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Ra=1;
La=0.5;
K=0.01;
J=0.08;
b=0.2;
t=0:0.001:1;
u=ones(size(t));
A=[(-Ra/La),0,(-K/J);0,0,1;(K/J),0,(-b/J)];
B=[(1/La);0;0];
C=[0,1,0];
D=[0];
H=ss(A,B,C,D)
[num,dem]=ss2tf(A,B,C,D)
[Y,t,X]=lsim(H,u,t);
plot(t,X(:,2),'r'),title('posicion angular'),xlabel('tiempo');
plot(t,X(:,3),'b'),title('posicion angular'),xlabel('tiempo');
>> laboratorio_1
G=
0.9802
0.0000
0.0012
0 -0.0012
1.0000 0.0099
0 0.9753
H=
0.0198
0.0000
0.0000
Cd =
0
Dd =
Gt =
4.12e-08 z^2 + 1.63e-07 z + 4.028e-08
------------------------------------z^3 - 2.956 z^2 + 2.912 z - 0.956
Sample time: 0.01 seconds
Discrete-time transfer function.
Por lo tanto:
G=
0.9802 0 0.0012
0
1 0.0099
0.0012 0 0.9753
H=
( )
0.0198
0
0
Cd=( 0 1 0 ) ; Dd=( 0 )
b.- Como salida a la velocidad angular
%laboratorio N1
clear all;
Ra=1;
La=0.5;
K=0.01;
J=0.08;
b=0.2;
t=0:0.001:1;
u=ones(size(t));
A=[(-Ra/La),0,(-K/J);0,0,1;(K/J),0,(-b/J)];
B=[(1/La);0;0];
C=[0,0,1];
D=[0];
%modelo discreto
T1=0.01;%tiempo de muestreo
[G,H,Cd,Dd]=c2dm(A,B,C,D,T1,'zoh')%continua a discreta
[numd,dend]=ss2tf(G,H,Cd,Dd);
Gt=tf(numd,dend,T1)
>> laboratorio_1
G=
0.9802
0 -0.0012
0.0000
1.0000
0.0012
0.0099
0.9753
H=
0.0198
0.0000
0.0000
Cd =
0
Dd =
0
Gt =
G=
0.9802 0 0.0012
0
1 0.0099
0.0012 0 0.9753
Cd=( 0 0 1 ) ; Dd=( 0 )
H=
( )
0.0198
0
0
G=
0.9802 0 0.0012
0
1 0.0099
0.0012 0 0.9753
H=
( )
0.0198
0
0
Cd=( 0 0 1 ) ; Dd=( 0 )
Para la controlabilidad sea de rango n . bien el rango de ([H|GH||G n-1 H ])=n
O bien el rango de ([H|GH|G2H])=3
Md=[H|GH|G2H]
ENTONCES EN MATLAB
%laboratorio N1
clear all;
Ra=1;
La=0.5;
K=0.01;
J=0.08;
b=0.2;
t=0:0.001:1;
u=ones(size(t));
A=[(-Ra/La),0,(-K/J);0,0,1;(K/J),0,(-b/J)];
B=[(1/La);0;0];
C=[0,1,0];
D=[0];
%modelo discreto
T1=0.01;%tiempo de muestreo
[G,H,Cd,Dd]=c2dm(A,B,C,D,T1,'zoh')%continua a discreta
[numd,dend]=ss2tf(G,H,Cd,Dd);
Md=100*ctrb(G,H)%matriz de controlabilidad del modelo discreto
rank=(Md/100)
>> laboratorio_1
G=
0.9802
0 -0.0012
0.0000 1.0000 0.0099
0.0012
0 0.9753
H=
0.0198
0.0000
0.0000
Cd =
0
1
0
Dd =
0
Md =
1.9801
0.0000
0.0012
1.9409
0.0000
0.0036
RANGO DE (Md)=3
1.9025
0.0001
0.0059
es controlable
([C|CG|CG2])=3
%laboratorio N1
clear all;
Ra=1;
La=0.5;
K=0.01;
J=0.08;
b=0.2;
t=0:0.001:1;
u=ones(size(t));
A=[(-Ra/La),0,(-K/J);0,0,1;(K/J),0,(-b/J)];
B=[(1/La);0;0];
C=[0,1,0];
D=[0];
%modelo discreto
T1=0.01;%tiempo de muestreo
[G,H,Cd,Dd]=c2dm(A,B,C,D,T1,'zoh')%continua a discreta
[numd,dend]=ss2tf(G,H,Cd,Dd);
Od=obsv(G,C)%matriz de observabilidad del modelo discreto
rank=(Od)
>> laboratorio_1
G=
0.9802
0 -0.0012
0.0000 1.0000 0.0099
0.0012
0 0.9753
H=
0.0198
0.0000
0.0000
Cd =
0
Dd =
0
Od =
0 1.0000
0.0000 1.0000
0.0000 1.0000
0
0.0099
0.0195
RANGO (Od)=3
VERIFICAMOS LA MATRIZ Od Y ES DE RANGO 3 POR LO TANTO ES
OBSERVABLE
b.- velocidad.
%laboratorio N1
clear all;
Ra=1;
La=0.5;
K=0.01;
J=0.08;
b=0.2;
t=0:0.001:1;
u=ones(size(t));
A=[(-Ra/La),0,(-K/J);0,0,1;(K/J),0,(-b/J)];
B=[(1/La);0;0];
C=[0,1,0];
D=[0];
%modelo discreto
T1=0.01;%tiempo de muestreo
[G,H,Cd,Dd]=c2dm(A,B,C,D,T1,'zoh')%continua a discreta
[numd,dend]=ss2tf(G,H,Cd,Dd);
Gt=tf(numd,dend,T1)
step(Gt)