Escolar Documentos
Profissional Documentos
Cultura Documentos
CONTROLE MULTIVARIVEL
INTRODUO
Ouro Branco
2016
Ser utilizado um sistema de suspenso simplificado para cada roda, que est mostrado na
figura 02.
DESENVOLVIMENTO
2.1
m1 x =k 2 ( y x ) +b ( y x )+ k 1 (ux )
m2 y =k 2 ( y x ) b ( y x )
Por conseguinte:
m1 x +b x + ( k 1 +k 2) x=b y + k 2 y + k 1 u
m2 y +b y + k 2 y =b x + k 2 x
Admitindo-se condies iniciais nulas, aplica-se a transformada de Laplace nas equaes
acima:
[m
[ m2 s2 +bs +k 2 ] Y ( s )=[ bs +k 2 ] X ( s)
Isolando X(s) na ltima equao tem-se:
X ( s )=
Assim,
m2 s + bs+k 2
Y (s )
bs+ k 2
m2 s +bs+ k 2
Y ( s )= [ bs+k 2 ] Y (s)+k 1 U (s)
bs +k 2
k 1 (bs +k 2 )
Y (s )
=
4
3
U (s) m 1 m 2 s + ( m1 + m2 ) b s + [ k 1 m 2 + ( m 1 +m 2 ) k 2 ] s 2 +k 1 bs+ k 1 k 2
[ m1 s2 +bs +( k 1+ k 2 ) ]
Onde:
2.2
{
{
x1 =x
k
1
b y +k 2 yb x ( k 1 +k 2) x ] + 1 u
[
m1
m1
x 3= y
1
x 4= y = [ b x b y k 2 y +k 2 x ]
m2
x 2= x1=
x1=x 2
k
1
1
x2= [ b y +k 2 yb x ( k 1 +k 2 ) x ] + 1 u= [b x 4 +k 2 x 3b x 2( k 1+ k 2 ) x1 ]
m1
m1
m1
x 3=x 4
1
1
x4 = [ b x b y k 2 y +k 2 x ]= [ b x 2b x 4k 2 x 3 +k 2 x 1]
m2
m2
[ ][
0
( k 1 +k 2)
x1
x 2 =
m1
x3
0
x4
b
m2
1
b
m1
0
b
m2
0
k 2
m1
0
k 2
m2
0
b
m1
1
k2
m2
][ ] [ ]
0
x1
0
x2 +
0 u
x3
k1
x4
m1
[]
x1
y1 = 1 0 0 0 x 2
y2 0 0 1 0 x3
x4
[][
Sendo,
N
m
N
k 2=25000
m
m1=10 kg
m2=40 kg
b=510 N . s /m
k 1=100000
At =L1 {( sI A)1 } .
0
1
0
0
35000
51
2500 51
A=
0
0
0
1
12.75 12.75 625 625
b 11
1
b 21
(sI A ) =
det (sI A) b 31
b 41
1
b 12
b 22
b 32
b 42
b 13
b 23
b 33
b 43
b 14
b 24
b 34
b 44
Sendo,
=L {( sI A) }
Fazendo o clculo de
M=
M 11
M 21
M 31
M 41
M 12 M 13
M 22 M 23
M 32 M 33
M 42 M 43
M 14
M 24
M 34
M 44
x ( t )=[ M ] x ( 0 ) + L1 {[ M ] }t=t [B ]u ( )d
0
B=
[ ]
0
0
0
100 00
rt
rt
rt
rt
rt
(6377500e 10000re )
M 13=
16r 3 8112r 2+ 364794r31502399
rt
rt
(10000e +204re )
M 14=
3
16r 8112r 2 +364794r31502399
(31122500ert31247399re rt +50000r 2e rt )
M 21=
16r 38112r 2 +364794r31502399
rt
rt
rt
4(625re 625r e +r e )
M 22=
16r 38112r 2+364794r31502399
M 23=
(2500)(2551re rt 4r 2e rt)
16r 3 8112r 2+ 364794r31502399
M 24=
(4)(2500re +51r e )
16r 38112r 2 +364794r31502399
M 31=
M 32=
(51e 51re )
3
16r 8112r 2+364794r31502399
rt
rt
M 33=
rt
rt
M 34=
(50000e rt 204re rt + 4r 2e rt )
16r 38112r 2 +364794r31502399
M 41=
510(12449re rt + r 2e rt )
16r 3 8112r 2 +364794r31502399
rt
rt
rt
4(12500re 51r e +r e )
M 44=
16r 38112r 2 +364794r 31502399
Onde,
4
x ( t )=[ M ] x ( 0 ) + L1 {[ M ] }t=t [B ]u ( )d
0
Para resolver a equao acima, devido aos altos valores e s longas equaes, o
resultado ficar indicado.
M=
M 11
M 21
M 31
M 41
M 12 M 13
M 22 M 23
M 32 M 33
M 42 M 43
M 14
M 24
M 34
M 44
x ( t )=[ M ] x ( 0 ) + L1 {[ M ] }t=t [B ]u ( )d
0
(25500001273990r +25051r 2r 3 )
M 11=
16r 38112r 2 +364794r 31502399
2
( 25002500r +4r )
M 12=
3
16r 8112r 2+364794r31502399
M 13=
(637750010000r )
16r 8112r 2+ 364794r31502399
M 14=
(10000+204r )
16r 8112r 2 +364794r31502399
M 21=
(3112250031247399r +50000r )
16r 38112r 2+364794r31502399
M 22=
4(625r625r 2 +r 3 )
16r 38112r 2+364794r31502399
M 23=
(2500)(2551r4r )
3
16r 8112r 2+ 364794r31502399
M 24=
(4 )(2500r +51r 2)
16r 38112r 2 +364794r31502399
M 31=
(2296r 510000+4r 2)
16r 38112r 2+364794r31502399
B=
[ ]
0
0
0
100 00
M 32=
M 33=
(5151r )
16r 8112r 2+364794r31502399
3
(50000204r + 4r 2 )
M 34=
16r 38112r 2 +364794r31502399
510(12449r + r 2)
M 41=
16r 3 8112r 2 +364794r31502399
(51)(rr 2)
M 42=
16r 3 8112r 2 +364794r31502399
(31377500255000r + 2500r 2 )
M 43=
16r 38112r 2 +364794r31502399
4( 12500r 51r 2 +r 3 )
M 44=
16r 38112r 2 +364794r 31502399
No possvel realizar o clculo da matriz inversa M, pois os valores envolvem
nmeros complexos e extensas equaes, cuja qual no possvel de se realizar com
ferramenta computacional que tem-se em mos.
c) Obter a forma cannica controlvel, observvel e modal;
0
1
0
0
35000
51
2500 51
A=
0
0
0
1
12.75 12.75 625 625
] [ ]
B=
0
0
0
100 00
B
AB
A2 B
3
A B
Q c =
0
0
500000
400000
8
0
510000 3.698 x 10 2.159 x 108
Qc =
0
10000
6.3 x 106
3.9 x 106
1 0000 6250000 3.9065 x 10 9 2.4424 x 109
A matriz
Qc
[]
C
CA
Q o=
C A2
3
CA
1
0
0
0
0
0
1
0
0
1
0
0
0
0
0
1
Q o=
35000
51
2500
51
12.75
12.75
625
625
6
4
4
1.7857 x 10 3.17 x 10 9.56 x 10
3.7 x 104
4.542 x 105
8.6 x 103 3.588 x 105 3.907 x 105
A matriz
d)
e)
f)
g)
h)
Qo