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10ª Lista de Exercícios – Motor CC
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RESOLUÇÃO LISTA 10
gg
J m θ m = T − Frm
gg
J L θ = FrL
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10ª Lista de Exercícios – Motor CC
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1 gg (10.6)
T = J m + J Ln θ
n
J 1
I ( s ) = m s 2 + J Lns 2 θ (s )
n Kt (10.8)
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10ª Lista de Exercícios – Motor CC
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Kb s
Ei ( s) − θ ( s ) = ( R + Ls ) I ( s) (10.10)
n
J 1 K s
Ei ( s) = ( R + Ls) m s 2 + J L ns 2 θ ( s ) + b θ ( s )
n Kt n
J 1 K s
Ei ( s) = ( R + Ls) m s 2 + J L ns 2 + b θ ( s )
n Kt n
θ (s) 1 K
= * t
Ei ( s ) Jm 2 2 1 Kb s Kt
( R + Ls ) n s + J L ns K + n
t
θ (s) Kt
=
Ei ( s ) Jm 2 2 Kb Kt s (10.11)
( R + Ls ) n s + J L ns + n
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10ª Lista de Exercícios – Motor CC
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a) K ( s) = K p (10.12)
G ( s ) = K ( s) * P( s )
10 s + 30
G(s) = K p 3
s + 3s + 2 s
2
K p (10 s + 30)
G(s) = (10.13)
s ( s 2 + 3s + 2)
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10ª Lista de Exercícios – Motor CC
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Ki
b) K ( s) = K p + (10.15)
s
G ( s ) = K ( s) * P( s )
K 10 s + 30
G(s) = K p + i 3
s s + 3s 2 + 2 s
( K p s + Ki )(10s + 30)
G(s) =
s ( s 3 + 3s 2 + 2 s )
( K p s + Ki )(10s + 30)
G(s) = (10.16)
s 2 ( s 2 + 3s + 2)
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10ª Lista de Exercícios – Motor CC
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c) K ( s) = K p + K d s (10.18)
G ( s ) = K ( s) * P( s )
10 s + 30
G(s) = ( K p + Kd s ) 3
s + 3s + 2 s
2
( K p + K d s )(10s + 30)
G(s) =
( s 3 + 3s 2 + 2 s )
( K p + K d s )(10s + 30)
G(s) = (10.19)
s ( s 2 + 3s + 2)
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10ª Lista de Exercícios – Motor CC
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Ki
d) K ( s) = K p + + Kd s (10.21)
s
G ( s ) = K ( s) * P( s )
K 10s + 30
G ( s ) = K p + i + Kd s 3
s + 3s + 2 s
2
s
( K d s 2 + K p s + Ki )(10 s + 30)
G(s) =
s ( s 3 + 3s 2 + 2 s )
( K d s 2 + K p s + Ki )(10 s + 30)
G(s) = (10.22)
s 2 ( s 2 + 3s + 2)
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10ª Lista de Exercícios – Motor CC
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QUESTÃO 3:
Solução:
K 100
G ( s ) = K p + i + Kd s
s s +1
( K d s 2 + K p s + Ki ) ( 100 )
G(s) =
s( s + 1)
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10ª Lista de Exercícios – Motor CC
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Continuação... QUESTÃO 3:
100 K i 100 Ki
Wn 2 = ⇒ Wn = (10.26)
1 + 100 K d 1 + 100 Kd
1 + 100 K p 1
ξ=
1 + 100 K d 100 K i
2
1 + 100 K d
