Curso: Sistema de Control II (Laboratorio)

Tema: Laboratorio N°5

Profesor: Ing. Ángeles Menacho, Jaime Ángel

Alumno: Coaguila Henostroza Christian Omar
Código: 15190047

2019-2
 CONTROLADOR PD Y PID
Del siguiente gráfico:

 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 +
>> Gp=tf(num,den) 1080
----------------------------
Transfer function: s^3 + 24 s^2 + 1188 s + 1080
1080
-------------------- % CONTROLADOR 2
s^3 + 24 s^2 + 108 s >> num2=[0.1 1];
>> den2=[1];
% PLANTA REALIMENTADA >> Gc2=tf(num2,den2)
>> Gp1=feedback(Gp,1)
Transfer function:
Transfer function: 0.1 s + 1
1080
--------------------------- % PLANTA TOTAL 2
s^3 + 24 s^2 + 108 s + 1080 >> G2=Gc2*Gp

Transfer
% CONTROLADOR 1 function: 108 s
>> num1=[1 1]; + 1080
>> den1=[1]; --------------------
>> Gc1=tf(num1,den1) s^3 + 24 s^2 + 108 s

Transfer function: s + 1 % PLANTA TOTAL 2 REALIMENTADA

>> Gpc2=feedback(G2,1)
% PLANTA TOTAL 1
>> G1=Gc1*Gp Transfer function:
108 s + 1080
Transfer ---------------------------
function: 1080 s^3 + 24 s^2 + 216 s + 1080
s + 1080
-------------------- % CONTROLADOR 3
s^3 + 24 s^2 + 108 s >> num3=[0.05 1];
>> den3=[1];
% PLANTA TOTAL 1 REALIMENTADA >> Gc3=tf(num3,den3)
>> Gpc1=feedback(G1,1)
Transfer function:
0.05 s + 1
 >> 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)

Diagrama de Bode del Sistema

 Magnitude
(dB)
100

50

-50

-100
Phase

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

-180

-225

-270 10-1
10-2 100 101 102 103

Frequency (rad/sec)