Escolar Documentos
Profissional Documentos
Cultura Documentos
Adriano A. G. Siqueira
Seja:
u(t) = Usen(ωt)
yrp = Ysen(ωt + φ)
Seja:
u(t) = Usen(ωt)
ωU
U(s) =
(s 2 + ω 2 )
b(s) b(s)
G (s) = =
a(s) (s + p1 )(s + p2 ) · · · (s + pn )
b(s) ωU
Y (s) = G (s)U(s) =
a(s) (s 2 + ω 2 )
UG (jω)
e ā = 2j
G (jω) = |G (jω)|e jφ
20
−20
−40 −1 0 1
10 10 10
ω [rad/s]
−50
φ [graus]
−100
−150
−200 −1 0 1
10 10 10
ω [rad/s]
Exemplo:
3
G (s) =
s2 +s +3
Diagrama de Nichols/Black:
Gráfico do módulo de G (jω) versus a fase de G (jω)
|G (jω)| × ∠G (jω)
Logaritmo do módulo:
20logK
15
10
5
0
−5
−10 −1 0 1 2 3
10 10 10 10 10
ω [rad/s]
10
5
φ [graus]
−5
−10 −1 0 1 2 3
10 10 10 10 10
ω [rad/s]
Logaritmo do módulo:
1
20log = −20log ω
jω
10
0
−10
−20
−30
−40 −1 0 1 2
10 10 10 10
ω [rad/s]
0
−20
φ [graus]
−40
−60
−80
−100
−1 0 1 2
10 10 10 10
ω [rad/s]
Logaritmo do módulo:
30
20
10
−10
−20 −1 0 1 2
10 10 10 10
ω [rad/s]
100
80
φ [graus]
60
40
20
0
−1 0 1 2
10 10 10 10
ω [rad/s]
Logaritmo do módulo:
1 p
= −20log 1 + ω 2 T 2
20log
1 + jωT
p
−20log 1 + ω 2 T 2 = −20log 1 = 0
p
−20log 1 + ω 2 T 2 = −20log ωT
Correção: −3 dB em ωb
O ângulo de fase
φ = −tan−1 ωT
Gráfico de fase:
ω=0⇒φ=0
ω = 1/T ⇒ φ = −45 graus
ω = ∞ ⇒ φ = −90 graus
10
−10
−20
−30
−40 −2 −1 0 1 2
10 10 10 10 10
ω [rad/s]
−20
φ [graus]
−40
−60
−80
−100 −2 −1 0 1 2
10 10 10 10 10
ω [rad/s]
φ = tan−1 ωT
30
20
10
−10
−20 −2 −1 0 1 2
10 10 10 10 10
ω [rad/s]
100
80
φ [graus]
60
40
20
0
−2 −1 0 1 2
10 10 10 10 10
ω [rad/s]
Logaritmo do módulo:
1
20log
2
1 + 2ζ(jω/ωn ) + (jω/ωn )
s 2
ω2 ω 2
= −20log 1+ 2 + 2ζ
ωn ωn
s 2
ω2 ω 2 ω2
ω
−20log 1+ 2 + 2ζ = −20log 2 = −40log
ωn ωn ωn ωn
ωr = ωn (1 − 2ζ 2 )
Módulo do pico de ressonância Mr
1
Mr = |G (jwr )| = p
2ζ 1 − ζ 2
Se ζ → 0 ⇒ Mr → ∞
O ângulo de fase
" #
−1
2ζ( ωωn )
φ = −tan
1 − ( ωωn )2
Gráfico de fase:
ω=0⇒φ=0
p
ω = ωr ⇒ φ = −90 + sen−1 (ζ/ 1 − ζ 2 ) graus
ω = ωn ⇒ φ = −90 graus
ω = ∞ ⇒ φ = −180 graus
ζ = 0.2
10
ζ = 0.3
ζ = 0.5
0
20 log |G(jω)| [dB]
ζ = 0.7
−10
ζ=1
−20
−30
−40 −1 0 1
10 10 10
ω [rad/s]
0
ζ = 0.1
−20
−40
ζ=1
−60
φ [graus]
−80
−100
−120
−140
−160
−180
−1 0 1
10 10 10
ω [rad/s]
Exemplo:
10(s + 3)
G (s) =
s(s + 2)(s 2 + s + 2)
30
1
20
20 log |G(jω)| [dB]
10
−10
−20
−30
−40 0 1
10 10
ω [rad/s]
30
1
20
20 log |G(jω)| [dB]
10
2
0
−10
−20
−30
−40 0 1
10 10
ω [rad/s]
30
1
20
20 log |G(jω)| [dB]
10
2
3
0
−10
−20
−30
−40 0 1
10 10
ω [rad/s]
30
1
20
20 log |G(jω)| [dB]
10
2
3
0
4
−10
−20
−30
−40 0 1
10 10
ω [rad/s]
40
30
1
20
20 log |G(jω)| [dB]
10
2
3
0
4
−10
5
−20
−30
−40 0 1
10 10
ω [rad/s]
assíntotas de G(jw)
30
1
20
20 log |G(jω)| [dB]
10
2
3
0
4
−10
5
−20
−30
−40 0 1
10 10
ω [rad/s]
20
20 log |G(jω)| [dB]
10
−10
−20
−30
−40 0 1
10 10
ω [rad/s]
λ = 0: G (jw ) = K
K
λ = 1: G (jw ) = (jw )
K
λ = 2: G (jw ) = (jw )2
0
