aplicando Laplace con condiciones iniciales

nulas

aplicando para la ecuación 9 aplicando para la ecuación 10

di dθ d2 θ dθ di
L ⋅ ―＝ u - R ⋅ i - n ⋅ Ke ⋅ ― J ⋅ ―― ＝ -b ⋅ ― + n ⋅ Km ⋅ ―
dt dt dt 2 dt dt
L ⋅ S ⋅ Is ＝ U - R ⋅ I - n ⋅ Ke ⋅ S θs
J ⋅ S 2 ⋅ θs ＝ -b ⋅ S ⋅ θs + n ⋅ Km ⋅ Is
U ＝ ((L ⋅ S + R)) ⋅ Is + n ⋅ Ke ⋅ S θs

⎛⎝J ⋅ S 2 + b ⋅ S⎞⎠ ⋅ θ
s
Is ＝ ――――――
n ⋅ Km
⎛ ⎛⎝J ⋅ S 2 + b ⋅ S⎞⎠ + n 2 ⋅ K ⋅ S ⋅ K ⎞
e m
⎜ ( )
U ＝ (L ⋅ S + R) ⋅ ―――――――――― ⎟ θs
⎜⎝ n ⋅ Km ⎟⎠

θs n ⋅ Km
―＝ ―――――――――――――
Us ⎛⎝⎛⎝J ⋅ S + b ⋅ S⎞⎠ ⋅ ((L ⋅ S + R)) + n 2 ⋅ Ke ⋅ S ⋅ Km⎞⎠
2

L ≔ 7.5 n≔8 Km ≔ 1 b≔3

R ≔ 7.5 Ke ≔ 2 J ≔ 15

θs n ⋅ Km θs 8.0
―＝ ―――――――――――――― → ―＝ ――――――――――――――
Us ⎛⎝⎛⎝J ⋅ S 2 + b ⋅ S⎞⎠ ⋅ ((L ⋅ S + R)) + n 2 ⋅ Ke ⋅ S ⋅ Km⎞⎠ Us ((7.5 ⋅ S + 7.5)) ⋅ ⎛⎝15.0 ⋅ S 2 + 3.0 ⋅ S⎞⎠ + 128.0 ⋅ S
θs 8.0
―＝ ――――――――――――――
Us ((7.5 ⋅ S + 7.5)) ⋅ ⎛⎝15.0 ⋅ S 2 + 3.0 ⋅ S⎞⎠ + 128.0 ⋅ S

simplify
((7.5 ⋅ S + 7.5)) ⋅ ⎛⎝15.0 ⋅ S 2 + 3.0 ⋅ S⎞⎠ + 128.0 ⋅ S ――― → 112.5 ⋅ S ⋅ ⎛⎝S 2 + 1.2 ⋅ S + 1.3377777777777777778⎞⎠

solve ⎡ 0.0 ⎤
⎛ 2 ⎞
((7.5 ⋅ S + 7.5)) ⋅ ⎝15.0 ⋅ S + 3.0 ⋅ S⎠ + 128.0 ⋅ S ―― → -0.6 + 0.98882646494608839316i ⎥
⎢
⎢ ⎥
⎣ -0.6 - 0.98882646494608839316i ⎦

⎡ wn ⋅ ξ ＝ 0.6 ⎤ solve , wn , ξ ⎡
1.1559169520341848503 0.51906843216038908246 ⎤
⎢ ⎥ ―――― →⎢
⎢⎣ wn ⋅ ‾‾‾‾‾ 2
1 - ξ ＝ 0.988 ⎥⎦ ⎣ 1.1559169520341848503 -0.51906843216038908246 ⎥⎦

rad
ξ ≔ 0.51906843216038908246 wn ≔ 1.1559169520341848503 ――
s
tiempo de crecimiento tiempo de pico

