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Control III
Universidad Nacional de Ingeniera
Facultad de Ingeniera Elctrica y Electrnica
Len Yance, Adderlin Elvis
20102031G
Nmero de matrcula: 10
SISTEMA 1.
Ga(s) =
6.4
S+5.4
Gm(s) =
8
s+ 8
1eTs
GH0(s) =
s
R(s
)
E(s
)
+
-
E*(s
)
T t
T t
Gm(s)
U(s)
Gp(s) =
10
s+ 2.4
Y(s
)
T t
M(
s)
V(s)
Y*(s
)
Ts
G(s) =
1e
s
Transfer function:
64
------------------s^2 + 7.8 s + 12.96
10
* s+ 2.4
6.4
S+5.4
Transfer function:
0.09878 z + 0.08451
---------------------z^2 - 1.589 z + 0.6263
N0=10
0.09878Z +0.08451
G(z) = Z 21.589Z +0.6263
SOLUCIN 1.a.
Hallamos la transformada Z de G(s)
G(s) =
10
6.4
1e0.06s
*
*
s+ 2.4
S+5.4
s
0.09878(Z +0.8588)
G(z) = (Z 0.8647)(Z 0.7242)
G(s)
1e
s
64
* s 2+7.8 s+12.96
10
6.4
1eTs
GmG(s) =
*
*
s+ 2.4
S+5.4 *
s
8
s+ 8
Ts
1e
GmG(s) =
s
512
s +15.8 s +75.36 s+103.68
3
T=0.060;
NGS=[512];
DGS=[1 15.8 75.36 103.68];
GS=tf(NGS,DGS)
[NGZ,DGZ]=c2dm(NGS,DGS,T,'zoh');
GZ=tf(NGZ,DGZ,T)
Matlab
Transfer function:
512
-------------------------------s^3 + 15.8 s^2 + 75.36 s + 103.7
Transfer function:
0.01459 z^2 + 0.0462 z + 0.009083
--------------------------------z^3 - 2.208 z^2 + 1.61 z - 0.3875
M*(s) =
G D(s) R(s)
1+G D(s)G mG( s)
... (9)
GmG(z) =
0.01459 Z + 0.0462Z+ 0.009083
Z 32.208Z 2 +1.61Z0.3875
2
G D( s) R( s)
1+G D( s)G mG(s)
Y*(s) = G*(s)
GmG(z) =
0.001459(Z +0.19783)(Z +31.4677)
(Z 0.85596)(Z 0.74154)(Z 0.61048)
. (10)
Y(z) = G(z)
G D ( z)R (z)
1+G D(z )G mG( z )
. (11)
Y (z)
R (z)
G ( z )GD (z)
1+GD ( z )GmG( z)
Y (z)
R (z)
Y (z)
R (z)
( z )0.09878(Z+ 0.8588)
GD
(Z0.8647)( Z0.7242)
( z )0.001459( Z +0.19783)(Z +31.4677)
1+GD
( Z0.85596)(Z 0.74154)( Z0.61048)
0.09878(Z +0.8588)
( z1 )( z p 1 ) (z p 2)
Kc0.001459(Z+0.19783)(Z+ 31.4677)
1+
( z1 ) ( z p 1 ) ( z p 2)
Kc( zz 1 )
Y (z)
R (z)
0.09878( Z+ 0.8588)
( z1 ) ( z p 1 ) ( z p 2)
Kc0.001459(Z+0.19783)(Z+ 31.4677)
1+
( z1 ) ( z p 1 ) ( z p 2)
Kc( z0.61048 )
GD ( z )=
Kc ( z z 1 ) ( z z 2 ) (zz 3)
( z1 ) ( z p 1 ) ( z p 2)
Y (z)
R (z)
Y (z)
R (z)
P(z) = (z-1)(z-p1)(z-p2)+Kc*0.001459(z+0.19783)(z+31.4677)
Kc( zz 1 )( zz 2 ) ( zz 3)
P(z) = z^3 + (0.001459*kc-1 - p1 - p2)*z^2 + (0.0462*Kc
0.09878( Z+ 0.8588)
+ p1 + p2 + p1*p2)*z + (0.009083*Kc - p1*p2)
( z1 )( z p 1 ) (z p 2)
(Z0.8647)( Z0.7242)
Kc( zz 1 )( zz 2 ) (zz 3)
Ahora usamos
las especificaciones de respuestas transitorias
0.001459( Z +0.19783)(Z
+31.4677)
solicitadas:
( z1 ) ( zp 1 ) (z p 2)
1+
( Z0.85596)( Z0.74154)(Z0.61048)
1
Mp=e
=0.065 =0.65639
2
ts (2 )=1.750=
4
4
rad
= Wn=3.48225
Wn
s
Z2 = exp(
