6a Preparao

Controle de Velocidade do Motor CC com Realimentao de Estados

1. A partir do modelo de estados da equao (4), encontre a funo de transferncia

descrita na equao (5).

dx s
A r x s B v v i Bc c m
dt
m (s)
A r (2,1)

vi (s) la s p r1 s p r 2

(4)
(5)

A (1,1) A r (1, 2)
Ar r

A r (2,1) A r (2, 2)
Fazendo cm=0 temos,
x&s A r x s Bv vi
m (s)
1
Cs sI A r Bv
vi (s)
s 0
A r (1,1) A r (1, 2)
m (s)
0 1

A (2,1) A (2, 2)

vi (s)
r
r

0 s
s A r (1,1) A r (1, 2)
m (s)
0 1

vi (s)
A r (2,1) s A r (2, 2)

1 la
0

1 la
0

s A r (2, 2) A r (1, 2) 1 la
m (s)
1

0 1
s A r (1,1) 0
vi (s) s A r (1,1) s A r (2, 2) A r (1, 2)A r (2,1)
A r (2,1)
1 l
m (s)
1

A r (2,1) s A r (1,1) a
vi (s) s A r (1,1) s A r (2, 2) A r (1, 2)A r (2,1)
0
m (s)
A r (2,1)

vi (s) la s A r (1,1) s A r (2, 2) A r (1, 2)A r (2,1)

m (s)
A r (2,1)

vi (s) la s p r1 s p r 2
Onde,

s p r1 s p r 2 s A r (1,1) s A r (2, 2) A r (1, 2)A r (2,1)