π - acos ((ξ)) π
tr ≔ ――――= 2.142 s tp ≔ ――――= 3.18 s
wn ⋅ ‾‾‾‾‾
1 - ξ2 wn ⋅ ‾‾‾‾‾
1 - ξ2

sobrepaso máximo tiempo de asentamiento criterio de 2%

π⋅ξ
-――――
‾‾‾‾‾‾‾
⎛⎝1 - ξ 2 ⎞⎠
Mp ≔ e = 0.148
4 3
ts ≔ ――= 6.667 s ts ≔ ――= 5 s
ξ ⋅ wn ξ ⋅ wn
 numero de oscilaciones

2 ⋅ wn ⋅ ‾‾‾‾‾
1 - ξ2
Nosc ≔ ―――――= 1.048
ξ ⋅ wn ⋅ π

⎛⎝S 3 + 1.2 ⋅ S 2 + 1.3378 S⎞⎠ ＝ 0 a3 ≔ 1 a2 ≔ 1.2 a1 ≔ 1.3378 a0 ≔ 0

aplicando Routh HURWITZ a2 ⋅ a1 - a0 ⋅ a3

b1 ≔ ――――― = 1.338
S3 a3 ≔ 1 a1 ≔ 1.3378 a2

a2 ⋅ 0 - a3 ⋅ 0
S2 a2 ≔ 1.2 a0 ≔ 0 b2 ≔ ――――= 0
a2
S1 b1 = 1.338 b2 = 0 b1 ⋅ a 0 - a 2 ⋅ 0
c1 ≔ ――――= 0
S0 c1 = 0 b1

se comprueba la estabilidad ya que todos los valores de la primera columna

del arregle son positivos
diseñando el controlador

Gp ＝ Gequivalente

0.07111
Gplanta ＝ ―――――――――
((s - 0.051)) ⎛⎝s 2 + 1.25 s + 1.4⎞⎠

Aplicamos el criterio de Ziegler-Nichols

hacemos Td ≔ 0 Ti ≔ ∞

entonces el controlador quedaría Gs ＝ Kp

al obtener la función transferencia

θs 0.07111 ⋅ kp
―＝ ――――――――――――――
Us ((s - 0.051)) ⋅ ⎛⎝s + 1.25 s + 1.4⎞⎠ + Kp ⋅ 0.07111
2

((s - 0.051)) ⋅ ⎛⎝s 2 + 1.25 s + 1.4⎞⎠ + Kp ⋅ 0.07111 ＝ 0 ecuación característica de la

función transferencia

s 3 + 1.1999 s 2 + 1.33625 s - 0.0714 + Kp ⋅ 0.07111 ＝ 0

haciendo

S ＝ jwu Kp ＝ Ku

-jwu 3 - 1.1999 ⎛⎝wu⎞⎠ 2 + j1.33625 wu - 0.0714 + Ku ⋅ 0.07111 ＝ 0

-jwu 3 - 1.1999 ⎛⎝wu⎞⎠ 2 + j1.33625 wu - 0.0714 + Ku ⋅ 0.07111 ＝ 0

jwu ⎛⎝-wu 2 + 1.336625⎞⎠ + ⎛⎝-1.1999 wu 2 - 0.0714 + Ku ⋅ 0.07111⎞⎠ ＝ 0

resolviendo por el método de comparación

solve , wu ⎡
-1.1561249932425126843 ⎤
-⎛⎝wu⎞⎠ 2 + 1.336625 ――― →⎢
⎣ 1.1561249932425126843 ⎥⎦

wu ≔ 1.1561249932425

solve , Ku
-1.1999 wu 2 - 0.0714 + Ku ⋅ 0.07111 ――― → 23.558097841372026547

Ku ≔ 23.558097841372026547

de tablas para el PID sacamos las ganancias

2π
Kp ≔ 0.6 ⋅ Ku = 14.135 Pu ≔ ―― = 5.435
wu

Ti ≔ 0.5 ⋅ Pu = 2.717 Td ≔ 0.125 ⋅ Pu = 0.679

por ultimo el controlador

quedaría
⎛ 1 ⎞ ⎛ 1 ⎞
Gs ＝ Kp ⋅ ⎜1 + ―― + Ts ⋅ s⎟ ＝ 14.135 ⋅ ⎜1 + ――― + 0.679 ⋅ s⎟
⎝ Ti ⋅ s ⎠ ⎝ 2.717 ⋅ s ⎠