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Respostas de sistemas de
Segunda ordem
0 1
k 0 1
A = − 0 −a 0
m
a
− a 0 0 − a a 2
0 5 0 a2
A =
2
,A = 2
3
,A =
4
2
,A = 3
0 −a a 0 0 a −a 0
1 + (−1) n 1 − (−1) n ( n −1) 2
( −a ) ( −a )
n2
2 2
A=
1 − (−1) n 1 + (−1) n n2
( −a ) ( −a )
( n +1) 2
2 2
Respostas de sistemas de
Segunda ordem
A2t 2 A3t 3 An t n An t n
e At = I + At + + + + = I +
2 3! n! n =1 n !
t
n
t t
e = I +
At 2 n! 2 n! = n =1 2 n! n =1 2 n!
n =1 1 − ( −1) n a ( n +1) 2
1 + (−1) ( −a ) n 1 − (−1) ( −a ) 1 + (−1) ( −a ) n
n2 ( n +1) 2 n2
n n n
2 n!
tn
2 n!
t 2
n =1 n!
t 1+
n
n =1 2 n!
t
( ) (− )
( ) (− )
n n n n
1 + (−1) ( −a ) −at −at −at −at
n2
n
1 1 1
1+ t = 1+
n
+ = 2+ +
n =1 2 n! 2 n =1 n! 2 n =1 n! 2 n =1 n! n =1 n!
( ) ( )
( ) ( )
n n n n
−at − −at −at 1 − −at
( )
1 = 1 1 +
2+ + 2 +1+ = e j at + e − j at
2 n =1 n! n =1 n! n =1 n! n =1 n! 2
e − at e− − at
( ) ( ) ( ) ( )
n n n n
( −a )
( n −1) 2
−at − − − − −at 1
1 − (−1)
( )
n
1
1 at 1 at
n =1 2 n!
tn =
2 a
n =1 n!
− n!
2 −a n =1
= 1 +
2 −a n =1
n! − 1 −
n =1 n!
=
2a
ej at
− e− j at
e − at e− − at
Respostas de sistemas de
Segunda ordem
(
) ( )
n n
1 − (−1) ( −a ) ( ) ( ) − − −
( n +1) 2
− −
n2 n2
n at at
t n = j a
1 a 1 a 1
tn = −a tn − −a −
n =1 2 n! n =1 2 n! n =1 2 n! 2 n =1 n! n =1 n!
n
( ) (
) ( ) ( )
n n n
− − − − − − 1
( )
1 at at 1 at at
j a − =
2 j a 1 + − 1 − = j a e j at − e − j at
2 n =1 n! n =1 n! n =1 n! n =1 n! 2
e j at e− j at
2 (
1 j at − j at
e + e ) 2j a
1
e j at
−(e − j at
)
e At =
1
2 j a e (
j at
− e − j at
) 2
e (
1 j at − j at
+e )
2 (
1 j at − j at
e + e ) 1
e j at
(
− e − j at
)
2
t (
1 j at
e + e )
− j at
−
1
( e j at
− e − j at
) 0
y ( t ) = 1 0
2j a 2j a
1d
1
2 j a e − e ( at − at
)
1 j at
2
e ( ) 1
(
+ e − j at 0 − j a e j at − e − j at
2
) (
1 j at − j at
2
e +e ) c
Respostas de sistemas de
Segunda ordem
1 j at − j at
2 e +e ( ) 1
( 1 j at
e j at − e − j at t
2
e ) + e − j at ( ) −
1
(
e j at − e − j at
) 0
y ( t ) = 1 0
2j a 2j a
1d
1
2 j a e
j at
− e− j( at
2
) e (
1 j at − j at 0 1
+e
2 )
− j a e j at − e − j ( at
) 1 at
2
(
e + e − at ) c
1
t −
1
e j a − e − j a
( )
y (t ) = e j ( at
+e − j at
) 1
(
e j at − e − j at c
2j a
) d
2 2j a 0 1 e j a + e − j a
2 (
)
( )
t
1
0
j a − j a
− e − e
1
y (t ) = e j ( at
+ e− j at
) 1
(
e j at − e − j at c
2 j a
)
( )
t
2 2j a 1
j a − j a
e +e
2 0
(e )d = e (e ) ( ) (e )
−1 − j
t t t
1 1
j a
−e − j a j a
d − e − j a
d = j at
−1 − e at
−1 = j at
+ e− j at
−2
0 0 0 j a j a j a
1 2a
(
1 j at − j at
e +e −2 )
y (t ) = e j ( at
+ e− j at
) 1
ej ( at
− e− j at
) c 1 1
2 2j a
2 j a (
e j at − e− j at )
Respostas de sistemas de
Segunda ordem
1 j at − j at
2a (
1 j at − j at
e + e − 2 )
y (t ) = e( +e − j at
) 1
e(j at
−e )
c 1 1
2 2j a
2 j a (
e j at − e− j at )
1
(
y ( t ) = e j at + e − j at
4
) (1 j at
a
e ) (
+ e − j at − 2 − e j at − e − j at
a
) (
1 j at
e )
+ e − j at c
y (t ) =
c
4a (( ( )) (
e 2 at + 2 + e −2 at − 2 e at + e − at − e 2 at − 2 + e−2 at = ))
2a
c
(2 − e j at − e − j at
)
y (t ) =
c
2a
( ( ) ( ) ( )
2 − cos at − j sin at − cos at + j sin at = 1 − cos at ( )) ( c
a
( ))
