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E ≔ 150 V0 ≔ 50 rl ≔ 100 ⋅ 10 -3
L ≔ 160 ⋅ 10 -6 rc ≔ 100 ⋅ 10 -3
C ≔ 440 ⋅ 10 -6 R≔5
f ≔ 100 ⋅ 10 3 Vr ≔ 5
⎛⎝s + 2.273 ⋅ 10 4 ⎞⎠
Tp ((s)) = 9.375 ⋅ 10 4 ⋅ ―――――――――
⎛⎝s 2 + 1.7 ⋅ 10 3 ⋅ s + 1.42 ⋅ 10 7 ⎞⎠
Vr ≔ 3
d ((s)) 1 1
Tm ((s)) = ――= ― Tm ((s)) ≔ ― = 0.333
Vc ((s)) Vr Vr
3. Função de transferência T1(s)
V0 ((s)) ⎛⎝s + 2.273 ⋅ 10 4 ⎞⎠
T1 ((s)) = ――= 0.333 ⋅ 9.375 ⋅ 10 4 ⋅ ―――――――――
Vc ((s)) ⎛⎝s 2 + 1.7 ⋅ 10 3 ⋅ s + 1.42 ⋅ 10 7 ⎞⎠
⎛⎝s + 2.273 ⋅ 10 4 ⎞⎠
T1 ((s)) = 3.12 ⋅ 10 4 ⋅ ―――――――――
⎛⎝s 2 + 1.7 ⋅ 10 3 ⋅ s + 1.42 ⋅ 10 7 ⎞⎠
PM ≔ 50 ° = 0.873 rad/s
4.3. Determinação do avanço de fase necessário α (elevação):
ϕ1 ((cross)) = ϕ1 ⎛⎝10 ⋅ 10 3 ⎞⎠
α = 50 ° - ϕ1 ⎛⎝10 ⋅ 10 3 ⎞⎠ - 90 ° α ≔ 68 °
α = 50 ° + 108 ° - 90 ° = 68 °
4.4. Determinação de K:
⎛α π⎞
K ≔ tan ⎜―+ ―⎟ = 5.145
⎝2 4⎠
4.5 Determinação do zero e do polo do compensador:
Wcross
wz ≔ ――― = 1.221 ⋅ 10 4
K
wp ≔ Wcross ⋅ K = 3.232 ⋅ 10 5
zeros e polo.
R1 ≔ 20 ⋅ 10 3
1
C2 ≔ ―――――― = 1.231 ⋅ 10 -11 C1 ≔ ⎛⎝K 2 - 1⎞⎠ ⋅ C2 = 3.136 ⋅ 10 -10
K ⋅ G ⋅ R1 ⋅ Wcross
K 1
R2 ≔ ―――― = 2.611 ⋅ 10 5 Kc ≔ ――― = 1.594 ⋅ 10 5
C1 ⋅ Wcross R 1 ⋅ C1
s + 1.221 ⋅ 10 4
Tc ((s)) = 4.06 ⋅ 10 6 ⋅ ――――――
s ⎛⎝s + 3.232 ⋅ 10 5 ⎞⎠
s + 1.221 ⋅ 10 4
Tc ((s)) = 4.06 ⋅ 10 6 ⋅ ――――――
s 2 + 3.232 ⋅ 10 5 ⋅ s
Diagrama Tc ((s)) :
kc ⋅ T ⋅ ⎛⎝2 + T ⋅ wz⎞⎠
ga ≔ ―――――― = 8.233
2 ⋅ ⎛⎝2 + T ⋅ wp⎞⎠
⎛ -4 ⎞ ⎛ 2 - T ⋅ wp ⎞ ⎛ 2 ⋅ T ⋅ wz ⎞
a1 ≔ -⎜―――⎟ = 0.764 a2 ≔ -⎜―――⎟ = 0.236 b1 ≔ ⎜―――⎟ = 0.115
⎝ 2 + T ⋅ wp ⎠ ⎝ 2 + T ⋅ wp ⎠ ⎝ 2 + T ⋅ wz ⎠
⎛ T ⋅ wz - 2 ⎞
b2 ≔ ⎜―――⎟ = -0.885
⎝ 2 + T ⋅ wz ⎠
⎛ 1 + 0.115 ⋅ z -1 - 0.885 -2 ⎞
Tc ((z)) = 8.233 ⋅ ⎜―――――――― -1 -2
⎟
⎝ 1 - 0.764 ⋅ z - 0.236 ⋅ z ⎠
7. Apresente, lado a lado e na mesma escala, as formas de onda mostradas nos dois itens
anteriores e compare os resultados.
7. Apresente, lado a lado e na mesma escala, as formas de onda mostradas nos dois itens
anteriores e compare os resultados.
(Digital)
(Analógica)
Como podemos observar o resultados estão como esperado e ambos estão funcionando,
pela forma de projeto ter aproximações e outras considerações o modelo digital se torna
mais vulnerável a variações de tensões tornando-o mais lento ao tentar se adequar a
tensão correta.