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1. Estabilidade relativa
4. Usando MATLAB
c
5. Projeto sequ
encial: sistema de leitura de um acionador de disco
Exemplo Pode-se determinar sem calcular as razes que a parte real de todas as
omio abaixo e menor do que 1 ?
razes do polin
Faca s = s0 1, Entao
s04 1 35 24
s03 10 50
s02 30 24
s01 42
s00 24
2 (s)
X X2 (s) 1 (s)
X
1
1 3 K 3
(s) = 1 (L1 + L2 + L3 ) + L1 L2 = 1 =0
s s s2 s2
m
(s) = s2 + 2s + (K 3) = 0
x(t)
= Ax(t)
x = Ax, x 6= 0
(I A)x = 0 (I A) e singular |I A| = 0
Controle de direc
ao de um veculo
Neste caso, o objetivo e realizar o controle de direcao de um veculo, com
acionamento independente nas duas rodas (no caso, veculos com esteira)
Motion of Vehicle CG
Idler Wheels
Suspension System Wheelbase Carry the weight of the
Lets idler wheels move up
vehicle. In some cases may
and down in response to Note: CG = Center of Gravity. In these examples Center
of Gravity is exagerated and does not take into account have sprockets and brakes.
changes in the terrain.
any other parts of the vehicle other than the track part.
Note: not to scale Engine the vehicle can pivot and spin in
8" 40" Wheel's contact
area exagerated for
place.
Width of wheel and track = 12" this illustration.
Most of the track is sliding
sideways compared to the
This 4-wheeled vehicle has a This 2-tracked vehicle has a
forward motion of the vehicle
maximum of 384 square inches of maximum of 960 square inches of
when turning. This can cause
contact with the ground. A forth of the contact with the ground. A sixth of Variable
damage to the ground or to
total weight of the vehicle would be the total weight of the vehicle is Differential
rodadways.
carried by each wheel. carried by each idler wheel.
Different Kinds of Tracks: All Terrain VS. Flat A line drawn straight down from the center of gravity does not Tensioning Spring
Tank-style tracks are used for pass outside of the support base so vehicle does not tip over Keeps tension on the track
very rough terrain or higher and allows for small
speeds. Flatter tracks are used changes in terrain.
Greater support base length
on earth-moving equipment Grip Area
CG makes flat tracks more stable.
because more track can contact
Front View
the ground and climbing over
obsticals is less important. By Obstruction CG
having a larger wheelbase the
flat track is more stable. An
Support Base Length Support
object is stable as long as a line Grip Area
Support Base Base
pointing straight down from its
(while climbing) Note: Vehicles are more likely to tip over Width
center of gravity does not go Side Views from side to side because the support
outside of its support base. base's width is narrower than its length
www.carolina.com 800-334-5551
MASTER 76
Track
torque
Right Y(s)
Throttle Direction of
Power train
Steering Left Vehicle travel
Copyright 1998 by Addison Wesley Longman. All rights reserved.
and controller
(a)
Figure 6.8 (a) Turning control system for a two-track vehicle (b) Block diagram
Exemplo: Controle de Direc
ao de um Veculo
B EC do sistema realimentado
K(s + a)
1 + Gc (s)G(s) = 1 + =0
s(s + 1)(s + 2)(s + 5)
ou
s4 1 17 Ka
126 K
s 3
8 (K + 10) 0
b3 = >0
8
s2 b3 Ka
b3 (K + 10) 8Ka
s1
c3
c3 = >0
0
b3
s Ka
K < 126
Ka > 0
(K + 10)(126 K) 64Ka > 0
3.0
2.0
a
Stable
1.0 region
Selected K and a
0.6
0
0 50 70 100 126 150
K
10A
=
Ka
B Da figura, nota-se que pode-se selecionar uma infinidade de valores para o par
K e a a fim de atender o desempenho especificado
10A 10
ess = = 0.238A Ka = = 42
Ka 0.238
2.5
2.0 (a 5 0.6, K 5 70)
1.5
a
(a)
twotrackstable.m
(b)
16
14
12
10
Ramp input
y(t )
8 Steady-state error
4 y(t)
0
0 2 4 6 8 10 12 14 16
Time (sec)
(a)
aKramp.m
(b)
Figure 6.17 (a) Ramp response for a = 0.6 and K = 70 for two-track
vehicle turning control (b) MATLAB script
K1
Switch
Position sensor
H(s) = 1
Figure 6.22 The closed-loop disk drive head system with an optional velocity feedback
D(s)
1 2
R(s) Ka G1(s) G2(s) Y(s)
1
2
1 + K1s
Figure 6.23 Equivalent system with the velocity feedback switch closed
Exemplo de Projeto Sequ
encial
5000 1
G1 (s) = e G2 (s) =
s + 1000 s(s + 20)
Logo a EC e
Arranjo de Routh
s3 1 20000
(20000)1020 5000Ka
b1 = >0
s2 1020 5000Ka 1020
s1 b1
para estabilidade: Ka < 4080
s0 5000Ka
s3 1 [20000 + 5000Ka K1 ]
s2 1020 5000Ka
s1 b1
s0 5000Ka
Specifications
MASTER 81
Table 6.2 Performance of the disk drive system compared to the specifications
Exemplo de Projeto Sequ
encial
B Usando MATLAB
c
para avaliar: (i) a resposta de r(t) para y(t); (ii) a m
axima
resposta ao dist ario d(t) para y(t).
urbio unit
1
FTmf
0.8
Amplitude
0.6
0.4
0.2
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
3
x 10
0
FTdisturbio
0.5
Amplitude
1.5
2
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)