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Aula 2
Frações parciais
1
Vc (s) LC
= R 1
V (s) s2 + Ls + LC
αs+β
Com zeros: T (s) = s2 +2ζω s+ω 2
n n
k ω2
Sem zeros: T (s) = s2 +2ζω ns+ω 2
n n
ζ: coeficiente de amortecimento
ωn : frequência natural
α, β: constantes reais
s2 + 2ζωn s + ωn2 = 0
a = 1; b = 2ζωn ; c = ωn2
√ √
−b± b2 −4ac −2ζωn ± (2ζωn )2 −4.(1).(ωn2 )
p= 2a = 2 =
√ √
−2ζωn ± (4ζ 2 ωn2 )−4ωn2 −2ζωn ± (4ωn2 )(ζ 2 −1)
p= 2 = 2
√
−2ζωn ±2ωn ζ 2 −1
p= 2
p
p = −ζωn ± ωn ζ2 − 1
p
p = −ζωn ± ωn ζ2 − 1
ζ = 1→ p1 = p2 = −ζωn = −ωn
k ωn2
T (s) =
s2 + 2ζωn s + ωn2
1 R
ωn = √ 2ζωn =
LC L
√ R R
ζ = LC →ζ= q
2L 2 CL
r
1 R L
ωn = √ ζ= Zo =
LC 2Zo C
ζ > 1:
p p
p1 = −ζωn + ωn ζ 2 − 1 e p2 = −ζωn − ωn ζ 2 − 1
a1 a2
Y (s) = +
s − p1 s − p2
k ωn2 k ωn2 k ωn2
a1 = (s − p1 )Y (s)|s=p1 = (s−p2 ) |s=p1 = (s−p2 ) = (p1 −p2 ) = √k ω2n
2 ζ −1
ζ > 1:
p p
p1 = −ζωn + ωn ζ 2 − 1 e p2 = −ζωn − ωn ζ 2 − 1
a1 a2
Y (s) = +
s − p1 s − p2
y (t) = a1 ep1 t + a2 ep2 t = √k ω2n ep1 t − √k ω2n ep2 t
2 ζ −1 2 ζ −1
√ √
k ω 2 k ω 2
y (t) = √ 2n e(−ζωn +ωn ζ −1)t − √ 2n e(−ζωn −ωn ζ −1)t
2 ζ −1 2 ζ −1
√ √
y (t) = √k ω2n [e(−ζωn +ωn ζ 2 −1)t − e(−ζωn −ωn ζ 2 −1)t ], t ≥0
2 ζ −1
Impulse Response
0.25
System: G
0.2
Peak amplitude: 0.219
At time (seconds): 0.76
0.15
Amplitude
0.1
0.05
0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
Prof. Gustavo Viana UFRJ
Análise da resposta transitória 14/54
1
Exemplo: k = 1; wn = 1; ζ = 2; G(s) = s2 +4s+1
Exercício
ζ = 1: p1 = p2 = p = −ζωn = −ωn
a1 a2
Y (s) = +
s − p (s − p)2
y (t) = a1 ep1 t + a2 tep2 t
0.35 System: G
Peak amplitude: 0.368
0.3 At time (seconds): 1
0.25
Amplitude
0.2
0.15
0.1
0.05
0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
Exercício
a1 a1∗
Y (s) = +
s − p1 s − p1∗
∗
y (t) = a1 ep1 t + a1∗ ep1 t
k ωn2
a1 = (s − p1 )Y (s)|s=p1 = √ = √k ωn
j2ωn 1−ζ 2 j2 1−ζ 2
√ √
1−ζ 2 )t 1−ζ 2 )t
[e(−ζωn +jωn −e(−ζωn −jωn ]
y (t) = √k ωn 2j ,t ≥0
1−ζ 2
p
y (t) = √k ωn 2 e−ζωn t sen(ωn 1 − ζ 2 t), t ≥ 0
1−ζ
0 < ζ < 1:
√
1−ζ 2
t3 = √φ
2
; y3 = k ωn exp( √−ζφ 2 ); φ = arctg ζ
ωn 1−ζ 1−ζ
ζ = 1:
1 k ωn
t2 = ωn ; y2 = e
ζ > 1:
p
t1 = √1
ln(ζ + ζ 2 − 1); y1 = √k ω2n (ep1 t1 − ep2 t1 )
ωn ζ 2 −1 2 ζ −1
p p
p1 = −ζωn + ωn ζ 2 − 1 e p2 = −ζωn − ωn ζ 2 − 1
script
function G = impso(k,z,wn,t)
s = tf(’s’);
kwn2 = k*wn∧2;
wn2 = wn∧2;
G = (kwn2)/(s∧2+2*z*wn*s+wn2)
impulse(G,t)
hold on
end
0.8
0.6
0.4
0.2
Amplitude
-0.2
-0.4
-0.6
-0.8
-1
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
2.5
2
Amplitude
1.5
0.5
-0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)
“Amortece” a saída
Valor máximo menor
Tempo de pico menor
a1 = sY (s)|s=0 = k