0.060 j2.62709
Z2 = 0.871846*[cos(0.157625) - jsen(0.157625)]
Z2 = 0.871846*[0.98760 - j0.15697]
=2.28571
0.060(2.28571 ) exp(
W =2.62709rad /s
s 1,2= jW
Z3 =
0.060(11.4286)
exp
Entonces:
s 1=2.28571+ j2.62709
Z3= 0.503731
s 2=2.28571 j 2.62709
- j0.136856)(Z - 0.503731)
s 3=5(2.28571) =11.4286
Transformando al plano z mediante:
Z=
Z1 =
TS
0.060(2.28571+ j 2.62709)
exp
Z1 = exp(
0.060(2.28571 ) exp(
0.060j 2.62709
Z1 = 0.871846*[cos(0.157625) + jsen(0.157625)]
Z1 = 0.871846*[0.98760 + j0.15697]
Kc = 0.332787
Entonces obtenemos
0.060(2.28571 j2.62709)
Z2 =
exp
P1*P2 = 0.38591
P1 + p2 = 1.22628
P1 = 0.61314 + j0.099847
P2 = 0.61314 - j0.099847
GD ( z )=
Kc( z z 1 ) ( z z 2 ) (zz 3)
( z1 ) ( z p 1 ) ( z p 2)
SOLUCIN 1.b.
Mostrar en simulacin en el tiempo de y(kT), e(kT),
u(kT) con el controlador diseado en (b) que el
sistema cumple con las especificaciones pedidas
cuando la entrada r(kT) = 5
y(kT)
GD ( z )=0.332787
Matlab
NHZ=[0.032873 0.008163 -0.017235];
DHZ=[1 -2.22579 1.62756 -0.382887];
y=5*dstep(NHZ,DHZ,100);
3
2
0.332787z
2.20368
z
+1.60313
z0.384914
k=0:99;
GD ( z )=
stairs(0.06*k,y)
z 32.22628 z 2+ 1.612190.38591
grid on
xlabel('Tiempo(seg)')
ylabel('Amplitud')
title('Respuesta escalon')
La FTP en lazo cerrado es:
Y (z)
R (z)
ylabel('Amplitud')
title('Respuesta escalon del error')
e(kT)
Y (z)
R (z)
G ( z )GD ( z )E(z)
R(z)
Y (z)
R (z)
G ( z )GD (z)
1+GD ( z )GmG( z)
1
1+GD ( z )GmG( z)
E (z)
R (z)
1
0.001459(Z +0.19783)(Z +31.4677)
u(kT)
0.332787( z 0.61048
) ( z 0.86033 ) (z0.73287)
( Z0.85596)(Z 0.74154)(Z0.61048)
1+
Ts
1e
( z1 ) ( z0.61314 j 0.099847 ) ( z0.61314+
j 0.099847)
GH0(s) =
GH0(z) = 1
s
E (z)
=
R (z)
U (z)
R ( z)
Matlab
NHZ=[1 -2.22628 1.61219 -0.38591 ];
DHZ=[1 -2.22579 1.62756 -0.382887];
y=5*dstep(NHZ,DHZ,100);
k=0:99;
stairs(0.06*k,y)
grid on
xlabel('Tiempo(seg)')
GD ( z)
1+GD ( z )GmG(z)
U (z)
R (z)
SOLUCIN 1.C.
Matlab
NHZ=[1 -2.20368 1.60313 -0.38491];
DHZ=[1 -2.22579 1.62756 -0.382887];
y=5*dstep(NHZ,DHZ,100);
k=0:99;
stairs(0.06*k,y)
grid on
xlabel('Tiempo(seg)')
ylabel('Amplitud')
title('Respuesta escalon ')
Transfer function:
501.8
----------------s^2 + 8 s + 501.8
SISTEMA 2.
FIGURA 2. Sistema de control con controlador PID digital
Transfer function:
0.07269 z + 0.06935
---------------------z^2 - 1.727 z + 0.8691
Sampling time: 0.017531
No = nmero de inscripcin
0.07269Z +0.06935
Gp(z) = Z 21.727Z +0.8691
8No+32
5
Wn =
Wn = 22.4 rad/s
Gp(z) =
0.07269(Z +0.954051)
(Z 0.8635 j0.35138)( Z0.8635+ j0.35138)
/ Ts Ts =0.017531 seg.
SOLUCIN 2.a.
