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AP 5 - Exercicios de Controlador Digital Deadbeat
AP 5 - Exercicios de Controlador Digital Deadbeat
5e 0.3S
a) T=0.1 e Gp
S 1
1
b) T=0.2 e Gp
( S 1)((5S 1)
e 0.4 S
c) T=0.2 e Gp
( S 1)((5S 1)
Solução
5e 0.3S
a) Gp
S 1
5
Gp( z ) e 0.3S * (1 e ST ) * Z
S ( S 1)
e 0.3 S e kTS
5(1 e T ) Z 5(0.0952) Z 0.4758Z
0.3 k (0.1) 1 Z 1 T
( Z 1)(Z e ) ( Z 1)(Z 0.9048) ( Z 1)(Z 0.9048)
k 3 Z 3
0.4758Z
Gp( z ) Z 3 * (1 Z 1 ) *
( Z 1)( Z 0.9048)
Z 1 0.4758Z
Gp( z ) Z 3 * *
Z ( Z 1)( Z 0.9048)
0.4758 0.4758Z 1
Gp( z ) Z 3 Z 3
( Z 0.9048) 1 0.9048Z 1
1 Z 3 1 1 0.9048Z 1 Z 3 1 0.9048Z 1
D( z ) * * 2.1017
Gp( z ) 1 Z 3 Z 3 0.4758Z 1 1 Z 3 Z 1 Z 4
1
b) T=0.2 e Gp
( S 1)((5S 1)
1
Gp( z ) (1 e ST ) * Z
S ( S 1)(5S 1)
1/ 5 A B C
S ( S 1)(5S 1) S S 1 S 1 / 5
A 1; B 1 / 4; C 5 / 4
1 1/ 4 5/ 4 Z Z Z
Z 1/ 4 T
5/ 4
S S 1 S 1/ 5 Z 1 Z e Z e T / 5
T 0.2
Z 1 Z Z Z Z 1 Z 1
Gp( z ) * 1/ 4 T
5/ 4 T / 5
1 1/ 4 5/ 4
Z Z 1 Z e Z e Z 0.8187 Z 0.9608
0.0037 Z 0.0034 0.0037 Z 1 0.0034Z 2
Gp( z )
Z 2 1.78Z 0.786 1 1.78Z 1 0.786Z 2
e 0.4 S e kTS
0.4 k (0.2)
k 2 Z 2
0.0037 Z 1 0.0034Z 2
Gp( z ) Z 2
1 1.78Z 1 0.786Z 2
1 Z 2 1 1 1.78Z 1 0.786Z 2 Z 2
D( z ) * *
Gp( z ) 1 Z 2 Z 2 0.0037 Z 1 0.0034Z 2 1 Z 2
1 1.78Z 1 0.786Z 2
0.0037 Z 1 0.0034Z 2 0.0037 Z 3 0.0034Z 4