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input output
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Black box
Diagramas blocos & erro
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G (s)
input output
Função de Transferência:
Y (s)
G (s) =
ou: X (s)
Y (s ) = G (s ) ⋅ X (s )
ou seja,
SAÍDA = F.T. X ENTRADA
combinação de blocos
Diagramas blocos & erro
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blocos em cascata
G1 (s) G 2 (s)
blocos em cascata
G1 (s) G 2 (s)
logo,
X (s) Y (s)
G 1 (s ) = G 2 (s) =
R (s) X (s)
Diagramas blocos & erro
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blocos em cascata
G1 (s) G 2 (s)
blocos em cascata
G1 (s) G 2 (s)
portanto:
Y (s) = G1 (s) ⋅ G 2 (s) ⋅ R (s)
ou,
Y (s)
= G1 (s) ⋅ G 2 (s)
R (s)
Diagramas blocos & erro
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blocos em cascata
G1 (s) G 2 (s)
logo:
G1 (s) ⋅ G 2 (s)
Diagramas blocos & erro
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blocos em cascata
G1 (s) G 2 (s)
e portanto:
G1 (s) ⋅ G 2 (s)
Diagramas blocos & erro
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somador
detector de erros
Erro
realimentação
( feedback )
Diagramas blocos & erro
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realimentação ( feedback )
realimentação unitária
unit feedback
realimentação unitária
unit feedback
E(s)
realimentação unitária
unit feedback
realimentação unitária
unit feedback
realimentação unitária
unit feedback
Y (s) G (s)
=
R (s) 1 + G (s)
Diagramas blocos & erro
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Y (s) G (s)
=
R (s) 1 + G (s) ⋅ H (s)
Diagramas blocos & erro
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G (s)
1 + G (s) ⋅ H(s)
Y (s) G (s)
=
R (s) 1 + G (s) ⋅ H (s)
Diagramas blocos & erro
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observe que a
corresponde a
realimentação não unitária
(ou, ‘non unit feedback’)
quando
H (s) = 1
Diagramas blocos & erro
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realimentação (unitária)
unit feedback
G (s)
1 + G (s) ⋅ H(s)
H (s) = 1
Diagramas blocos & erro
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realimentação (unitária)
unit feedback
G (s)
1 + G (s)
Y (s ) G (s)
=
R (s ) 1 + G (s )
Diagramas blocos & erro
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Exemplo 1:
5
G (s) =
s (s + 4)
5
Y (s) G (s) s (s + 4) 5
= = = 2
R (s) 1 + G (s ) 1+
5 s + 4 s + 5
s (s + 4)
Diagramas blocos & erro
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Exemplo 2:
5
G (s) =
s (s + 4)
1
H (s) =
(s + 3)
5
Y (s ) G(s) s (s + 4)
= =
R (s ) 1 + G(s)H(s) 1+
5
⋅
1
s (s + 4) (s + 3)
Diagramas blocos & erro
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Exemplo 2:
5
G (s) =
s (s + 4)
1
H (s) =
(s + 3)
Y (s) 5 (s + 3)
= 3
(s + 7s + 12 s + 5)
2
R (s)
realimentação tacométrica
Diagramas blocos & erro
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realimentação tacométrica
K 1
(Js+ F) s
tacómetro
K1
sensor de posição
K2
realimentação tacométrica
K 1
(Js+ F) s
tacómetro
K1
sensor de posição
K2
K
(Js + F)
G(s)
G (s) =
KK 1
1+
(Js + F)
Diagramas blocos & erro
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realimentação tacométrica
1
G (s ) s
sensor de posição
K2
K
(Js + F)
G(s)
G (s) =
KK 1
1+
(Js + F)
Diagramas blocos & erro
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realimentação tacométrica
1
G (s ) s
sensor de posição
K2
K
(Js + F)
G (s) =
KK 1
1+
(Js + F)
Diagramas blocos & erro
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realimentação tacométrica
1
G (s ) s
sensor de posição
K2
K
( Js + F) K
G (s ) = =
1+
KK 1 Js + F + KK 1
( Js + F)
Diagramas blocos & erro
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realimentação tacométrica
1
G (s ) s
sensor de posição
K2
K
G (s ) =
Js + F + KK1
Diagramas blocos & erro
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realimentação tacométrica
K 1
Js + F + KK1 s
sensor de posição
K2
K
G (s ) =
Js + F + KK1
Diagramas blocos & erro
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realimentação tacométrica
K 1
Js + F + KK1 s
sensor de posição
K2
K 1
⋅
Y (s) Js + ( F + KK 1 ) s
