4

Considere una planta de G = (s+7)(s+9) en lazo cerrado.

obtenga
a)! n , , tr , tp , ts , Npicos , Mp% , c(1), c(tp). Ante una entrada escalon
unitario R(s) = 1s
b)ess (suponiendo una entrada escalon unitario R(s) = 1s )
c)ess (suponiendo una entrada escalon unitario R(s) = 2s )
d)ess (suponiendo una entrada rampa unitaria R(s) = s12 )
e)Indique la posicion de los polos.
f)Gra…que el plano "s"
g)Indique el tipo de comportamiento

a)! n , , tr , tp , ts , Npicos , Mp% , c(1), c(tp). Ante una entrada escalon

unitario R(s) = 1s

4 4
G= (s+7)(s+9) = s2 +16s+63

Obtener la funcion4 de transferencia

4
C G s2 +16s+63 2 +16s+63 4
R = 1+G = 1+ 4 = s2s+16s+63+4 = s2 +16s+63+4
s2 +16s+63 s2 +16s+63
C 4
R = s2 +16s+67
Obtener ! n y
C 4 K! 2n
R = s2 +16s+67 = s2 +2 ! n s+! 2n

! 2n = 67
K! 2n = 4
2 ! n = 16
p
! n = 67 = 8:16 rad
seg
16
= 2(8:16) = 0:97
K = !42 = 674
= 0:059
n

tiempo de levantamiento, tiempo pico, tiempo de asentamiento

tr = ! d , tp = ! d , ts = 4
= !n
= cos
1
= cos p = cos 1 (0:97) = 14:06 = 0:2455rad
2
p
!d = !n 1 = (8:16) 1 (0:97)2 = 1:9898

1
 (0:2455)
tr = (1:9898) = 1:4554seg
tp = !d = 1:9898 = 1:5788seg
4 4 4
ts = = ! n = (0:97)(8:16) = 0:5053seg

Numero de picosp(trunca)
1 2
Npicos = ttps = 4
Npicos = 0:5053
1:5788 = 0:3191 ! 0

Sobrepaso maximo! !
(0:97)
p p
1 2 1 (0:97)2
M p = 100e = 100e
4
M p = 3:59x10 % = 0:000359%

valor …nal
c(1) = lim sC(s)
s!0
1
R(s) = s
h i
4
C= s2 +16s+67 R
h i
4 1
c(1) = lim s s2 +16s+67 s
s!0 h i
4 4 4
c(1) = lim s2 +16s+67 = (0)+(0)+67 = 67
s!0
c(1) = 0:0597

magnitud de los picos

respuesta= no hay picos por lo tanto no tiene magnitud

b)ess (suponiendo una entrada escalon unitario R(s) = 1s )

ess = lim sE(s)
h
s!0 i
1
E(s) = 1+G R

4
G= s2 +16s+63
h i
1
ess = lim s 1+G R
s!0
1
ess = lim s 4
1+ s2 +16s+63
R
s!0
1
1 1
4
1+ s2 +16s+63
= 1 4 = s2 +16s+63
1
1 + s2 +16s+63
4
s2 +16s+63
+ s2 +16s+63
1 1 2
s +16s+63
= s2 +16s+63
1
4
= 1
s2 +16s+63+4
=
s2 +16s+67
+
s2 +16s+63 h
s2 +16s+63
2
i s2 +16s+63

ess = lim s ss2 +16s+63

+16s+67
1
s
s!0 h i
s2 +16s+63
ess = lim s2 +16s+67
s!0
63
ess = 67 = 0:9402

2
ess = 0:9402 = 94:02%

c)ess (suponiendo
h 2 una ientrada escalon unitario R(s) = 2s )
ess = lim s ss2 +16s+63
+16s+67 s
2
s!0 h i
2
ess = lim ss2 +16s+63
+16s+67 1
2
s!0
ess = 63 2
67 ( 1 )
ess = 1:8805 = 94:02%

1
d)ess (suponiendo
h 2 unaientrada rampa
h 2 unitaria
i R(s) = s2 )
s +16s+63 1 s +16s+63 1
ess = lim s s2 +16s+67 s2 = lim s2 +16s+67 s
s!0 h i s!0
2
ess = lim ss2 +16s+63
+16s+67 s
1
s!0
63 1
ess = 67 0 =1

e)Indique la posicion de los polos ( ; ! d )

! n = 8:16 rad
seg
= 0:97
s1;2 = j! d p
2
s1;2 = ! n j! n 1
s1;2 = 7:91 j1:98
( ; ! d ) = ( 7:91; 1:98)

f)Gra…que el plano "s"

g)Indique el tipo de comportamiento

El sistema tiene comportamiento Sub amortiguado