PROTECTO FINAL INSTRUMENTACION Y CONTROL

Quintero Andres Felipe, Osorio Cristian, Parra Camilo, Henry

Punto1.

U (s ) X 1(s)

K 1 X 1 (s ) K 3 X 1(s) m1 K 3 X 2(s )
m1
B1 sX 1(s) m1 s2 X 1(s )

K 3 X 1 ( s ) + K 1 X 1 ( s ) + B 1 sX 1 ( s ) +m 1 s2 X 1 ( s )−K 3 X 2 ( s ) =U ( s )

( m 1 s2 + B 1 s+ K 1+ K 3 ) X 1 ( s ) −K 3 X 2 ( s )=U (s )

b 1 ˙ ( k 1+ k 3 ) x 1 k 3 1 Ecuación diferencial 1.
ẍ 1+ x 1+ − x 2= U ( s)
m1 m1 m1 m1

X 2( s)

K3X1(S) K 3 X 2(s ) K 2 X 2(s)

m2 m2
m 2 s2 X 2(s ) B 2 sX 2(s )

M 2 s2 X 2 ( s ) + K 3 X 2 ( s )+ K 2 X 2 ( s ) +b 2 sX 2 ( s )−K 3 X 1 ( s ) =0

−K 3 X 1 ( s ) + ( m2 s 2+ b 2 s+ K 3+ K 2 ) X 2 ( s )=0
 b 1 ˙ ( k 2+k 3 ) x 2 k 3
ẍ 2+ x 2+ − x 1=0 Ecuación diferencial 2.
m2 m2 m2

Punto 2.

Transformada de laplace

b 1 ˙ ( k 1+ k 3 ) x 1 k 3 1
ẍ 1+ x 1+ − x 2= U ( s)
m1 m1 m1 m1

( s + bm11 s + (K 1+k
2
m1
3)
) x1 −
K 3 X 2 ( s ) U (s )
m1 (s ) =
m1

k 32
b 1 s (K 1+k 3) m1 1
( s2 +
m1
+
m1
x 1(s )− ) 2
m2 s +b 2 s+ k 2+ k 3
x 1(s) =
m1
U (s)

b 1 s ( K 1+k 3) ( k 32
x 1(s) [ ( s2 +
m1
+
m1
2
)
m2 s 2 +b 2 s+ k 2+k 3 ) −

m 2 s +b 2 s +k 2+k 3
m1
] =
1
m1
U (s)

m2 s 2+ b 2 s+ k 2+ k 3∗(U ( s ))
x 1(s) =
( m1 s 2+b 1 s+k 1+k 3 ) ( m2 s 2+ b 2 s+ k 2+ k 3 )−k 3 2
 b 1 ˙ ( k 2+k 3 ) x 2 k 3
ẍ 2+ x 2+ − x 1=0
m2 m2 m2

b2s (K 3+k 2) k3
(s x2
2
(s) +
m2
x 2(s) +
m2
x 2(s) =
m2 )
x1

b 2 s m2 ( K 3+ k 2 ) m 2
k 3 x 1=x 2(s) s 2 m2+ [ m2
+
m2 ]
k3
x 2(s) = 2
x1
m 2 s +b 2 s+k 2+ k 3

Punto 3.
Funcion de transferencia

U (t ) Entrada

x 2(t) Salida

k3
 x 2(s) = 2
x1
m 2 s +b 2 s+k 2+ k 3

m2 s 2+ b 2 s+ k 2+ k 3∗(U ( s ))
 x 1(s) =
( m1 s 2+b 1 s+k 1+k 3 ) ( m2 s 2+ b 2 s+ k 2+ k 3 )−k 3 2

k3 m2 s2 +b 2 s +k 2+k 3∗(U ( s ) )
x 2(s) =
[
m 2 s 2+b 2 s+k 2+ k 3 ( m1 s 2 +b 1 s+ k 1+ k 3 ) ( m2 s 2 +b 2 s+ k 2+k 3 ) −k 32 ]
 k 3 U (s )
x 2( s )=
( m1 s + b 1 s+ k 1+ k 3 )( m2 s 2+ b 2 s+ k 2+ k 3 )−k 3 2
2

x 2( s) k3
=
U (s ) ( m 1 s +b 1 s +k 1+k 3 ) ( m 2 s 2+b 2 s+k 2+ k 3 )−k 32
2

Función de Transferencia.