=
R (s) K 1
1+ ⋅ ⋅ K2
Js + ( F + KK1 ) s
Diagramas blocos & erro
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realimentação tacométrica
KK 1
Js + FF++KK
KK11
s
sensor de posição
K2
Y (s) K
=
R (s) Js + ( F + KK1 )s + KK 2
2
Diagramas blocos & erro
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realimentação tacométrica
K
Js
2
Js +
2 + ((F
F++ KK
KK 1 ))ss +
+ KK 2
KK
1 2
realimentação tacométrica
(outra forma de ver-se)
Diagramas blocos & erro
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realimentação tacométrica
K 1
(Js+ F) s
tacómetro K1
sensor de posição
K2
Diagramas blocos & erro
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realimentação tacométrica
K 1
(Js+ F) s
tacómetro K1s
sensor de posição
K2
Diagramas blocos & erro
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realimentação tacométrica
K 1
(Js+ F) s
K1s
K2
K1s + K 2
Diagramas blocos & erro
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realimentação tacométrica
K 1
(Js+ F) s
K1s + K2
K 1
⋅
Y (s) (Js + F) s
=
R (s) K ( K1s + K 2 )
1+
(Js + F) s
Diagramas blocos & erro
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realimentação tacométrica
K 1
(Js+ F) s
K1s + K2
Y (s) K
=
R (s) Js + ( F + KK 1 )s + KK 2
2
realimentação tacométrica
KK
Js2 + (F + KK 1 )s + KK 2
2
Js + ( F + KK 1 )s + KK 2
Y (s) K
=
R (s) Js + ( F + KK 1 )s + KK 2
2
Erro
Para um sistema de malha aberta (isto é, sem reali-
mentação) a definição de erro é:
Erro
realimentação unitária
aqui, o erro
também é: E(s) = R(s) − Y(s)
Diagramas blocos & erro
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Erro
realimentação não unitária
o erro
torna-se: E(s) = R(s) − B(s)
Diagramas blocos & erro
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ou seja:
B(s)
erro: E(s) = R(s) − Y(s)H(s)
Diagramas blocos & erro
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mas:
Y(s) = G(s) ⋅ E(s)
Y(s)
logo:
E(s) = R(s) − G(s)E(s)H(s)
Diagramas blocos & erro
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portanto:
e a fórmula do ‘erro’ é:
R(s)
E(s) =
[1 + G(s)H(s)]
Erro em estado estacionário
Saída em estado estacionário
Diagramas blocos & erro
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Exemplo 3: 3s − 2
Y (s) =
s (s + 5)
TVI TVF
y(0) = lim s ⋅ Y (s) y(∞ ) = lim s ⋅ Y (s)
s→∞ s→0
3s − 2 3s − 2
= lim s ⋅ = lim s ⋅
s→∞
s (s + 5) s→0
s (s + 5)
3s − 2 3s − 2
= lim = lim
s→∞
(s + 5) (s + 5)
s→0
= 3 = − 2/5
Diagramas blocos & erro
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Exemplo 4:
2s
E (s) =
s − 4s + 3
2
TVI TVF
e(0) = lim s ⋅ E (s) e(∞) = lim s ⋅ E (s)
s→∞ s→0
2s 2
2 s2
= lim = lim
s→∞
s − 4s + 3
2 s→0
s − 4s + 3
2
= 2 = 0
Diagramas blocos & erro
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s ⋅ R(s)
ess = lim s ⋅ E(s) = lim
s →0 s→0 [1 + G(s)H(s) ]
Diagramas blocos & erro
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s ⋅ R (s)
e ss = lim
s →0
[1 + G (s)H(s)]
Diagramas blocos & erro
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y ss = lim y( t )
t →∞
Mas, nós
Y (s) G (s)
sabemos que
=
R (s) 1 + G (s) H (s)
Diagramas blocos & erro
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logo,
G (s)
Y (s) = ⋅ R (s )
[1 + G (s)H(s)]
y ss = lim s ⋅ Y (s) =
s →0
G (s )
= lim s ⋅ ⋅ R (s)
s →0 [1 + G (s)H(s)]
Diagramas blocos & erro
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e portanto,
s G (s) R (s)
y ss = lim s ⋅ Y (s) = lim
s →0 s →0 [1 + G (s ) H (s ) ]
s G (s) R (s)
y ss = lim
s →0 [1 + G (s ) H (s ) ]
Diagramas blocos & erro
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Exemplo 5:
2
G (s ) =
(s + 1)
Diagramas blocos & erro
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Exemplo 5:
(continuação)
2
( s + 1)
entrada r(t): 2
G (s ) =
r ( t ) = u1 ( t ) (s + 1)
r(t) = degrau unitário
Diagramas blocos & erro
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Exemplo 5:
(continuação) 2
( s + 1)
entrada r(t):
r ( t ) = u1 ( t )
1
R (s ) =
s
Diagramas blocos & erro
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Exemplo 5:
(continuação) 2
1
R (s) = ( s + 1)
s
saída y(t)
G (s )
Y (s) = ⋅ R (s ) saída em estado
[1 + G (s)H(s)] estacionário yss