2
a2 = (s − p2 )Y (s)|s=p2 = √ k ωn √ = k√
(−ζωn +ωn ζ 2 −1).2ω n ζ 2 −1 2(ζ 2 −1−ζ ζ 2 −1)
k√
a3 = (s − p3 )Y (s)|s=p3 =
2(ζ 2 −1+ζ ζ 2 −1)
1 1
y (t) = k [1 + p ep2 t + p ep3 t ], t ≥ 0
2(ζ 2 − 1 − ζ ζ 2 − 1) 2(ζ 2 − 1 + ζ ζ 2 − 1)
a b1 b2
Y (s) = + +
s s − p (s − p)2
a = sY (s)|s=0 = k
k ωn2
b2 = (s − p)2 Y (s)|s=p = s |s=p = −k ωn
d k ωn2
b1 = ds [(s − p)2 Y (s)]|s=p = |
s2 s=p
= −k
0 < ζ < 1:
p p
p = p1 = −ζωn + jωn 1 − ζ 2 e p1∗ = −ζωn − jωn 1 − ζ 2
a b1 b1∗
Y (s) = + +
s s − p1 s − p1∗
a = sY (s)|s=0 = k
k ωn2
b1 = (s − p1 )Y (s)|s=p1 = √
p1 j2ωn 1−ζ 2
√
j(π−φ) 1−ζ 2
p = p1 = ωn e , φ = arccos ζ = arctg ζ
0 < ζ < 1:
a b1 b1∗
Y (s) = + +
s s − p1 s − p1∗
a = sY (s)|s=0 = k
π
b1 = √ k ej( 2 +φ)
2 1−ζ 2
√ √
1 π 1−ζ 2 ) 1 π 1−ζ 2 )
y (t) = k [1+ p ej( 2 +φ) e(−ζωn +jωn + p e−j( 2 +φ) e(−ζωn −jωn
2 1−ζ 2 2 1−ζ 2
√ √
1−ζ 2 t+ π 1−ζ 2 t+ π
1 −ζωn t ej(ωn 2
+φ)
+ e−j(ωn 2
+φ)
y (t) = k [1 + p e . ]
1 − ζ2 2
1 π
e−ζωn t cos(ωn
p
y (t) = k [1 + p 1 − ζ 2 t + + φ)]
1 − ζ2 2
1
e−ζωn t sen(ωn 1 − ζ 2 t + φ)], t ≥ 0
p
y (t) = k [1 − p
1 − ζ2
ζ = 1: Criticamente amortecido
ζ > 1: Superamortecido
1
e−ζωn t sen(ωn 1 − ζ 2 t + φ)], t ≥ 0
p
y (t) = k [1 − p
1 − ζ2
1
e−ζωn tr sen(ωn
p
k = k [1 − p 1 − ζ 2 tr + φ)]
1 − ζ2
1
e−ζωn tr sen(ωn
p
k = k [1 − p 1 − ζ 2 tr + φ)]
1− ζ2
1
e−ζωn tr sen(ωn 1 − ζ 2 tr + φ)
p
1=1− p
1−ζ 2
1
e−ζωn tr sen(ωn 1 − ζ 2 tr + φ)
p
0= p
1 − ζ2
p p
0 = sen(ωn 1 − ζ 2 tr + φ) → ωn 1 − ζ 2 tr + φ = π
π−φ
tr = p
ωn 1 − ζ 2
1
e−ζωn t sen(ωn 1 − ζ 2 t + φ)], t ≥ 0
p
y (t) = k [1 − p
1−ζ 2
dy
tempo de pico tp : dt |t=tp = 0 e valor de pico Mp : y (tp )
π
tp = p
ωn 1 − ζ 2
−ζπ
Mp = k [1 + exp( p )]
1 − ζ2
k [1 + exp( √−ζπ 2 )] − k
ymax − y∞ 1−ζ
P.O. = = .100%
y∞ k
−ζπ
P.O. = exp( p ).100%
1 − ζ2
4
ts = 4τ =
ζωn
1.8
1.6
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14 16 18 20
Time (seconds)
0 < ζ < 1:
Valor máximo diminui
Tempo de pico aumenta
Aumenta a velocidade de chegada ao RP
ζ = 1:
Valor máximo só no RP
Chega mais rápido ao RP
ζ > 1:
Valor máximo só no RP
Diminui a velocidade de chegada ao RP
0.8
Amplitude
0.6
0.4
0.2
1 2 3 4 5 6 7 8
Time (seconds)
“acelera” a resposta:
tempo de pico diminui
tempo de subida diminui
tempo pra chegar ao regime permanente (RP)
System: G
Peak amplitude: 1.16
Overshoot (%): 16.3
Step Response
At time (seconds): 3.63
1.2
System: G
System: G Settling time (seconds): 8.08
1
Rise time (seconds): 1.64 System: G
Final value: 1
0.8
Amplitude
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14 16 18 20
Time (seconds)
Exercício
Índices de desempenho
Como calcular tr , ts , tp , Mp ?
Solução
APLICAR A DEFINIÇÃO