Curso: Sistema de Control II

(Laboratorio)
Tema: Laboratorio N°6

Profesor: Ing. Ángeles Menacho,

Jaime Ángel
Alumno: Coaguila Henostroza
Christian Omar
Código: 15190047

2019-2

1
 COMPENSADOR ADELANTO DE FASE

Ejercicio 1:
Diseñar el Compensador en Adelanto de Fase para obtener un Margen de Fase deseado de 45º
Solución:

GC  1080
s  s  6  s
18

Usando matlab: vemos el Mf inicial de Gc.

Bode Diagram
Gm = 7.6 dB (at 10.4 rad/sec) , Pm = 23.4 deg (at 6.42 rad/sec)
50

0
Magnitude

-50
(dB)

-100

-150
-90

-135

-180
Phase
(deg)

-225

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

MF0=23.4

2
 φ m=MF d −MF 0 +θ

θ=5°  12 °

φ m=45−23.4+ 5=26.6 Con: θ=5°

1−sin ⁡(φm ) 1−sin ⁡( 26.6)

α= = =0.3814
1+sin ⁡( φm ) 1+sin ⁡(26.6)

Lc=20 log
( √1α )=20 log √ 0.3814
1
=4.1862

Lp=20−20 log ( ω )−20 log (√ )

ω2
62
+1 −20 log (√ )
ω2
182
+1 ; Lp=−Lc

φ m=90−tan
−1
( ω6 )−tan ( 18ω )
−1

φ ( ω )=−180−MF 0=−180+23.4=−156.6

ω=6.42

1 1
ω n=  T= =0.2522
T √α ωn √ α

T s +1 0.2522 s+1
Entonces diremos: G c =α =0.3814
1+α T s 1+0.0962 s

En Matlab

3
 Bode Diagram
Gm = 16.4 dB (at 15.5 rad/sec) , Pm = 67.2 deg (at 4.11 rad/sec)
50

0
Magnitude

-50
(dB)

-100

-150
-90

-135

-180
Phase
(deg)

-225

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

Con  12
m  45 23.4 12  33.6

1−sin ⁡(φm ) 1−sin ⁡( 33.6) 0.287

α= = =0. 2875
1+sin ⁡( φm ) 1+sin ⁡(33 .6)

1 1
Lc  20log  20log  5.4212


1 1
ω n=  T= =0.29
T √α ωn √ α

4
 T s +1 0. 29s +1
Gc =α =0.2875
1+α T s 1+ 0.0834 s

5
 Bode Diagram
Gm = 18.5 dB (at 16.9 rad/sec) , Pm = 79.1 deg (at 3.31 rad/sec)
50

0
Magnitude

-50
(dB)

-100

-150
-90

-135

-180
Phase
(deg)

-225

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