2 (steady state output)
(s + 1) 1 y ss = lim s ⋅ Y (s) =
= ⋅ s →0
2 s
1 + (s + 1) = lim s ⋅
2
s →0 s (s + 3)
2
= = 2/3
s (s + 3)
Diagramas blocos & erro
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Exemplo 5:
(continuação) 2
( s + 1)
Diagramas blocos & erro
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Exemplo 5:
(continuação) 2
( s + 1)
yss = 2/3
Diagramas blocos & erro
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Exemplo 5: 1
(continuação) R (s) = 2
s ( s + 1)
erro e(t)
erro em estado
R (s)
E (s ) =
[1 + G (s)H(s)] estacionário ess
(steady state error)
1/ s
= e ss = lim s ⋅ E (s) =
2 s→0
1 + (s + 1) (s + 1)
= lim s ⋅
s→0 s (s + 3)
(s + 1)
= = 1/ 3
s (s + 3)
Diagramas blocos & erro
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Exemplo 5:
(continuação) 2
( s + 1)
ess = 1/3
Diagramas blocos & erro
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Exemplo 6:
2
Mas agora temos K, chamado G (s ) =
“controlador proporcional” ou
(s + 1)
“controlador P” o mesmo do
exemplo anterior
Diagramas blocos & erro
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Exemplo 6:(continuação)
2
G (s ) =
(s + 1)
Diagramas blocos & erro
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Exemplo 6:(continuação)
2
(s + 1)
entrada r(t): 2
G (s ) =
r ( t ) = u1 ( t ) (s + 1)
r(t) = degrau unitário
(novamente)
Diagramas blocos & erro
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Exemplo 6:(continuação)
2
(s + 1)
2K
(s + 1)
Diagramas blocos & erro
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Exemplo 6:(continuação)
2
entrada r(t): (s + 1)
r ( t ) = u1 ( t )
r(t) = degrau unitário
1
R (s ) =
s
Diagramas blocos & erro
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Exemplo 6:(continuação)
1 2
R (s ) = (s + 1)
s
saída y(t)
G (s)
Y (s) = ⋅ R (s) Saída em estado
[1 + G (s)H(s)] estacionário yss
2K (Steady state output)
(s + 1) 1 y ss = lim s ⋅ Y (s) =
= ⋅ s→0
2K s 2K
1 + (s + 1) = lim s ⋅
s→0 s (s + 2K + 1)
2K 2K
= =
s (s + 2K + 1) (2K + 1)
Diagramas blocos & erro
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Exemplo 6:(continuação)
2
(s + 1)
se K é suficiente- 2K
mente grande y ss = ≅ 1
( 2K + 1)
ou
y ss → 1 quando K→∞
Diagramas blocos & erro
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Exemplo 6:(continuação)
2
(s + 1)
Diagramas blocos & erro
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Exemplo 6:(continuação)
2
(s + 1)
yss ≈ 1
Diagramas blocos & erro
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Exemplo 6:(continuação)
2
1
R (s) = (s + 1)
s
erro e(t)
R (s) erro em estado estacionário
E (s ) =
[1 + G (s)H(s)] ess (steady state error)
1/ s e ss = lim s ⋅ E (s) =
s →0
=
2K (s + 1)
1 + (s + 1) = lim s ⋅
s →0 s (s + 2K + 1)
(s + 1) 1
= =
s (s + 2K + 1) ( 2K + 1)
Diagramas blocos & erro
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Exemplo 6:(continuação)
2
(s + 1)
se K é suficiente- 1
e ss = ≅ 0
mente grande (2K + 1)
ou
e ss → 0 quando K→∞
Diagramas blocos & erro
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Exemplo 6:(continuação)
2
(s + 1)
ess → 0
Diagramas blocos & erro
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Exemplo 6:(continuação)
2
(s + 1)
1 1
e ss = < 0,01 = 100 < ( 2K + 1)
( 2K + 1) 100
K > 99 / 2 K > 49,5
devemos escolher K > 49,5
Diagramas blocos & erro
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Exemplo 7:
controlador ‘I’
2
Usando K/s, temos um G (s ) =
“controlador integral” ou
(s + 1)
“controlador I” o mesmo do
exemplo anterior
Diagramas blocos & erro
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Exemplo 7:
(continuação) 1
R (s) =
s
erro e(t)
R (s) erro em estado estacionário
E (s ) =
[1 + G (s)H(s)] ess (steady state error)
=
1/ s e ss = lim s ⋅ E (s) =
s→0
2K
1 + s (s + 1) = lim s ⋅ 2
(s + 1)
s→0 (s + s + 2K )
(s + 1)
= = 0
(s 2 + s + 2 K )
Diagramas blocos & erro
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Exemplo 7:
(continuação)
Usando K1 + K2 s, temos um
“controlador proporcional derivativo”
ou “controlador PD”
Diagramas blocos & erro
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Obrigado!
Felippe de Souza
felippe@ubi.pt