Espejel Herrera Cesar 7CV4

Diagrama servomotor con torque externo

Usando Matlab: 0 1 0

>> Ra=5; D=

La=0.5;

Km=0.8; 0 0

Jm=0.7; modelo_servomotor =

Dm=0.9;

A=[-(Ra/La) 0 -(Km/La); Km/Jm -(Dm/Jm) 0; 0 A=

1 0]
x1 x2 x3
B=[1/La 0; 0 -(1/Jm); 0 0]
x1 -10 0 -1.6
C=[0 1 0]
x2 1.143 -1.286 0
D=[0 0]
x3 0 1 0
modelo_servomotor=ss(A,B,C,D)

B=
A=
u1 u2

x1 2 0
-10.0000 0 -1.6000
x2 0 -1.429
1.1429 -1.2857 0
x3 0 0
0 1.0000 0

C=
B=
x1 x2 x3
2.0000 0
y1 0 1 0
0 -1.4286

0 0
D=

u1 u2

y1 0 0
C=

Continuous-time state-space model.

Espejel Herrera Cesar 7CV4

Grafica:

Construcción:
Simulacion:

Grafica del diagrama: