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SISTEMAS DE CONTROL
AUTOMTICO
PROYECTO FINAL
Tema:
Pndulo simple
Paralelo: Gr2
Realizado por:
Fecha de Entrega:
Alarcn Martin
Cisneros Juan
Ruiz Margarita
Singo Dennys
16-02-2016
0
Breve Recapitulacin
No linealizado
T
ml =mgsin
kl +
l
x 1=
x 2=
()(
)( ) ( )
0
1 x
0
x1
1
= g
+ 1 T
sin ( x 1) kl x 2
x2
l
l
y=(1 0)
()
x1
x2
Linealizado
T
ml+ kl
=0
l
x 1=
x 2=
)( ) (
x1
x1 0
1
=0
+ 1 T
0 k /m x 2
x2
l
()(
y=(1 0)
x1
x2
()
G ( s )=
1
0.04147 s +0.01426 s
2
G ( s )=
1
0.04147 s +0.01426 s+ 1
Criterio de
4.91
Diseo
[ ]
rad
seg
Mximo sobrepico
89. 58
Tiempo pico
0.64 [seg]
Tiempo de
establecimiento
E. ESTADO ESTABLE
Error Posicin
23.28[seg ]
Error Velocidad
0.014
Error Aceleracin
Mp=10
ts=1[ seg]
Gc ( s )=k (s +a)
G ( s )=
1
0.04147 s +0.01426 s
2
Mp=100 e
12
=10
=0.5912
Tiempo de Establecimiento
ts=
4
=1
n
n=6.7659
[ ]
rad
seg
Polo Dominante
PD = n j n 1 2
PD =4 j 5.4569
5.45
c
a
-4
1
0
1=180 tan
5.47
=126.18
4
5.47
=123.76
40.3439
Compensador de la forma
a=4 +
k ( s+ a)
5.457
=6
tan 69.94
k (s +6)
1
=1
0.04147 s +0.01426 s
2
k =0.3171
Gc ( s ) =0.3171(s +6)
Visualizacin en Matlab
15
80
60
40
10
20
0
-20
G.M.: inf
-40 Freq: NaN
Stable loop
-60
-90
-5
-135
-10
-15
-15
-10
Real Axis
-5
-180
10
10
10
Frequency (rad/s)
10
100
80
60
40
20
0
G.M.: inf
-20 Freq: NaN
Stable loop
-40
-90
-2
-135
-4
-12
-10
-8
-6
-4
Real Axis
-2
-180
P.M.: 59 deg
Freq: 9.17 rad/s
-2
10
10
10
Frequency (rad/s)
10
Gc ( s )=1.9115 (s +6)
G' ( s )=1.9115
G ' ( s )=
s+ 6
0.04147 s 2 +0.01426 s
46.0936( s+ 6)
s (s+0.3439)
stepinfo
6.7659
[ ]
Mximo sobrepico
10
Tiempo de
establecimiento
E. ESTADO ESTABLE
Error Posicin
1[seg ]
Error Velocidad
0.0012
Error Aceleracin
rad
seg
0
Respuesta
RiseTime: 0.0370
SettlingTime: 0.3323
SettlingMin: 0.9056
SettlingMax: 1.0794
Overshoot: 7.9433
Undershoot: 0
Peak: 1.0794
PeakTime: 0.1078
Error en Estado Estable
G' ( s )=G ( s ) Gc ( s ) =
46.0936 (s +6)
s( s+0.3439)
E. Posicin
Ep=lim s
s0
1
1
1
=
1+ G' ( s ) H ( s ) s 1+ lim G ( s ) ' H ( s )
s 0
1
1+ Kp
Kp=lim
S 0
46.0936(s+ 6)
s (s+0.3439)
Kp=
Ep=0
E. Velocidad
Ev=lim s
s 0
1
1
1
2=
G ' ( s ) H ( s ) s lim s G ' ( s ) H ( s )
s0
Ev=
1
Kv
Kv=lim
S0
46.0936 ( s+6)
( s+ 0.3439)
Kv=803.5917
Ev=0.0012
E. Aceleracin
Ea=lim s
s0
1
1
1
3=
2
G ( s ) H ( s ) s lim s G ( s ) H ( s )
s 0
Ea=
1
Ka
Ka=lim s
S 0
46.0936 (s +6)
(s+0.3439)
Ka=0
G ' ( s )=
46.0936( s+ 6)
s (s+0.3439)
( ( ) )
p 2
+1 20 log ( p )20 log
6
(( ) )
p 2
+ 1 + log ( p ) + log
6
(
(
p 2
+1
0.3439
p 2
+1
6
((
( (
p 2
+1
0.3439
p 2
+1
0.3439
p 2
+1
0.3439
=46.0936
p 2
+1
6
( )
( )
p =46.5
[ ]
rad
seg
( j p )=tan1
46.5
( 46.56 )90 tan ( 0.3439
)
1
( j p 1) =96.93
Mp=180 + ( j p 1 ) =83.07
10
