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A Coes Basic As Control e
A Coes Basic As Control e
R(s) Y(s)
G(s) Ha(s) Hp(s)
Hs(s)
com
+U0, e(t) > 0
u(t) = (4)
U0, e(t) < 0
G(s) = Kp (7)
1
U(s) = G(s)E(s) = KiL {1(t)}L {e(t)} = Ki E(s) (9)
s
Ki
G(s) =
s
s
G(s) = Kd pd (12)
s + pd
n = A sin(t) (13)
Tipo B
Ki 1
U (s) = Kp + E (s) sKdY (s) = Kc 1 + E (s) sTdY (s)
s sTi
Tipo C
Ki 1
U (s) = E (s) (Kp + sKd )Y (s) = Kc E (s) (1 + sTd )Y (s)
s sTi
K NFT MA(s)
H(s) = = ,K>0ea>0 (16)
s + a DFT MA(s)
b u
u bx = mx x + x = (21)
m m
A velocidade v = x
b u b U(s)
v + v = sV (s) + V (s) = (22)
m m m m
1
b U(s) V (s)
(s + )V (s) = = mb (23)
m m U(s) s + m
0.05
0.045
0.04
0.035
0.03
Amplitude
0.025
0.02
0.015
0.01 System: H
Time (seconds): 20
Amplitude: 0.0126
0.005
0
0 10 20 30 40 50 60 70 80 90 100
Time (seconds)
G(s)H(s)
lim y(t) = lim sY (s) = lim s Y (s) (30)
t s0 s0 1 + G(s)H(s)
K pK 1
lim y(t) = lim s (31)
t s0 s + a + K pK s
K K
y() = a+Kp pK para y() = 1 (32)
1
E(s) = Y (s) (35)
1 + G(s)H(s)
1
lim e(t) = lim sE(s) = lim s Y (s) (36)
t s0 s0 1 + G(s)H(s)
1
lim e(t) = lim s K pK Y (s) (37)
t s0 1 + s+a
na qual
K pK
Cp = lim G(s)H(s) = (39)
s0 a
denominada de constante de erro de posio.
Para Kp = 10:
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.1
0
0 10 20 30 40 50 60 70 80 90 100
Time (sec)
0.8
Amplitude
0.6
0.4
0.2
0
0 10 20 30 40 50 60 70 80 90 100
Time (sec)
na qual
Cv = lim sG(s)H(s) = 0 (41)
s0
denominada de constante de erro de velocidade.
Para Kp = 10:
100
y*(t)
90
y(t)
80
70
Amplitude
60
50
40
30
20
10
0
0 10 20 30 40 50 60 70 80 90 100
Time (sec)
100
90 y*(t)
K =100
p
80
K =50
p
70 K =10
p
Amplitude
60
50
40
30
20
10
0
0 10 20 30 40 50 60 70 80 90 100
Time (sec)
na qual
Ca = lim s2G(s)H(s) = 0 (43)
s0
denominada de constante de erro de acelerao.
Para Kp = 10:
10000
y*(t)
9000
y(t)
8000
7000
Amplitude
6000
5000
4000
3000
2000
1000
0
0 10 20 30 40 50 60 70 80 90 100
Time (sec)
10000
9000 y*(t)
K =100
p
8000
K =50
p
7000 K =10
p
Amplitude
6000
5000
4000
3000
2000
1000
0
0 10 20 30 40 50 60 70 80 90 100
Time (sec)
Y (s) G(s)H(s)
= (46)
Y (s) 1 + G(s)H(s)
Ki K
Y (s) s s+a KiK NFT MF (s)
= = = (47)
Y (s) 1 + Ksi s+a
K s(s + a) + KiK DFT MF (s)
1
lim e(t) = lim s Y (s) (54)
t s0 1 + G(s)H(s)
1
lim e(t) = lim s K K
Y (s) (55)
t s0 1 + i
s s+a
j que
Ki K
Cp = lim G(s)H(s) = lim = (57)
s0 s0 s s + a
1.4
1.2
1
Amplitude
0.8
0.6 y*(t)
Ki=0.5
Ki=0.625
0.4
Ki=1
0.2
0
0 50 100 150 200 250 300
Time (sec)
1
lim e(t) = lim s Y (s) (65)
t s0 1 + G(s)H(s)
1
lim e(t) = lim s K Y (s) (66)
t s0 1 + Kd s
s+a
j que
K
Cp = lim G(s)H(s) = lim Kd s =0 (68)
s0 s0 s+a
Ki
NFT MF (s) = KpK(s + ) = 0 (74)
Kp
Ki
=a (78)
Kp
K
s+ K pi K pK
K
Y (s) K p( s ) s+a s K pK
= K = K pK = (79)
Y (s) s+ K pi
K 1+ s s + K pK
1 + Kp( s ) s+a
a qual representa o comportamento dinmico de um sistema de
primeira ordem com um plo em s = KpK.
