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2. Faca um estudo completo dos seguintes diagrama de bloco, para todas as entradas
sabendo que o controlador é proporcional e seu ganho é 10.
8 8 80
Gc × 10× 2 2
C (s ) s ( s+ 3 ) s +3 s s +3 s
a) =
R s 1+Gc ×
( ) 8
=
8
=
80
1+10 × 2 1+ 2
s ( s +3 ) s +3 s s +3 s
80
s 2 +3 s 80
2
= 2
s +3 s+80 s + 3 s+ 80
s 2 +3 s
2 × ρ × wn=3
2 × ρ ×8.944=3
17,88 ρ=3
3
ρ= =0,167
17,888
wd=wn √ 1−ρ2
wd=8.944 √ 1−(0,167)2
wd=8,944 √ 0,972
wd=8,944 ×0,985=8,809 rad /s
π 3,14
tp= = =0,387 s
wd 8,809
4 4
ts= = =2,679 s
ρwn 0,167 x 8,944
8 8 80
Gc × 10 × 2 2
C (s ) ( s +6 ) ( s +3 ) s +3 s+ 6 s +18 s + 9 s+ 18
b) =
R s 1+Gc ×
( ) 8
=
8
=
80
1+ 10× 2 1+ 2
( s+6 )( s+3 ) s +3 s+6 s+18 s +9 s+18
80
2
s +9 s +18 80 98 7840
¿ 2 = 2 × = 2
s +9 s+18+80 s +9 s +98 80 s + 9 s+7840
2
s +9 s +18
2 × ρ × wn=9
2 × ρ ×88.543=9
177,086 ρ=9
9
ρ= =0,050
177,086
wd=wn √ 1−ρ2
wd=8 8.543 √ 1−(0,050)2
wd=88,543 √ 0,997
wd=88,543 × 0,997=8,365rad /s
4 4 4
ts= = = = 0,903s
ρwns 0,050 x 88,543 4,427
π 3,14
tp= = =0,375 s
wd 8,365