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H ( j) = aH () e jH () (1)
aH () = |H ( j)| (2)
H () = arg (H ( j)) (3)
O nmero complexo H ( j) pode ser representado por um vetor com
comprimento aH () que forma um ngulo H () com o eixo-real.
Z
y (t) = h () u (t ) d
Z Z
= h ()U0e j(t)
d = U0 h () e jt e jd
Z
= U0e jt
h () e jd
e2s
H(s) = 5 (9)
10s + 1
e2 j
H( j) = 5 (10)
10 j + 1
5
|H( j)| = q (11)
(10)2 + 1
H( j) = arctan (10) 2 (12)
u(t) = sin (0.2t) (13)
|H( j0.2)| = 2.24, H( j0.2) = 1.51rad (14)
y(t) = 2.24 sin (0.2t 1.51) (15)
-1
-2
-3
0 20 40 60 80 100
Tempo, t(s)
2
(T s)3
sT 1 T2s + (T8s) 48 +
e (16)
Ts (T s)2 (T s)3
1+ 2 + 8 + 48 +
sT2 sT
e = (17)
2 + sT
5esT 5 (2 sT )
H(s) = . (18)
10s + 1 (2 + sT ) (10s + 1)
O sistema acima tem dois plos estveis mas apresenta um zero no semi-plano
direito. Esse tipo de sistema denominado sistema de fase no-mnima.
z1z2...zm 1 + s z11
1 + s 1
z2 ... 1 + s 1
zm
H(s) = K (20)
p1 p2...pn 1 + s 1 1 + s 1
... 1 + s 1
p1 p2 pn
Considerando K pz11zp22...z
...pn = K0 , ento
m
1 + s z11 1 + s z12 ... 1 + s z1m
H(s) = K0 (21)
1 1 1
1 + s p1 1 + s p2 1 + s pn
Resposta em frequncia:
Possveis termos:
K0( j)L
(1 + j)1
1
2
j
n + 2 jn + 1
{20 log K0 + 20L log |100|}{20 log K0 + 20L log |0|} = 20L log |10|+20L log |0|
20L log |0| = 20L
20log 2
1 2
-20 dB/dec
Frequncia de corte = 1
Fase
Para 1, 1 = 0o
= 1, ( j + 1)
Para = 45o
Para 1, j
= 90o
20 log | j100| 20 log | j0| = 20 log |100| + 20 log || 20 log |0| 20 log || =
= 20 log |100| 20 log |0|
= 20 log |10| = +20dB
k k 1
=
s2 + 2ns + n2 n2 1 + s 2 + s22
n n
k 1 k 1
=
n2 1 + ( j )2 + j 2 n2 1 ( )2 + j 2
n n n n
Frequncia de corte = n
2
Assntota em baixas frequncias n, j
n + 2 jn + 1
=1
2
2
Assntota em altas frequncias n, j
+ 2 jn + 1
=
n n
1
Se o termo est no denominador, ento |G( jn)| = 2
K Zi=1 (1 + ji)
H ( j) = 2 (24)
( j)N Jj=1 (1 + j j ) Lk=1 1 + 2 nk j + jn
k k
Z J
N
20 log |H( j)| = 20 log K + 20 log |1 + ji| 20 log ( j) 20 log |1 + j j |
i=1 i=1
L 2
2 k j
20 log 1 + j +
k=1
nk nk
!!
