Aula 05

Anlise no domnio
do tempo
Parte I
Sistemas de 1 ordem

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Sistemas
de
primeira
output ordem

Sistema de primeira ordem

do tipo

a
G (s ) =
bs + c

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input
ou seja:

Sistemas
de
primeira
output ordem

a
bs + c
Y (s )
a
=
R (s )
bs + c

a
Y (s )
c
=
=
( bs + c )
R (s )
c

Ko

a
c
b
s +1
c

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Ko
Ts + 1

Sistemas
de
primeira
output ordem

Ko = ganho do sistema
T = constante de tempo do sistema
a funo de transferncia:

Ko
Y (s )
=
R (s )
Ts + 1

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Entrada degrau unitrio

Ko
Ts + 1

Sistemas
de
primeira
output ordem

Qual a resposta ao degrau ?

(step response)

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Ko
Ts + 1

Sistemas
de
primeira
output ordem

logo:

Ko
Y (s ) =
R (s )
Ts + 1
Ko
Ko
K oT
1
Y (s ) =
=

( Ts + 1) s
s
( Ts + 1)

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Sistemas
de
primeira
output ordem

Ko
Ts + 1
y( t ) =

L [Y (s ) ]
1

logo, a resposta ao degrau unitrio :

y ( t ) = K o (1 e

t /T

),

t>0

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Ko
Ts + 1

Sistemas
de
primeira
output ordem

a resposta ao degrau unitrio :

y ( t ) = K o (1 e

t /T

),

t>0

Anlise no domnio do tempo

a resposta ao degrau unitrio :

______________________________________________________________________________________________________________________________________________________________________________________

y ( t ) = K o (1 e

t /T

),

t>0

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

y ( t ) = K o (1 e

t /T

t>0

),
1

Se t = T y ( T ) = K o (1 e ) = 0,632 K o
2

Se t = 2T y ( 2T ) = K o (1 e ) = 0,865 K o
3

Se t = 3T y (3T ) = K o (1 e ) = 0,95 K o
4

Se t = 4T y ( 4T ) = K o (1 e ) = 0,982 K o
5

Se t = 5T y (5T ) = K o (1 e ) = 0,993 K o

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Entrada impulso unitrio

Ko
Ts + 1

Sistemas
de
primeira
output ordem

Qual a resposta ao impulso ?

(impulse response)

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Ko
Ts + 1

Sistemas
de
primeira
output ordem

logo:

Ko
Y (s ) =
R (s )
Ts + 1
Ko
Ko
Y (s ) =
1 =
( Ts + 1)
( Ts + 1)

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Ko
Ts + 1

y( t ) =

Sistemas
de
primeira
output ordem

L [Y (s ) ]
1

logo, a resposta ao impulso unitrio :

K o t / T
y( t ) =
e
,
T

t>0

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Ko
Ts + 1

Sistemas
de
primeira
output ordem

a resposta ao degrau unitrio :

K o t / T
y( t ) =
e
,
t>0
T

Anlise no domnio do tempo

a resposta ao impulso unitrio :

______________________________________________________________________________________________________________________________________________________________________________________

y( t ) = K o e

t /T

t>0

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

y( t ) = K o e

t /T

t>0

Ko
Se t = T y ( T ) = K o e = 0,368
T
Ko
2
Se t = 2T y ( 2 T ) = K o e = 0,135
T
Ko
3
Se t = 3T y (3T ) = K o e = 0,05
T
1

Ko
Se t = 4T y ( 4T ) = K o e = 0,02
T
Ko
5
Se t = 5T y (5T ) = K o e = 0,007
T
4

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Entrada rampa unitria

Ko
Ts + 1

Sistemas
de
primeira
output ordem

Qual a resposta rampa ?

(ramp response)

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Ko
Ts + 1

Sistemas
de
primeira
output ordem

logo:

Ko
Y (s ) =
R (s )
Ts + 1
2

Ko
1
K o K oT
K oT
Y (s ) =
2 = 2
+
( Ts + 1) s
s
s
( Ts + 1)

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Sistemas
de
primeira
output ordem

Ko
Ts + 1

y( t ) =

L [Y (s ) ]
1

logo, a resposta ao impulso unitrio :

y( t ) = K o ( t T + T e

t /T

),

t>0

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Sistemas
de
primeira
output ordem

Ko
Ts + 1

Se Ko = 1, a resposta ao impulso unitrio :

y( t ) = t T + T e

t /T

t>0

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Ko
Ts + 1

Sistemas
de
primeira
output ordem

resposta rampa unitria para Ko = 1:

y( t ) = t T + T e

t /T

t>0

Anlise no domnio do tempo

a resposta rampa unitria :

______________________________________________________________________________________________________________________________________________________________________________________

y( t ) = t T + T e

t /T

t>0

Ko = 1

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

Erro p/ entrada rampa unitria

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Ko
Ts + 1

Sistemas
de
primeira
output ordem

Erro para entrada rampa unitria, Ko = 1:

1
1
1
E (s ) = 2
2
s
Ts + 1 s

1
= 2
s

1
=
Ts + 1

1 (Ts + 1 1)
1
Ts
= 2
= 2
s
Ts + 1
s Ts + 1

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

input

Ko
Ts + 1

Sistemas
de
primeira
output ordem

Erro em estado estacionrio:

e ss

1
Ts
= lim s E (s ) = lim s 2
=
s0
s0
s Ts + 1
T
= lim
= T
s 0 Ts + 1
e ss = T

Anlise no domnio do tempo

______________________________________________________________________________________________________________________________________________________________________________________

Erro p/ entrada rampa unitria

Obrigado!
Felippe de Souza
felippe@ubi.pt