANCILLA

Codigo :13190113
Del siguiente Sistema:

( )
( )( )

 Graficar c(t) para i), ii), iii); para r(t)=1.

 Hallar el MF y Mg en cada uno de los casos.

>> s=tf('s');
>> num=[1080]; Transfer function:
>> den=[conv([1 0],conv([1 6],[1 18]))]; 1080 s + 1080
>> Gp=tf(num,den) ----------------------------
s^3 + 24 s^2 + 1188 s + 1080
Transfer function:
1080 % CONTROLADOR 2
-------------------- >> num2=[0.1 1];
s^3 + 24 s^2 + 108 s >> den2=[1];
>> Gc2=tf(num2,den2)
% PLANTA REALIMENTADA
>> Gp1=feedback(Gp,1) Transfer function:
0.1 s + 1
Transfer function:
1080 % PLANTA TOTAL 2
--------------------------- >> G2=Gc2*Gp
s^3 + 24 s^2 + 108 s + 1080
Transfer function:
108 s + 1080
% CONTROLADOR 1 --------------------
>> num1=[1 1]; s^3 + 24 s^2 + 108 s
>> den1=[1];
>> Gc1=tf(num1,den1) % PLANTA TOTAL 2 REALIMENTADA
>> Gpc2=feedback(G2,1)
Transfer function:
s+1 Transfer function:
108 s + 1080
% PLANTA TOTAL 1 ---------------------------
>> G1=Gc1*Gp s^3 + 24 s^2 + 216 s + 1080

Transfer function: % CONTROLADOR 3

1080 s + 1080 >> num3=[0.05 1];
-------------------- >> den3=[1];
s^3 + 24 s^2 + 108 s >> Gc3=tf(num3,den3)

% PLANTA TOTAL 1 REALIMENTADA Transfer function:

>> Gpc1=feedback(G1,1) 0.05 s + 1

1
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>> hold on
% PLANTA TOTAL 3 >> step(Gpc3)
>> G3=Gc3*Gp >> legend('Sistema sin compensar','Sist. comp.
a=1','Sist. comp. a=0.1','Sist. comp. a=0.05')
Transfer function: >> title('Respuestas del Sistema')
54 s + 1080 >> grid
-------------------- >>
s^3 + 24 s^2 + 108 s >> figure(2)
>> bode(Gp)
% PLANTA TOTAL 3 REALIMENTADA >> margin(Gp)
>> Gpc3=feedback(G3,1) >> hold on
>> bode(G1)
Transfer function: >> margin(G1)
54 s + 1080 >> hold on
--------------------------- >> bode(G2)
s^3 + 24 s^2 + 162 s + 1080 >> margin(G2)
>> hold on
>> figure(1) >> bode(G3)
>> step(Gp1) >> margin(G3)
>> hold on >> legend('Sistema sin compensar','Sist. comp.
>> step(Gpc1) a=1','Sist. comp. a=0.1','Sist. comp. a=0.05')
>> hold on >> title('Diagramas de Bode del Sistema')
>> step(Gpc2)

Respuestas del Sistema

1.6
Amplitude

Sistema sin compensar

1.4 Sist. comp. a=1

Sist. comp. a=0.1
Sist. comp. a=0.05
1.2

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

2
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Magnitude (dB) Diagramas de Bode del Sistema

100

50

-50
Phase (deg)

-100

-150
-45
Sistema sin compensar
Sist. comp. a=1
-90
Sist. comp. a=0.1
Sist. comp. a=0.05
-135

-180

-225

-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)