Professional Documents
Culture Documents
CONTROL INDUSTRIAL I
INTEGRANTES:
1) Transformada Z
(1−e−at )
x ( t )= Donde a es constante.
a
∞
1−e−at −K
Z [x ( t ) ]=∑ [ ]Z
k=0 a
1
Z [ x ( k ) ] = ¿ [1]
a
A continuación, se procede a operar las sumatorias por separado
∞
x ( z )=∑ ( 1 ) Z−k
k=0
∞
x ( z )=∑ ( 1 ) Z−k =1+ z−1 + z−2 + z−3 + z−4 [2]
k=0
Factor multiplicante: z−1, multiplicando este factor por la ecuación [2] se tiene que:
∞
z−1 x ( z )=∑ ( 1 ) Z− k =z−1+ z−2+ z −3 + z −4 [3]
k=0
1 z
x ( z )= = [5]
( 1−z ) z−1
−1
1 Z −Ze−at
Z [ x t ]= [ 2
( ) ]
a Z −Ze−at −Z + e−at
1 Z (1−e−at )
Z [ x ( t ) ]= [ ]
a (Z −1)(Z−e−at )
k3
∞
Z [ x ( t ) ]=∑ (k 3 ) Z−k =¿ ¿
k =1
3 d 3 z
Z [ k u t ]=(−Z
( ) ) Z [ u ( t ) ] Donde Z [ u ( k ) ] =u(t )=
dZ z −1
Se procede a derivar sucesivamente el termino u(t)
1 ( Z−1 )−Z ( 1 ) −1 z
z [ k u ( k ) ]= 2
= 2
∗−z=
( Z−1 ) ( Z−1) (Z −1)2
( Z−1 )2 −Z ( 2 )( Z−1 ) ( Z−1 ) ( ( z−1 ) −2 z ) z−1−2 z Z ( Z+ 1 )
z [ k 2 u ( k ) ]= 4
= 4
= 3
∗−z = 3
( Z−1 ) ( Z−1 ) ( Z −1 ) ( Z−1 )
(2 Z +1) ( Z−1 )3−( Z2 + Z)(3)( Z−1)2(1)
z [ k 3 u ( k ) ]=
( Z−1 )5
2
z [ k 3 u ( k ) ]=( z−1 ) ¿ ¿
3 −z 2−4 z −1 z3 + z 2 + z
z [ k u k ]=
( ) 3
∗−z= 3
( z−1) (z−1)
Z [ x ( k ) ]= ( 92 ) Z [ k (2 )] −Z [ 2 ]+ 3 Z ¿]
k k
Z [ a n X ( n ) ]=X [a−1 Z ]
Por medio de esta función se puede obtener:
z
Z [ U ( n ) ]=
z−1
1
∗z
a z
Z [ a n U ( n ) ]= =
1 z−a
∗z −1
a
d n
(
Z [ k n x ( n ) ]= −Z
dz )Z [an U ( n ) ]
9
2
9
[
Z [ k ( 2k ) ]= −Z
2
d Z
dZ Z−2
9
= −Z
2
( Z−2 )−Z (1)
[ ]]
(Z−2) 2
9
= −Z
2 [ [
−2
( Z−2)2 ]] [ [ ]]
9 9 2Z 9Z
2
k
Z [ k ( 2 ) ]=
[[
2 (Z−2)2
=
( Z−2)2
[2] ]]
Resolviendo ahora la transformada z para el segundo termino
1
∗z
2 z
Z [ 2 K U ( n ) ]= = [3]
1 z−2
∗z −1
2
Resolviendo ahora la transformada z para el tercer termino
Z 3Z
3 Z [ u(k ) ] =3 [ ] =
Z−1 Z−1
[4]
Z [ x ( k ) ] =Z [ 9 k ( 2k−1) −2k −3 ]
9Z 2Z 3Z
Z [ x ( k ) ]= − +
(Z−2) Z−2 Z−1
2
k
x ( k )=∑ ah Donde a es constante
h=0
x ( k ) (1−a)=1−a k+1
1−a k+1
x ( k )=
(1−a)
1 Z Z
Z [ x (k ) ] =
1−a Z−1
−a ⌊[Z−a
⌋ ]
1 Z aZ
Z [ x (k ) ] = −
1−a Z−1 Z−a [ ]
1 Z ( Z−a )−Za(Z−1)
Z [ x (k ) ] =
1−a [
(Z−1)(Z−a) ]
1 Z 2−Za−Z 2 a+ Za
Z [ x (k ) ] =
[
1−a Z 2−Za−Z +a ]
1 Z2 (1−a)
Z [ x (k ) ] =
[
1−a Z 2−Z (a+1)+a ]
Z2
Z [ x (k ) ] =
[ Z2 −Z (a+ 1)+a ]
(2 !) z
Muestre que: z [ k ( k−1 ) a k−2 ]=