Z J L
2k nk
() = arctan i N + arctan j + arctan (25)
i=1 2 j=1 k=1 2nk 2
| {z } | {z }
zeros plos
2000 s + 12 2000 21 (1 + 2s)
G(s) = = (26)
s(s + 10)(s + 50) 10 50s(1 + 10s )(1 + 50s )
2 1 + 2 j
G( j) = j j (27)
j (1 + 10 )(1 + 50 )
Frequncias de corte
10 10
0.05 0.5 5
1 10 100
5 50 500
O eixo das frequncias deve ser de 0.01 a 1000, ou seja, ter 5 dcadas
20
-20
90
-90
-20dB/dec
20
-20
90
-90
20
0,5
-20
90
0
0,05 0,5 5
-90
20
-20dB/dec
-20
90
-90
20
50
-20dB/dec
-20
90
5 50 500
0
-90
-20dB/dec
20
0,5 2 50
-20
90
50 500
0
0,05 0,5 5
-90
-20dB/dec
20
-20dB/dec
0,5 2 10 50
-20 -40dB/dec
90
50 500
0
0,05 0,5 5
-90
-20dB/dec
20
-20dB/dec
0,5 2 10 50
-20 -40dB/dec
90
50 500
0
0,05 0,5 5
-90
40
30
20
Magnitude (dB)
10
-10
-20
-30
-40
0
-45
Phase (deg)
-90
-135
-180
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
ja
|H( j)| = e =1 (29)
H( j) = e ja = a (rad) (30)
1 1
T= = (31)
f 2
a a
2 = 2 = a (32)
T 2
10(s + 1) (1 + s) 1+s
G1(s) = = 10 s = s
(s + 10) 10(1 + ) 1 +
10 10
1 + j 1 + j
G1( j) = ; G2( j) =
j j
1+ 1+
10 10
Saulo O. D. Luiz, AMNLima/Controle Analgico/UFCG/DEE - 37
Saulo O. D. Luiz, AMNLima/Controle Analgico/UFCG/DEE - 38
Correlao Freqncia x Tempo
2n
H(s) = 2 (35)
s + 2ns + 2n
1
y(t) = L 1 H(s) = 1 et cos d t + sin d t (36)
s d
q
= n, d = n 1 2, 0 1 (37)
tp = (38)
d
Mp = exp q (39)
1 2
1
Mr = |H( j)|=r = q . (43)
2
2 1
BW 10dB 3dB
10
10
0dB
20
20log(|H(j)|) (dB)
30
40
50
60
70
80 2 1 0 1 2
10 10 10 10 10
log() (rad/s)
|KG(s)H(s)| = 1
1 + KG(s)H(s) = 0 KG(s)H(s) = 1
(KG(s)H(s)) = 180 (2l + 1)
(45)
|KG(s)H(s)| = 1 20 log10 |KG(s)H(s)| = 0
|KG(s)H(s)| = 1
(46)
(KG(s)H(s)) = 180 (2l + 1)
Fazendo s = j:
|KG( j)H( j)| = 1
(47)
(KG( j)H( j)) = 180 (2l + 1)
K=2 K>2
K<2
KL( jc) > 180 para c em que 20 log10 |KL( jc)| = 0 (48)
c
(c) = arctan (53)
2 2n
r
q
4 2
1 + 4 2
(c) = arctan (54)
2 2
4
ts = (55)
n
t
cs
(c) = arctan (56)
2 8
PM = L ( jc) + 180
|L ( jc)| = 1
t
cs
PM = arctan (57)
2 8
1
tan x = cot (x) = (58)
2 tan(x)
8
tan (PM) = (59)
cts
PM = L ( jc) + 180
|L ( jc)| = 1
r
q
4 2
1 + 4 2
PM = arctan (60)
2 2
2
PM = arctan rq (61)
4 2
1 + 4 2
PM 100 para 0 PM 60 (62)
10
Cv
0
