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Exerccio 2:
a = U(S) + b
eq.1
b = Y(S).H(S)
eq.2
Y(S) = G(S).a
eq.3
Substituindo (2) em (1) e (1) em (3), temos:
Y(S) = G(S).U(S) + G(S).Y(S).H(S)
Assim,
GCL = Y(S)/U(S)
Exerccio 3:
G(S) = -10(s - 1)/(s2 + 2s + 5)
G(S) = Y(S)/U(S)
Sabe-se que u(t) = u-1(t):
( u-1(t)) = 1/s
G(S) = Y(S)/(1/s)
Y(S) = -10(s - 1)/ s(s2 + 2s + 5)
y(t) = -1(Y(S)) = 2 - (1 - j3).e(-1+j2)t - (1 + j3).e(-1-j2)t
Exerccio 4:
G(S) = Y(S)/U(S)
u(t) = u-1(t)
U(S) = 1/s
Y(S) = 1/0.5s.G(S)
Assim, temos os valores de y(t) para cada G(S):
a) G1(S) = 0.5(s + 10)/(s + 1)(s + 5)
Clculo do tempo de subida:
Y1(S) = 0.5(s + 10)/s(s + 1)(s + 5)
y1(t) = 10% t1= 163,677 ms
Y1(S) = A/s + B/(s + 1) +C/(s + 5)
y1(t) = 90% t2 = 2,4204 s
y1(t) = 1 - 1.125 e-t + 0.125 e-5t
tsub = t2 - t 1 tsub = 2,2567 s
Clculo do sobre-sinal:
y1(t) = 1.125 e-t - 0.625 e-5t = 0 t = 1149,4856 s
Assim, y1(t) = 1 no tempo calculado.
b) G2(S) = 50(s + 1)/(s + 10)(s + 5)
Y2(S) = 50(s + 1)/s(s + 10)(s + 5)
Y2(S) = A/s + B/(s + 10) + C/(s + 5)
y2(t) = 1 - 9 e-10t + 8 e-5t
Clculo do sobre-sinal:
Clculo do sobre-sinal:
y3(t) = 10 e-10t = 0 t = 114,908 s
Assim, y3(t) = 1 no tempo calculado.
d) G4(S) = 2.5(s + 10)/(s + 5)(s + 5)
Y4(S) = 2.5(s + 10)/s(s + 5)(s + 5)
40,24586 ms
Y4(S) = A/s + B/(s + 5) + C/(s + 5)2
ms
y4(t) = 1 - e-5t - 2.5t e-5t
Clculo do sobre-sinal:
y4(t) = -2.5 e-5t - 2.5t = 0 t = 321,888 ms
Assim, y4(t) = 0.639 no tempo calculado.
Verificou-se que a funo de transferncia G 1 tem o maior tempo de subida e
que G2 apresenta o maior sobre-sinal.
Exerccio 5:
G(S) = 5(s + 0.9)/0.9(s + 10)(s + 1)
Y(S) = 5(s + 0.9)/0.9.s.(s + 10)(s + 1)
Y(S) = A/s + B/(s + 10) + C/(s + 1)
y(t) = 0.5 0.5617 e-10t + 0.0617 e-t
Para y(t) = 0.32 t = 86.458ms
Exerccio 6:
Sabe-se que:
Y (s)
n2
s 2 2. .n n2
E tambm que: M e
p
ts
onde,
1 2
4
. n
e,
ts
4
4s
1
ts tempo de acomodao
2. . n 2 . n 1
Mp e
1
112
e 0
n2 4 n 2
4
4s
1
2. . n 2 0,5
Mp e
n2 1 n 1
2. . n 1 0,5
0,5
1 0 , 52
163,03
4
8s
0,5
Mp e
0,5
1 0 , 52
163,03
4 8
s
3
3
2
2. . n 3 0,5
Mp e
ts
0,5
1 0 , 5 2
163,03
Exerccio 8:
y (t ) A Be t Ce . cos(.t )
=1 ; =0
1. clear;
numg1=[1 3];
numg2 = [4 8];
deng1 = conv([1 1],[1 4]);
deng2 = [1 4 5];
num = conv(numg1,numg2);
den = conv(deng1,deng2);
numsum = conv(deng2,numg1) + conv(deng1,numg2);
densum = conv(deng1,deng2);
%G(s) = G1(s).G2(s)
printsys (num,den,'s')
num/den =
4 s^2 + 20 s + 24
-------------------------------s^4 + 9 s^3 + 29 s^2 + 41 s + 20
%Gsum(s) = G1(s)+G2(s)
printsys (numsum,densum,'s')