Para Ki = 1 e Kp = 20:
0.9
Referncia y*(t)
0.8
Saida y(t) em malha aberta
Saida y(t) em malha fechada
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 50 100 150 200 250 300
Time (sec)
Polos
0 jn q
0 < < 1 n jn 1 2
1 n, n q
>1 n n 2 1
Y (s) 2n 2n
= = (83)
Y (s) (s + ) + 2 1
n
2
n
2 (s + ) 2
+ 2
d
q
em que = n, d = n 1 2
2n 1 s + 2n
Y (s) = h i= (84)
s (s + n) + d
2 2 s (s + n + d
)2 2
1 s
Y (s) = 2 . Demonstre que (85)
s s + n
2
1.8
1.6
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
1 s + 2n
Y (s) = . Demonstre que (87)
s (s + n) + d2 2
q
2
e nt 1
sin d t + tg1
y(t) = 1 q 1(t) (88)
1 2
1 s + n n
Y (s) = . Demonstre que (89)
s (s + n) + d (s + n) + d
2 2 2 2
y(t) = 1 ent cos d t + q sin d t 1(t)
(90)
12
1.4
1.2
Amplitude 1
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
2n 1 n 1
Y (s) = = . Demonstre que (91)
s (s + n) 2 s (s + n) 2 (s + n)
y(t) = 1 e nt
(1 + nt) 1(t) (92)
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
Demonstre que
2n 1 n 1 1 1 1
Y (s) = = + q
s (s + 2ns + n) s
2 2 s1 s + s1 s2 s + s2
2 1
2
(93)
onde q
s1 = n + n 2 1 (94)
q
s2 = n n 2 1 (95)
s t
n s
e 1 e 2 t
y(t) = 1 + q 1(t) (96)
s1 s2
2 1
2
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
2n
GN (s) = 2 com 0 < < 1 (97)
s + 2ns + n
2
Os polos da FT so
q
s1,2 = n jn 1 2 (98)
= jd (99)
Sobre-sinal M
Tempo de acomodao ts
ou tg(d tr ) = d
tg = d tg ( ) = d
d tr = tr =
d
i.e., tr 1,8
n
A resposta em t = t p
n o
y(t p) = 1 ent p cos d t p + send t p = 1 + ent p
d
O sobre-sinal M = ent p
nt p = dn d t p = dn = n =
n 1 2
12
Ento M = exp 2
1
ets = 0, 01 ts = 4, 6 ts = 4,6
Observaes:
2oo a
Kp = (100)
K
e
2o
Ki = (101)
K
Y (s) ( so + 1)2o
o
= (103)
Y (s) s2 + 2oos + 2o
Y (s) 2o 2o s
= 2 + (104)
Y (s) s + 2oos + o
2 oo s2 + 2oos + 2o
ou ento
Y (s) 1
= HF (s) + sHF (s) (105)
Y (s) oo
Saulo O. D. Luiz, AMNLima/Controle Analgico/UFCG/DEE - 66
Step response for n = 2 and = 0.3
3
=1
=10
2.5
=
=1
2
1.5
1
Amplitude
0.5
0.5
1.5
2
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
1
lim e(t) = lim s Y (s) (107)
t s0 1 + G(s)H(s)
1
lim e(t) = lim s Ki Y (s) (108)
t s0 s+ K p
K
1 + Kp( s ) s+a
s + KKpi K
Cp = lim G(s)H(s) = lim Kp( ) = (110)