20log(|H(j)|) (dB)
10
20
30
40
50
60 1 0 1
10 10 10
log() (rad/s)
N = 0 : tipo 0
N = 1 : tipo 1
N = 2 : tipo 2
k
Quando 0 , a FTMA tende a G( j) =
( j)2
k
Quando = 1 rad/s : 20 log |G( j1)| = 20 log = 20 log k
( j1)2
s+a
F(s) = k , k > 0, a > 0, b > 0, c > 0, d > 0 (64)
(s + b)(s + c)(s + d)
1
0
-1 s0
-2
- 3- 4 -2 0 2 4 6
T = PZ (66)
mi=1 (s + zi )
i
(s + z1)1 (s + z2)2 (s + zm)m
F(s) = k n
=k (67)
i=1(s + pi) i (s + p1)1 (s + p2)2 (s + pn)n
1 = = m = 1 = = n = 1 (68)
nm (69)
s0
z1 0 x
s0
z1 s
0 x
(0x,
z1
s0) + (0x,
z2
s0) + + (0x,
zk
s0) = 2Z (76)
s0
p 0 x
1
s0
s
p
1
0 x
(0x,
p
1 s0 ) + (0x, p2 s0 ) + + (0x, pk s0 ) = 2P (77)
onde
mi=1 (s + zi )
i
G(s)H(s) = k n (80)
i=1(s + pi)i
N = Z P Z = N +P (88)
= 0, E( j) = 5 j0
, E( j) = j , ( 0)
j 5
E(Re ) =
(Re j + 1)2
limR E(Re j) = 0
4 0.8
3 0.6
2 0.4
1 0.2
Imaginary Axis
Imaginary Axis
0 0
-1 -0.2
-2 -0.4
-3 -0.6
-4 -0.8
-2 -1 0 1 2 3 4 5 6 -1.5 -1 -0.5 0 0.5
Real Axis Real Axis
Polos: 0, -1, -2
7
Vamos mapear a curva fechada C usando a funo E(s) = s(s+1)(s+2)
Trecho I: s = e j
j 7 7 j
E(e ) = j j = e , pois 0
e (e + 1)(e j + 2) 2
j
de a . Ento E(e ) de a
2 2 2 2
Trecho II : s = j
: E( j) + j
2
2 = 0 = 2, que a frequncia para a qual a parte imaginria
igual a 0
21 21
E( j 2) = =
(1 + 2)(4 + 2) 18
Trecho III: s = Re j
j 7
E(Re ) = j
Re (Re j + 1)(Re j + 2)
limR E(Re j) = 0
80 5
0.6
4
60
3
0.4
40
2
Imaginary Axis
Imaginary Axis
1
0 0
0
-1
-20
-0.2 -2
-40
-3
-0.4
-60
-4
-80 -0.6 -5
-10 -8 -6 -4 -2 0 -1 -0.5 0 -10 -5 0 5
Real Axis Real Axis Real Axis
1
KcH ( jc) = 1, H ( jc) = (90)
Kc
1
a (c) = , (c) = 180 (91)
Kc
0.5
-0.5
-1
0 2 4 6 8 10 12 14 16 18 20
t (s)
4Vr
Kr =
Y1
4Vr
Y1 = |H ( jc)|
Saulo O. D. Luiz, AMNLima/Controle Analgico/UFCG/DEE - 101
Mtodo da funo descritiva ...
1
Kr H ( jc) = 1, H ( jc) = (92)
Kr
ento
Y1
H ( jc) =
4Vr
Controlador Kp Ti Td
P 0.5Kr 0
(93)
PI 0.45Kr 0.83Tc 0
PID 0.6Kr 0.5Tc 0.125Tc
a1 s + a0
G (s) = (98)
b1 s + 1
1 a0 |H ( jPM )| cos
a1 = (100)
PM |H ( jPM )| sin
cos a0 |H ( jPM )|
b1 = (101)
PM sin
= 180 + PM H ( jPM ) (102)
= G ( jPM ) (103)
8
tan (PM) = (104)
tsPM
Ts+1
G (s) = K (105)
T s + 1
com < 1.