( j f 1 ) =tan 1
90=tan 1
g
g
tan 1
6
0.3439
( )
g=
(( ) )
p 2
+1 20 log ( p ) 20 log
6
((
p 2
+1
0.3439
M ( j g ) =
Mg=0 M ( j g ) =
Ancho de Banda
AB=Wn 12 2+ 4 4 2 +2
AB=10.12
11
2
1.8
1.6
1.4
Amplitude
1.2
1
0.8
0.6
0.4
0.2
0
10
15
20
25
30
35
Time (seconds)
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Time (seconds)
Sistema No Compensado
CARRERA DE INGENIERA EN ELECTRNICA Y CONTROL
12
80
Magnitude (dB)
60
40
20
0
Phase (deg)
-20
-90
-135
-180
-2
-1
10
10
10
10
Frequency (rad/s)
Sistema Compensado
Bode Diagram
Gm = Inf , Pm = 83.1 deg (at 46.5 rad/s)
Magnitude (dB)
100
50
Phase (deg)
-50
-90
-120
-150
-180
-2
10
-1
10
10
10
10
10
Frequency (rad/s)
13
15
10
Imaginary Axis
-5
-10
-15
-8
-6
-4
-2
Real Axis
Diagrama de Bode Sistema Compensado
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-0.5
0.5
1.5
Real Axis
14
5.45
c
a
-4
1
0
1=180 tan
2=180 tan
5.47
=126.18
4
5.47
=123.76
43439
5.47
)=123.7869.94
Pc4
Pc=8
Gc ( s )=Kc
(s +0.34)
(s +8)
(s +0.34)
1
S= PD
15
( s+0.34)
(s+8)
Visualizacin en Matlab
16
Gc ( s )=1.5
( s+ 0.34)
(s +8)
G (s )=1.5
G ' ( s )=
( s +0.34 )
1
2
( s+8 ) 0.04147 s + 0.01426 s
36.165 (s+0.3439)
s ( s+0.3439)(s+8)
17
stepinfo
6.7659
[ ]
Mximo sobrepico
10
Tiempo de
establecimiento
E. ESTADO ESTABLE
Error Posicin
1[seg ]
Error Velocidad
0.0012
Error Aceleracin
rad
seg
RiseTime:
Respuesta
0.3367
SettlingTime: 0.9997
SettlingMin: 0.9176
SettlingMax: 1.0609
Overshoot: 6.0884
Undershoot: 0
Peak: 1.0609
PeakTime: 0.6951
Error en Estado Estable
G' ( s )=G ( s ) Gc ( s ) =
36.165 (s+0.3439)
s ( s+0.3439)( s+8)
E. Posicin
Ep=lim s
s0
1
1
1
=
s
1+ G' ( s ) H ( s )
1+ lim G ( s ) ' H ( s )
s 0
Ep=
1
1+ Kp
18
36.165 (s+0.3439)
s (s+0.3439)( s+8)
Kp=
Ep=0
E. Velocidad
Ev=lim s
s 0
1
1
1
2=
G ' ( s ) H ( s ) s lim s G ' ( s ) H ( s )
s0
Ev=
1
Kv
Kv=lim
S0
36.165 (s +0.3439)
(s+ 0.3439)(s+ 8)
Kv=4.5
Ev=0.22
E. Aceleracin
Ea=lim s
s0
1
1
1
3=
2
G ( s ) H ( s ) s lim s G ( s ) H ( s )
s 0
Ea=
1
Ka
Ka=lim s
S 0
36.165 ( s+ 0.3439)
( s+0.3439)( s+8)
Ka=0
Ea=
Anlisis en Frecuencia
19
36.165
s ( s+8)
( ( ) )
2
p
+1
8
(( ) )
2
p
2
p
+1
8
( )
p
+1
8
( ( ) )
p 2
+1
8
=36.165
p =16.09
[ ]
rad
seg
( j p )=90 tan1
( 16.09
8 )
( j p 1) =153.563
Mp=180 + ( j p 1 ) =26.47
( j f 1 ) =90 tan 1
( 8 )=180
g
20
( 8 )
g
g=
( ( ) )
p 2
+1
8
M ( j g ) =
Mg=0 M ( j g ) =
Ancho de Banda
AB=Wn 12 2+ 4 4 2 +2
AB=10.12
21
2
1.8
1.6
1.4
Amplitude
1.2
1
0.8
0.6
0.4
0.2
0
10
15
20
25
30
35
Time (seconds)
Sistema Compensado
22
80
Magnitude (dB)
60
40
20
0
Phase (deg)
-20
-90
-135
-180
-2
10
-1
10
10
10
Frequency (rad/s)
Sistema Compensado
23
15
10
Imaginary Axis
-5
-10
-15
-8
-6
-4
-2
Real Axis
Sistema Compensado
24
CONCLUSIONES:
-
RECOMENDACIONES:
-
BIBLIOGRAFIA:
25