20 log |G(jω)| [dB]
−5
−10
−15
−20
−25
−30
0 1
10 10
ω [rad/s]
Função de transferência:
30(s + 2)
G (s) =
s(s 2 + 8s + 100)
−20
−40
−60
−80
φ [graus]
−100
−120
−140
−160
−180
−200
0 1 2
10 10 10
ω [rad/s]
Controle
u = K (s)(r − y + n)
Saı́da
1
Função Sensibilidade: S(s) = 1+G (s)K (s)
G (s)K (s)
Função Sensibilidade Complementar: T (s) = 1+G (s)K (s)
Saı́da
y = T (s)r + T (s)n + S(s)GC (s)d
Erro
e = −S(s)r − T (s)n + S(s)GC (s)d
1
Função Sensibilidade: S(s) = 1+G (s)K (s)
G (s)K (s)
Função Sensibilidade Complementar: T (s) = 1+G (s)K (s)
dT (s)
T (s)
Sensibilidade: S(s) = dG (s)
G (s)
1
Exemplo: G (s) = s 3 +s 2 +2s
K =1
s 3 +s 2 +2s
S(s) = s 3 +s 2 +2s+1
1
T (s) = s 3 +s 2 +2s+1
Bode Diagram
50
0
Magnitude (dB)
−50
S(s)
−100
T(s)
G(s)
−150
90
0
Phase (deg)
−90
−180
−270
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Controle
Saı́da
G (s)(K (s) + Kr (s)) G (s)K (s) GC (s) + G (s)KC (s)
y= r+ n+ d
1 + G (s)K (s) 1 + G (s)K (s) 1 + G (s)K (s)
Erro
−1 + G (s)Kr (s) G (s)K (s) GC (s) + G (s)KC (s)
e= r− n+ d
1 + G (s)K (s) 1 + G (s)K (s) 1 + G (s)K (s)
Se
1 GC (s)
K (s) = 0 Kr (s) = KC (s) = −
G (s) G (s)
Saı́da
G (s)(K (s) + Kr (s)) G (s)K (s) GC (s) + G (s)KC (s)
y= r+ n+ d =r
1 + G (s)K (s) 1 + G (s)K (s) 1 + G (s)K (s)
Erro
−1 + G (s)Kr (s) G (s)K (s) GC (s) + G (s)KC (s)
e= r− n+ d =0
1 + G (s)K (s) 1 + G (s)K (s) 1 + G (s)K (s)
G (s)K (s)
Função Sensibilidade Complementar: T (s) = 1+G (s)K (s)
Saı́da
y = T (s)r + T (s)n + S(s)GC (s)d
MF = 180 + φ
0 dB
MG > 0
MF > 0
-180
0 dB MG < 0
-180
MF < 0
Compensador da forma
s +z Ts + 1
C (s) = K = Kc
s +p αTs + 1
Avanço: z < p ou α < 1
30
20
10
0
ω = 1/T
−10 D
−20 −1 0 1 2 3
10 10 10 10 10
ω [rad/s]
100
80
φ [graus]
60
40
20
0
−1 0 1 2 3
10 10 10 10 10
ω [rad/s]
20
15
ω = 1/αT
10
0
ω = 1/T
−5 −1 0 1 2
10 10 10 10
ω [rad/s]
60
φ [graus]
40
φmax
20
ωmax
0
−1 0 1 2
10 10 10 10
ω [rad/s]
T = 1 e α = 0.1
Exemplo
1
G (s) =
s(s + 1)
Erro em regime permanente menor que 0.1 para entrada
rampa
Sobressinal Mp < 25% ⇒ MF > 45◦
Erro de regime
Sendo
Ts + 1
C (s) = K ⇒ C (0) = K
αTs + 1
sisotool
Compensador da forma
s +z Ts + 1
C (s) = K = Kc
s +p αTs + 1
Atraso: z > p ou α > 1
K 1
Próximo ao PI: C (s) = s (s + TI )
20
15
10
5 ω = 1/T
I
0
−5 −1 0 1 2 3
10 10 10 10 10
ω [rad/s]
−20
φ [graus]
−40
−60
−80
−1 0 1 2 3
10 10 10 10 10
ω [rad/s]
−5
ω = 1/αT
ω = 1/T
−10
−15
−20
−25 −1 0 1 2
10 10 10 10
ω [rad/s]
0
φ [graus]
−20
−40
−60
−1 0 1 2
10 10 10 10
ω [rad/s]
Exemplo
1
G (s) =
s(s + 1)
K = 10
sisotool
Exemplo:
1
G (s) =
s +1
KG (s)
T (s) =
1 + KG (s)
Equação caracterı́stica:
1 + KG (s) = 0
Princı́pio do argumento: N = Z − P
Critério de Nyquist: Z = N + P
Exemplo 1
1
G (s) =
(s + 1)2
Exemplo 2
1
G (s) =
s −1
Exemplo 3
1
G (s) =
s(s + 1)2
Exemplo 4
s +3
G (s) =
s(s − 1)