1 + 100 K p 1 + 100 K d
ξ= , (10.27)
1 + 100 K d 2 100 K i
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10ª Lista de Exercícios – Motor CC
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QUESTÃO 4:
100
a) P ( s) = (10.28)
s( s + 10)( s + 100)
eest ( rampa ) = 0,5 (10.29)
Solução:
O ganho direto da planta é dado por:
100
G(s) = (10.30)
s ( s + 10)( s + 100)
100
K p = lim s →0
s( s + 10)( s + 100)
100
Kp = ⇒ Kp = ∞ (10.31)
0
K v = lim s →0 sG ( s )
100
K v = lim s →0 s
s ( s + 10)( s + 100)
100
Kv = ⇒ Kv = 0,1 (10.32)
1000
K a = lim s →0 s 2G ( s )
100
K a = lim s →0 s 2
s ( s + 10)( s + 100)
Ka = 0 (10.33)
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Disciplina: IM 144 Prof. Dr. Janito Vaqueiro Ferreira
10ª Lista de Exercícios – Motor CC
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Continuação... QUESTÃO 4:
1
0, 5 = ⇒ Kv = 2 (10.36)
Kv
Como:
K v = lim s →0 sG ( s )
100 K ( s )
2 = lim s →0 s
s ( s + 10)( s + 100)
2 = 0,1K ( s )
K ( s) = 20 (10.37)
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Disciplina: IM 144 Prof. Dr. Janito Vaqueiro Ferreira
10ª Lista de Exercícios – Motor CC
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Continuação... QUESTÃO 4:
(1 + 2s )(1 + 4 s)
b) P ( s) = (10.38)
s 2 ( s 2 + s + 1)
eest ( parábola ) = 0 (10.39)
Solução:
O ganho direto da planta é dado por:
(1 + 2 s )(1 + 4 s )
G(s) = (10.40)
s 2 ( s 2 + s + 1)
(1 + 2 s )(1 + 4s )
K p = lim s →0
s 2 ( s 2 + s + 1)
1
Kp = ⇒ Kp = ∞ (10.41)
0
K v = lim s →0 sG ( s )
(1 + 2 s)(1 + 4 s )
K v = lim s →0 s
s 2 ( s 2 + s + 1)
1
Kv = ⇒ Kv = ∞ (10.42)
0
K a = lim s →0 s 2G ( s )
(1 + 2 s )(1 + 4s )
K a = lim s →0 s 2
s 2 ( s 2 + s + 1)
Ka = 1 (10.43)
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Continuação... QUESTÃO 4:
1 1
0= ⇒ K a = ⇒ Ka = ∞ (10.46)
Ka 0
Como:
K a = lim s →0 s 2G ( s )
(1 + 2 s )(1 + 4s ) K ( s)
∞ = lim s →0 s 2
s 2 ( s 2 + s + 1)
K ( s) = ∞ (10.47)
Ki
K (s) = K p + (10.48)
s
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QUESTÃO 4:
(1 + 2s )(1 + 4 s)
c) P ( s) = (10.49)
s 2 ( s 2 + s + 1)
eest ( parábola ) = 0, 01 (10.50)
Solução:
O ganho direto da planta é dado por:
(1 + 2 s )(1 + 4 s )
G(s) = (10.51)
s 2 ( s 2 + s + 1)
(1 + 2 s )(1 + 4s )
K p = lim s →0
s 2 ( s 2 + s + 1)
1
Kp = ⇒ Kp = ∞ (10.52)
0
K v = lim s →0 sG ( s )
(1 + 2 s)(1 + 4 s )
K v = lim s →0 s
s 2 ( s 2 + s + 1)
1
Kv = ⇒ Kv = ∞ (10.53)
0
K a = lim s →0 s 2G ( s )
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(1 + 2 s )(1 + 4s )
K a = lim s →0 s 2
s 2 ( s 2 + s + 1)
Ka = 1 (10.54)
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Continuação... QUESTÃO 4:
1 1
0, 01 = ⇒ Ka = ⇒ Ka = 100 (10.57)
Ka 0, 01
Como:
K a = lim s →0 s 2G ( s )
(1 + 2 s)(1 + 4 s ) K ( s )
100 = lim s →0 s 2
s 2 ( s 2 + s + 1)
K ( s) = 100 (10.58)
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