Ts
Gp(s) =
1e
2
W n
s
2
2
s +8 s +W n
Ts
1e
501.76
s
2
s +8 s +501.76
G D ( z ) GP ( z )
Y ( z)
=
R ( z) 1+G D ( z ) G P ( z)
Dnde:
GD ( z )=K P + K I
z
z1
+ KD
z1
z
Gp( z)=
0.07269(Z+ 0.954051)
( Z0.8635 j 0.35138)(Z 0.8635+ j 0.35138)
K
K
K
Z
Z1
+K D
( P+ K I
)0.07269(Z +0.954051)
4
3
Z1
Z
P
(
z
)
=Z
2.727
Z
+2.5961
Z 20.8691 Z +
1+
(Z 0.8635 j0.35138)( Z0.8635+ j0.35138)
Z
Z 1
K D ( Z 22 Z +1 ) (0.07269 Z+ 0.06935)
P+
K
+
K
(
)0.07269(Z +0.954051)
I
D
Z1
Z
( Z0.8635 j 0.35138)(Z0.8635+ j 0.35138)
P ( z )=Z 4 2.727 Z 3 +2.5961 Z 20.8691 Z
Y (z )
=
+ K P ( 0.07269 Z 30.00334 Z 20.06935 Z )
R(z )
+ K I (0.07269 Z 3 +0.06935 Z 2 )
K
+ K D ( 0.07269 Z 30.07603 Z2 0.06601 Z+ 0.06935 )
Z
Z1
+K D
( P+ K I
)0.07269(Z+ 0.954051)
Z1
Z
La ecuacin caracterstica de la FTP en lazo cerrado es de 4
1+
orden j 0.35138)
( Z0.8635 j 0.35138)( Z0.8635+
2
K P ( Z1 ) Z + K I Z2 + K D ( Z 1 )
0.07269(Z+ 0.954051)
Y (z)
(Z 1)Z
(Z0.8635 j0.35138)(
j0.35138)
P ( z )=Z 4Z0.8635+
+ ( 2.727+ 0.07269
K P +0.07269 K I + 0.07269 K D ) Z
=
R (z)
+ ( 2.59610.00334 K P +0.06935 K I 0.07603 K D ) Z 2
+ (0.86910.06935 K P0.06601 K D ) Z +0.06935 K D
K
K
2
2
A (z )+[ P ( Z1 ) Z + K I z + K D ( Z1 ) ]0.07269(Z +0.954051)
2
Los polos en lazo cerrado en el plano Z son:
[ P ( Z1 ) Z + K I z 2+ K D ( Z1 ) ]0.07269(Z +0.954051)
z1 = 0.65 + j0.6
Y (z)
=
z2 = 0.65 - j0.6
R( z )
z3 = 0.32
z4 = a
Dnde:
La FTP en lazo cerrado es:
K
2
[ P ( Z1 ) Z + K I Z + K D ( Z1 ) ]0.07269(Z +0.954051)
P(z) = Z^4+(-1.62a)Z^3+(1.1985+1.62a)Z^2+(-0.2504-1.1985a)Z+0.2504a
+
2
GD ( z )=K P + K I
z
z1
+ KD
z1
z
GD ( z )=1.54068+ 0.564423
SOLUCIN 2.b.
K P = 1.54068
K I = 0.564423
z
z1
+ 2.72841
z1
z
y(kT)
Matlab
T=0.017531;
NHZ=[0.351348 -0.173444 -0.286948
0.189215];
Reemplazando en la FTP en lazo cerrado
DHZ=[1 -2.37565 2.42266 -1.15605
0.189215];
K
y=dstep(NHZ,DHZ,100);
k=0:99;
K
stairs(T*k,y)
2
2
A (z )+[ P ( Z1 ) Z + K I z + K D ( Z1 ) ]0.07269(Z +0.954051)
grid on
2
[ P ( Z1 ) Z + K I z 2+ K D ( Z1 ) ]0.07269(Z +0.954051) xlabel('Tiempo(seg)')
ylabel('Amplitud')
title('Respuesta escalon')
K D = 2.72841
Y (z)
=
R( z )
e(kT)
G D ( z ) GP ( z )
Y ( z)
=
R ( z) 1+G D ( z ) G P ( z)
Y ( z ) =G D ( z ) G P (z) E(z )
Igualando las dos ecuaciones:
E (z)
1
=
R (z) 1+ G D ( z ) G P (z)
u(kT)
E (z)
Z 4 2.727 Z 3 +2.5961 Z 20.8691 Z
= 4
R (z) Z 2.37565 Z 3 +2.42266 Z 21.15605 Z+ 0.189215
E (z)
1
=
R (z) 1+ G D ( z ) G P (z)
U ( z ) =G D ( z ) E ( z)
Y (z)
Z 42.727 Z 3 +2.5961 Z 20.8691 Z Igualando las dos ecuaciones:
= 4
R (z) Z 2.37565 Z 3 +2.42266 Z 21.15605 Z+ 0.189215
GD ( z)
U (z)
=
R ( z) 1+ GD ( z ) G P (z)
Matlab
NHZ=[1 -2.727 2.5961 -0.8691 0 ];
DHZ=[1 -2.37565 2.42266 -1.15605
0.189215];
y=dstep(NHZ,DHZ,100);
k=0:99;
stairs(0.017531*k,y)
grid on
xlabel('Tiempo(seg)')
ylabel('Amplitud')
title('Respuesta escalon del error')
Respuesta e(kT) a una entrada escaln
Matlab
xlabel('Tiempo(seg)')
ylabel('Amplitud')
title('Respuesta escalon')
Respuesta y(kT) a una entrada senoidal
SOLUCIN 3.b.