1 k
y ( t ) = 1 − cos t
k
m
Problema 1
• Os autovalores da matriz A são as raízes da
equação característica: I − A = 0
• Logo: 0 1
1 0 =0
− k
0 1 − 0
m
−1
k
k = + =0
2 Parte real nula.
m Sistema marginalmente
estável
m
k k
= − 0i
m m
Problema 1
• A partir da equação diferencial podemos obter
o valor dos parâmetros e n.
x (t ) + a x (t ) + b x (t ) = c u (t )
2n n 2 n 2 k
k 1
x (t ) + 0x (t ) + x (t ) = u (t )
m m
k
• Onde: = 0 e n = 2
m
Problema 1
• A resposta de um sistema de segunda ordem
com coeficiente de amortecimento 0 < 1
para um impulso unitário é:
y (t )
k
• Logo para = 0 e =
2
n
m
1 k
y (t ) = sin t
km m
Problema 1
• De acordo com a resposta o sistema oscilará
1
de forma permanente com amplitude km .
• Este comportamento caracteriza um sistema
marginalmente estável.
Problema 2
• A figura mostra um sistema vibratório. Quando uma
força de 2N (degrau) é aplicada a resposta do sistema é
oscilatória.
• Determine m, b e k do sistema a partir da sua resposta.
2 Newton
0,0095m
Problema 2
• Solução
Equação diferencial:
u ( t ) − kx − bx = mx
b k 1
x+ x + x = u (t )
m m m
2n n2 n2 k
b k 1 1
2n = ; = ; n k = k =
2
n
2
k m m k
Este sistema apresenta uma resposta ao degrau
subamortecida.
Problema 2
• Resposta subamortecida:
y (t )
=0,6
Problema 2
• Tempo de pico:
tp = = =
d n 1 − 2 0,8n
• De acordo com a curva o tempo de pico é 2s,
logo: 2=
= 1,96 rad
0,8n s
n
y (t )
e −0,5t
y (t ) = 1 − sin ( 0,87 + tan −1 0,87 )
0,87
Problema 4
• A partir do modelo em espaços de estado de
um pêndulo invertido:
1. Determine a estabilidade do sistema.
2. Determine a resposta do sistema quando
excitado por um degrau unitário.
0 1 0 0 0
x1 M + m x1 1
x g 0 0 0 −
2 = Ml 2 + Ml u
x
x3 0 0 0 1 x3 0
x4 − m g 0 0 0 x4 1
M M
Problema 4
• M=1kg, m=0,1kg, l=0.5m e g=10m/s2.
0 1 0 0 0 1 0 0
1 + 0,1 1 + 0,1 0 1 0 0
0 0 0 0 0 0
0
10 10
1 0,8 1 0,5 22 0 0
= =
0 0 0 1 0 0 0 1 0 0 0 1
0,1 0,1 −1 0 0 0
− 1 10 0 0 0 − 10
1
0 0 0
Problema 4
• Resolvendo a equação característica:
1 0 0 0 0 1 0 0 −1 0 0
0 1 0 0 22 0 0 0 −22 0 0
− =
0 0 1 0 0 0 0 1 0 0 −1
0 0 0 1 −1 0 0 0 1 0 0
( ) ( )
( 2 ) − 1 −22 ( 2 ) = ( 2 )( 2 − 22 ) = 0
1 = 0, 2 = 0, 3 = 4, 6904, 4 = −4, 6904
• Sistema instável.
Problema 4
3.5
2.5
2
[rad]
1.5
0.5
0
0 0.5 1 1.5
Tempo[s]
Problema 4
0
-10
-20
x[m]
-30
-40
-50
-60
0 0.5 1 1.5
Tempo[s]