s0 s0 s s+a
K NFT MA(s)
H(s) = = , K > 0, a > 0, b > 0 e a 6= b (111)
(s + a)(s + b) DFT MA(s)
K
lim y(t) = lim sY (s) = lim sH (s)U(s) = (113)
t s0 s0 ab
Saulo O. D. Luiz, AMNLima/Controle Analgico/UFCG/DEE - 71
at bt
1 1 1 1 e e
y(t) = K L =K +
(s + a)(s + b) s ab a(b a) b(b a)
(114)
K NFT MA(s)
H(s) = = , K > 0, a > 0, b > 0 e a 6= b (115)
(s + a)(s + b) DFT MA(s)
e
G(s) = Kp (116)
Considere a FTMF (Funo de Transferncia de Malha Fechada)
dada por
Y (s) G(s)H(s)
= (117)
Y (s) 1 + G(s)H(s)
K pK
Y (s) (s+a)(s+b) K pK NFT MF (s)
= K pK = = (118)
Y (s) 1 + (s+a)(s+b) (s + a)(s + b) + KpK DFT MF (s)
2 (a + b)2 4ab
(a + b) 4(ab + KpK) > 0 ou Kp < (121)
4K
a FTMF ter dois plos reais distintos. Por outro lado se
2
2 (a + b) 4ab
(a + b) 4(ab + KpK) < 0 ou Kp > (122)
4K
teremos um par de plos complexos conjugados. Entretanto se
2
2 (a + b) 4ab
(a + b) 4(ab + KpK) = 0 ou Kp = (123)
4K
temos dois plos reais idnticos.
Saulo O. D. Luiz, AMNLima/Controle Analgico/UFCG/DEE - 75
Erro estacionrio
1 1 1
lim e(t) = lim s K pK = (124)
t s0 1 + s 1 +Cp
(s+a)(s+b)
na qual
K pK
Cp = lim G(s)H(s) = (125)
s0 ab
denominada de constante de erro de posio.
na qual
Cv = lim sG(s)H(s) = 0 (127)
s0
denominada de constante de erro de velocidade.
na qual
Ca = lim s2G(s)H(s) = 0 (129)
s0
denominada de constante de erro de acelerao.
K NFT MA(s)
H(s) = = , K > 0, a > 0, b > 0 e b > a (130)
(s + a)(s + b) DFT MA(s)
e
Ki
G(s) = Kp + (131)
s
Considere a FTMF (Funo de Transferncia de Malha Fechada)
dada por
Y (s) G(s)H(s)
= (132)
Y (s) 1 + G(s)H(s)
K
s+ K pi
K
Y (s) K p( s ) (s+a)(s+b) KpKs + KiK NFT MF (s)
= K = =
Y (s) s+ K pi
K s(s + a)(s + b) + KpKs + KiK DFT MF (s)
1 + K p( s ) (s+a)(s+b)
(133)
O comportamento dinmico (regime transitrio) avaliado
resolvendo-se a equao caracterstica que nesse caso
ou
DFT MF (s) = a3s3 + a2s2 + a1s + a0 = 0 (135)
1
lim e(t) = lim s Y (s) (142)
t s0 1 + G(s)H(s)
1
lim e(t) = lim s K p K Y (s) (143)
t s0 1 +
s(s+b)
j que
K pK
Cp = lim G(s)H(s) = lim = (145)
s0 s0 s(s + b)
K NFT MA(s)
H(s) = = , K > 0, a > 0, b > 0 e b 6= a (146)
(s + a)(s + b) DFT MA(s)
e
Ki Ki s
G(s) = Kp + + Kd s Kp + + Kd pd (147)