e(kT)
E (z)
Z 4 2.727 Z 3 +2.5961 Z 20.8691 Z
= 4
R (z) Z 2.37565 Z 3 +2.42266 Z 21.15605 Z+ 0.189215
y(kT)
Matlab
p=1.2;
NHZ=[1 -2.727 2.5961 -0.8691 0];
DHZ=[1 -2.37565 2.42266 -1.15605
0.189215];
k=0:100;
f=sin(0.091792*k);
hold on
y=dlsim(NHZ,DHZ,f);
stairs(T*k,y);
plot(k*T,f,'r');
grid on
xlabel('Tiempo(seg)')
ylabel('Amplitud')
title('Respuesta escalon')
title('Respuesta escalon')
u(kT)
Matlab
T=0.017531;
p=1.2;
NHZ=[4.8892 -15.5525 19.3103
-10.9865 2.41966];
DHZ=[1 -2.37565 2.42266 -1.15605
0.189215];
k=0:100;
f=sin(0.091792*k);
hold on
y=dlsim(NHZ,DHZ,f);
stairs(T*k,y);
plot(k*T,f,'r');
grid on
xlabel('Tiempo(seg)')
ylabel('Amplitud')
10
S(S + 4 S+10)
Gp(s) =
TS
1e
S
GH0(s) =
N = 10 resto (N/5) = 0
Gm = 1.6
Ts =0.5 seg.
SOLUCIN 3.a.
Ts
G(s) =
GD ( z ) G( z )
Y (z)
=
R (z) 1+G D ( z ) G(z )Gm ( z)
1e
10
s
3
2
S + 4 S +10 S
Dnde:
Matlab
T=0.5 ;
NGpS=[10];
DGpS=[1 4 10 0];
GS=tf(NGpS,DGpS)
[NGpZ,DGpZ]=c2dm(NGpS,DGpS,T,'zoh
');
GZ=tf(NGpZ,DGpZ,T)
Matlab
Transfer function:
10
-----------------s^3 + 4 s^2 + 10 s
G(z) =
Gm = 1.6
GD ( z )=
Kc( z z 1 ) ( z z 2 ) (zz 3)
( z p 1 ) ( z p 2 ) ( z p 3)
Transfer function:
0.1217 z^2 + 0.2776 z + 0.04363
---------------------------------z^3 - 1.25 z^2 + 0.3849 z - 0.1353
GD ( z )=
G(z) =
( z1 )GD ( z )G ( z )
Tz
()
kv=lim
E ( z)
1
=
R ( z) 1+ GD ( z ) G( z )G m ( z)
Dato del problema ess = N/100 y N=10
z 1
( z1 )
Tz
kv=lim
ess = 0.1
z 1
ess =
1
Kv
(
Kv = 10
)
T z
( zp 2 )( Zp 3 )
kv =lim
z1
( z1 )GD ( z )G ( z )Gm
Tz
()
kv=lim
z 1
1
1.6kc0.12173.63951
0.5
Kv=10=
( 1 p 2 ) (1 p 3)
Kv=10=
GD ( z )=Kc
1.41737kc
(1p 2)(1 p 3)
p2 = 0.858263
z
( z1 )
(z1.00045) ( z0.12477 j 0.34593 ) (z0.12477 j 0.34593)
GD ( z )=
SOLUCIN 3.b.
Y (z)
0.1217( Z+2.1112 )( Z+ 0.16981)
=
R (z) ( zp 1 ) ( z0.858263 ) (z1.00045)+1.60.1217
( Z +2.1112
)(Z +16981)
METODO
ANALITICO,
OGATA SISTEMAS DE CONTROL EN TIEMPO
DISCRETO(PAG.242