( z−a )3
d n
Z [ k n u( k ) ]= −z ( dz )Z [u ( k ) ]
n
d z
Z [ k 2 a k u(k ) ]= −z ( [
dz z−a
] )
( z −a )−z ( 1 ) az
Z [ku ( k ) ]=−Z
[ ( z−a ) 2
=
]
( z −a )2
1 za2 −az 2 z
Z [ x (k ) ] = 2
[ 3
− ]
a ( z −a ) z−a
1
Z [ x (k ) ] = ¿]
a2
1 −z 3
Z [ x (k ) ] = [ ]
a2 ( z−a )3
2)
Expansión de la serie:
K=0
X ( 2 )= X (1 ) + X ( 0 )=1
K=1
X ( 3 ) =X ( 2 )+ X ( 1 )=2
K=2
X ( 4 )= X (3 )+ X ( 2 )=3
K=3
X ( 5 ) =X ( 4 )+ X ( 3 )=5
K=4
X ( 6 )=X ( 5 ) + X ( 4 )=8
K=5
X ( 7 ) =X ( 5 ) + X ( 4 )=13
Representación analítica
1n=1
F=
{ 1n=2
F ( n−1 )+ F ( n+1 ) n>2
Código y gráfica
n=8;
f=[1 1];
for i=3:n
(i)=f(i-1)+f(i-2);
end
stem(f);
axis([0 9 0 1]);
z
Z [ x ( k ) ]= 2
z −z−1
Código
num = [0 1 0];
den = [1 -1 -1];
u = [1 zeros(1,30)];
x = filter(num,den,u)
stem(x);
axis([0 9 0 30]
Gráfica
5 1 1 n
b ¿ y [ n]− ()6
y [ n−1 ] +
6 ()
y [ n−2 ] =
5 ()
u [ n ] , donde y [−1 ] =6 e y [−2]=25
z
Z [ u ( n ) ]=Z [u ( k ) ] =
z−1
z
Z [ a k u ( n ) ]=Z [ a k u ( k ) ]=
z−a
5 −1 1 z
y (Z)− [ z ∗y (z ) ]+ [ z−2∗y (z ) ]=
6 6 1
z−
5
5 1 z
(
y (Z) 1− + 2 =
6z 6z )
z−
1
5
z
y (Z)=
5 1
( 1− + 2
6z 6z )( z− 51 )
Operando la ecuación anterior hallamos la transformada que rige el sistema en matlab
6 z3
Z [ y ( n ) ]=
31 1
6 z 3− z2 +2 z−
5 5
Código y gráfica
n=0:1:15;
num=[6 0 0 0];
den=[6 -(31/5) 2 -(1/5)];
lim=[1 zeros(1,15)];
x=filter(num,den,lim)
axis([0 15 0 2]);
stem(x)
CÓDIGO MATLAB
A1=8;
A2=4;
R=1;
A=[-1/(A1*R) 1/(A1*R) 0 0; 1/(A2*R) -2/(A2*R) 0 0;0 0 0 0;0 0 0 0];
B=[1/A1; 0; 0; 0];
C=[1 0 0 0; 0 1 0 0];
D=[0;0];
Sys=ss(A,B,C,D)
step(Sys)
GSS=tf(Sys)
polos=pole(GSS)
figure(1);
step(Sys);
grid;
figure(2);
impulse(Sys)
grid;
GRÁFICAS MATLAB
Figure 5:Respuesta del sistema, tanque uno en la parte superior, tanque dos en la parte inferior.
CÓDIGO S – FUNCTION
function [sys,x0,str,ts,simStateCompliance] = SFPARCIAL1(t,x,u,flag)
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates = 2;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 2;
sizes.NumInputs = 1;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
x0 = [0 0];
str = [];
ts = [0 0];
simStateCompliance = 'UnknownSimState';
function sys=mdlDerivatives(t,x,u)
qint=u(1);
h1=x(1);
h2=x(2);
R=1;
A1=8;
A2=4;
sys(1)=(qint-(h1/R)+(h2/R))/A1;
sys(2)=((h1/R)-(2*h2/R))/A2;
function sys=mdlOutputs(t,x,u)
sys = [x(1),x(2)];