s s s + pd
ou
(K p +Ki) Ki pd
s2 + (Kpp+K
d
s +
d pd ) (K p+Kd pd )
G(s) = (Kp + Kd pd ) (148)
s(s + pd )
2 (Kp pd + Ki) Ki pd
s + s+ = s2 + (a + b)s + ab (151)
(Kp + Kd pd ) (Kp + Kd pd )
(Kp pd + Ki) Ki pd
2
s + s+ = s2 + 2ns + 2n (152)
(Kp + Kd pd ) (Kp + Kd pd )
(Kp pd + Ki)
= a + b = 2n (153)
(Kp + Kd pd )
e
Ki pd
= ab = 2n (154)
(Kp + Kd pd )
(K p+Kd pd )K
Y (s) s(s+pd ) (Kp + Kd pd )K
= (K p+Kd pd )K
= (155)
Y (s) 1 + s(s+pd ) s(s + pd ) + (Kp + Kd pd )K
1
lim e(t) = lim s Y (s) (162)
t s0 1 + G(s)H(s)
1
lim e(t) = lim s (K p +K ) Kp
Y (s)
t s0 s2+ (K p+K
d i s+
) (K
i d
p d d p p d pd )
+K K
1 + (Kp + Kd pd ) s(s+pd ) (s+a)(s+b)
j que
Cp = lim G(s)H(s) =
s0
independente do tipo de tcnica de projeto.
2o
H(s) = (163)
( so + 1)(s2 + 2oos + 2o)
o
Se 1 a localizao
q do polo adicional oo prxima
dos plos oo jo 1 2o e sua inflncia na resposta
significativa.
1.4
=
=5
=2
1.2 =1
Amplitude
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7
Time (seconds)
P0D0 + L0N0 = D0
P0D1 + L0N1 + P1D0 + L1N0 = D1
..
K Ls Y (s)
H (s) = e = (174)
Ts+1 U (s)
y (tmax)
L = tmax (179)
max
A constante de tempo determinada calculando-se
e1
T = arg min y (t) y () L (180)
t[0,) e
Controlador K Ti Td
P T /L 0
(182)
PI 0.9T /L L/0.3 0
PID 1.2T /L 2L 0.5L
(s + 1/L)2
GPID (s) = 0.6T (186)
s
Saulo O. D. Luiz, AMNLima/Controle Analgico/UFCG/DEE - 104
Mtodo do degrau - mnimos quadrados
K Ls Y (s)
H (s) = e = (187)
Ts+1 U (s)
e sua resposta a
U,t > 0
u (t) = (188)
0,t 0
para t L dada por
tL
y (t) = UK 1 e T + e (t) (189)
Z Tf T f
tL tL
UK 1 e T dt = UK t + Te T
L L
y (t) e (t)
tL
De (189): e = 1 T + (191)
UK UK
e y (L) = 0 (192)
Z Tf
T f Z T
y (t) e (t) f
y (t) dt = UK t + T 1 + + e (t) dt (193)
0 UK UK
L 0
Z Tf
Z Tf
y (Tf ) Tf
y (t) dt = UK Tf L T + Te (t)|L + e (t) dt (194)
0 UK | {z 0 }
=(T f )
Z Tf Z Tf
Tf
A (Tf ) = y (t) dt e (Tf ) = Te (t)|L + e (t) dt (195)
0 0
A (Tf ) = UKTf UKL Ty (Tf ) + (Tf ) (196)
Definindo
K
UTf U y (Tf ) LK A (Tf ) (Tf )
| {z } = | {z } | {z } (197)
T
| {z }
= (198)
Tf2
UTf2 U y Tf2 A Tf2
= . . .
. .
.
, = .
.
, =
..
N
UTf U y Tf N
A TfN
TfN
K
= LK
(199)
T
NLS = T , L Tf1 < Tf2 < < TfN
T
(200)