1
max = (107)
T
20
FT da planta com o ganho compensado: G1(s) = s(s+1)
ki k ps + ki + kd s2 ki kd 2 k p
G(s) = k p + + kd s = = ( s + s + 1) (108)
s s s ki ki
2
ki ki j
kp
G( j) = k p + + kd j = r + j + 1 (109)
j j ki
ki
kd
90
80
Magnitude (dB)
70
60
50
40
90
45
Phase (deg)
-45
-90
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/s)
ki cos + j sin
Kp + j kd PM = |G ( jPM )| (cos + j sin ) =
PM |H ( jPM )|
cos
Kp = (111)
|H ( jPM )|
ki sin sin ki
kd PM = kd = + (112)
PM |H ( jPM )| PM |H ( jPM )| 2PM
Especificao:
PM = 80
PM = 50rad/s
0
6
-20
4
-40
2
-60 G.M.: Inf
Freq: Inf
0 Stable loop
-80
0
-2
-45
-4
-90
-6 -135
P.M.: 20.4 deg
Freq: 2.61 rad/sec
-8 -180
-0.25 -0.2 -0.15 -0.1 -0.05 0 -1 0 1 2
10 10 10 10
Real Axis Frequency (rad/sec)
20
Magnitude (dB)
System: H
-20 Frequency (rad/s): 0.1
Magnitude (dB): -2.48
-40
-60
-80
0
-45
Phase (deg)
-90
-135
-180
-1 0 1 2
10 10 10 10
Frequency (rad/s)
2.4775
20 logCp = 2.4775 Cp = 10 20 = 0.7518
cos
Kp = = 151.0407 (113)
|H ( jPM )|
2
kd s + k ps + ki
Cv = lim s H(s) = ki lim H(s) = kiCp (114)
s0 s s0
1 1
kiCp = ki = = 133.0067 (115)
ess essCp
sin ki
kd = + = 16.4173 (116)
PM |H ( jPM )| 2PM
8 60
6 40
4
20
2
0 G.M.: inf
Freq: NaN
0 Stable loop
-20
0
-2
-45
-4
-90
-6
-8 -135
P.M.: 80 deg
Freq: 50 rad/s
-10 -180
-40 -35 -30 -25 -20 -15 -10 -5 0 -2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Real Axis Frequency (rad/s)
1.4
y*(t)
yMA(t)
1.2 yMF(t)
1
Amplitude
0.8
0.6
0.4
0.2
0
0 5 10 15 20 25 30
Time (seconds)
y*(t)
y(t)
10.005
10
Amplitude
9.995
System: y(t)
Time (seconds): 10
Amplitude: 9.99
9.99
9.985
9.98
ki s
G(s) = k p + + kd pd (117)
s s + pd
100
0
90
-90
-1 0 1 2 3 4 5
10 10 10 10 10 10 10
Frequency (rad/s)
Diagrama de Bode para G(s) = kp + ki/s + kd pd s/(s+pd)
Phase (deg) Magnitude (dB)
100
50
0
90
-90
-1 0 1 2 3 4 5
10 10 10 10 10 10 10
Frequency (rad/s)
Saulo O. D. Luiz, AMNLima/Controle Analgico/UFCG/DEE - 133
Root Locus Editor for Open Loop 1(OL1) Open-Loop Bode Editor for Open Loop 1(OL1)
20 100
15 50
10
0
5
-50
G.M.: inf
Freq: Inf
0 Stable loop
-100
0
-5
-45
-10
-90
-15 -135
P.M.: 77.3 deg
Freq: 50.4 rad/s
-20 -180
-1000 -800 -600 -400 -200 0 -2 0 2 4 6
10 10 10 10 10
Real Axis Frequency (rad/s)
1.4
y*(t)
y (t)
MA
1.2 y (t)
MF com pd
1
Amplitude
0.8
0.6
0.4
0.2
0
0 5 10 15 20 25 30
Time (seconds)
10.006 y*(t)
yMF com pd(t)
10.004
10.002
10
9.998
Amplitude
9.996
9.994
System: y_{MF com pd}(t)
9.992 Time (seconds): 10
Amplitude: 9.99
9.99
9.988
9.986