num/den =
5 s^3 + 35 s^2 + 73 s + 47
-------------------------------s^4 + 9 s^3 + 29 s^2 + 41 s + 20
4. clear;
numg1 = [0.5 5];
deng1 = conv([1 1],[1 5]);
numg2 = [50 50];
deng2 = conv([1 10],[1 5]);
numg3 = [10 50];
deng3 = conv([1 10],[1 5]);
numg4 = [2.5 25];
deng4 = conv([1 5],[1 5]);
t = 0:0.1:5;
y1 = step(numg1,deng1,t);
y2 = step(numg2,deng2,t);
y3 = step(numg3,deng3,t);
y4 = step(numg4,deng4,t);
plot(t,y1,'.',t,y2,t,y3,'x',t,y4,'+')
5. clear;
num = [5 4.5];
den = conv([0.9 9],[1 1]);
t = 0:0.001:5;
y = step(num,den,t);
u = 0.32;
plot(t,y,t,u)
6. clear;
numg1 = [0.1 1];
deng1 = [1 2 1];
numg2 = [0.4 4];
deng2 = [1 2 4];
numg3 = [0.1 1];
deng3 = [1 1 1];
numg4 = [0.9 9];
deng4 = [1 3 9];
t=0:0.1:5;
y1 = step(num1,den1,t);
y2 = step(num2,den2,t);
y3 = step(num3,den3,t);
y4 = step(num4,den4,t);
plot(t,y1,'.',t,y2,t,y3,'x',t,y4,'+')
7. clear;
num = 100;
den = [1 4 100];
t = 0:0.001:5;
y = step(num,den,t);
v = 1+0.05;
u = 1-0.05;
plot(t,y,t,u,t,v)
numg1 = [200 1000];
deng1 = conv([1 10],[1 4 100]);
t = 0:0.001:5;
y1 = step(num1,den1,t);
numg2 = [50 500];
deng2 = conv([1 5],[1 4 100]);
t = 0:0.001:5;
y2 = step(num2,den2,t);
plot(t,y1,t,y2)
8. clear;
num = [1 1];
den = conv([1 0],conv([1 2 2],[1 2]));
t = 0:0.1:10;
y = impulse(num,den,t);
plot(t,y)
grid;
Exerccio 10:
y(t) + 1/ y(t) = A/ u(t)
s.Y ( s ) lim s.
. 2 A= 2
a) lim
s 0
s 0
(s 1) s
Figura11: Grfico do
exerccio10.a.
b) A= 3 e = 0,632 . 3 = 1,896
Atravs do grfico, para y(t) = 1,896 t = 0,18
Portanto: Y(S) = 3/s(0.18s + 1).
Simulando no matlab:
t = 0:0.001:2;
num = 3;
den = [0.18 1];
y = step(num,den,t);
plot(t,y)
Exerccio11:
n2
G ( s) 2
s 2n s n2
12,566
a) n t
0,25
pico
taco mod ao
4
4
. n 6,15 0,65
.n
12,566 2
s 2 2.0,65s 12,566 2
157,90
G (s) 2
s 1,3s 157,90
G( s)
Simulando no matlab:
clear;
t = 0:0.001:2;
num = 157.90;
den = [1 1.3 157.9];
y = step(num,den,t);
plot(t,y)
Figura13: Grfico do exerccio11.a.
4,48
b) n t
0,7
pico
taco mod ao
4
.n
. n 1,17 3,42
12,566 2
s 2 2.0,65s 12,566 2
157,90
G (s) 2
s 1,3s 157,90
G ( s)
Simulando no matlab:
clear;
t = 0:0.001:2;
num = 20.07;
den = [1 6.84 20.07];
y = step(num,den,t);
u = 1;
plot(t,y,t,u)
Figura14: Grfico do exerccio11.b.
Exerccio 12:
15
( s 1,1)
1,1
M c ( s)
( s 1)[(s 1) 2 2 2 ]
a) Simulando no matlab:
t = 0:0.001:10;
num = [13,636 15];
den = conv([1 1],[1 2 5]);
y = step(num,den,t);
plot(t,y)
Figura15: Grfico do exerccio12.a.
M c (s)
15
( s 1) 2 4
b) Simulando no matlab:
t = 0:0.001:10;
num = [15];
den = [1 2 5];
y = step(num,den,t);
plot(t,y)