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Objetivos
El sistema equivalente es:
Objetivo General
Objetivos Especficos.
Obtener los modelos en transformada de Laplace de
X1(S), X2(S), V1(S), V2(S).
Fig.2. Sistema equivalente elctrico del sistema mecnico.
Nodo
( )
+ .(
)(2)
)(1)
Nodo
= .(
( )
( )
+ . (
b =8 c = 1
m2 = 9.2 Kg.
K = 44.8 N/m
B2 =9 N.s/Mf(t) = 8 e-2tN
v2(0) = 8 [m/s]
x2(0) = 1[m]
( )
( )
+ . 2 . 2( ) . 2(0) 2(0)
+ . ( ) . ( )
( )
( )
+
. . ( )
+
.
( ) .
(
)
+
)(
( )
( )
D1=
(
( ),
( )+
+ ) .
( )
. (
.
.
( )
D2=
( )(
.
.
( )
. .
+
)+ .
( )
( )
.
)
) .
.
( )+
( )+ .
( )
( )(
.
)=0
.
( )
( )
( )
=0
( )
( )
( )
( )
( )(
( )
( )
( )
( )
( )
( )
. + )
( )
( )
( )
( )
. + )
( )
( )
( )
( )
( )+
Para obtener
. + ) .
( ) (4)
+
( ))
( )+
( )
( )
( )
( ) se
divide ,
( )
( )
( )
( )
( )
+ . +
( )
= 0 , y sacando factor
( )
( )
+
( ))
( )
. +
D2=
( )
( )
( )
) (3)
D2=
( )
( )
( )
( )
( )
( )
(
( )
( )
)
( ))
( )
) .
(5)
.
. +
(
. +
D=
.
D=
)
+
. +
(
+
( ) se
divide
( )
+
.
+ . .
Para obtener
+
+
)
.
( )(
+ . + )
) ( . + .
( )
) .
2 2(0)
2(0)
2(0)
2(0)
D1=
( )
( )
D1=
(
( )
( )
( )
( )
.
+
( )
( )
( )
( )
( )
( )
.
)
.
(
2(0)
+
( )
)
( )
(
)
2(0)
( ))
.
.
(6)
( )
( )
( )
( )
) .
( .
), para
(7)
( )
( )
+ 0.159. + 0.4347
+ (2.44)
.
.
( .
+ 10.30
.
+ 11.04.
(10)
( )
( )
(9)
0.108
= .
=
=
(
( . +
) ( .
. + )
+ . +
) .
), para
Funciones de transferencia:
0.4347
+ 10.30
+ (2.44)
( ) (0.108
= .
8
+2
+ 11.04.
0.4347
+ (2.44)
+ 10.30
( )
3.47 + 8.39 + 16.78 + 12.21
=
+ 2 + 2.44 + 4.88 + 10.3
+ 11.04.
+ 11.04.
+ (12.21) + 76.81
+ 8.39
+ (2.44)
+ 0.159. + 0.4347
0.4347
+ 10.30
= 8.
( ),
( )
( )
0.108
(8)
Reemplazando
.
.
( )
=
=
.
( )
( )
.
.
.
.
(11)
(0.108
+ (10.44)
+ 0.159. + 0.4347) +
+ (2.44)
+ 10.30
+ (17.14) + 76.81
( )
+ 11.04.
( )
0.864
+ 2.44
+2
+ 1.272 + 3.47 + + 2
+ 4.88 + 10.3 + 20.6
+ 10.44
+ 11.04
+ 12.44
+ 4.44
4.44
+ 4.44
+ 38.88
+ 15.18
15.18
+ 15.18
31.64
+ 31.64
(12)
( )
( )
Como
( )
( )
=0
.
.
.
.
(13)
( )
+ 15.18
= .
Como
(14)
+ 31.64 + 22.08 + 2
+ 2.44 + 10.3
2
2.44 + 15.18 11.04
2.44 4.88
10.3 + 31.64
10.3 10.6
11.04 + 22.08
11.04 22.08
4
+ 4.44
( ),
Ahora, conociendo,
=
( )
= .
( )
( ),
Conociendo que:
( )
22.08
+ 22.08
+ 22.08
+ 112.36 + 157.09
+ 31.64 + 22.08
( )
( )
( )
0
Ahora aplicamos la frmula de la ecuacin cuadrtica
para obtener todas las races.
=1
+ 12.44
+ 4.44
+ 38.88
+ 15.18
+ 112.36 + 157.09
1
+ 31.64 + 22.08
+ 1.1884 + 8.812
= 0.5942 2.90
+2
+ 1.251
+ 29
+ 101.23 + 157.09
= ( + 4.44 + 15.18 + 31.64
+ 22.08)
+ ( + 2.44 + 10.3 + 11.03 )
+ ( + 3.1884 + 11.25 + 17.7 )
+ ( + 3.845 + 4.43 + 1.4874
+ 2.9 + 9.2 + 7.259 ) + (
+ 3.845 + 4.43 + 1.4874 2.9
9.2 7.259
Igualando coeficientes
A+B+C+D+E=0
4.44 + 2.44 + 3.1884 + 3.845 + 2.9 + 3.845
2.9 = 8.39
15.18 + 10.3 + 11.25 + 4.43 + 9.2 + 4.43 9.2
= 29
31.63 + 11.03 + 17.7 + 1.4874 + 7.259 + 1.4874
7.259 = 101.23
22.06 = 157.09
= 7.1224
0.1083 0.0353
+
+ 0.5942 + 2.9085
7.1286
+
+ 1.2516
Funcin en el tiempo,
0.2228
+2
7.1224
( ),
= (0.1083 + 0.0353 ) ( .
)
.
+(0.1083 0.0353 ) ( .
.
7.1286
+ 7.1224
+0.228
( )
,
= (0.1083 + 0.0353 ) ,
,
+(0.1083 0.0353 ) ,
7.1286 .
+ 7.1224
+0.228
( )
=
(0.1083 + 0.0353 ) ,
( 2.9085 +
(
2.9085 ) + 0.1083
0.0353 ) ,
( 2.9085
2.9085 )
.
+0.228
7.1286
+ 7.1224
,
(
=
0.1083
2.9085
( )
0.1083
2.9085
+ 0.0353
2.9085
0.0353
2.9085 )
(0.1083
2.9085
+ ,
+ 0.1083
2.9085
0.0353
2.9085
0.0353
2.9085 )
+0.228
7.1286 .
+ 7.1224
( )
=
0.0353
0.0353
+0.228
(0.1083
2.9085
2.9085 0.1083
2.9085
2.9085 )
7.1286 .
+ 7.1224
=
0.0706
7.1286
( )
( )
0.1083 + 0.0353
+ 0.5942 2.9085
+ 0.5942 2.90
+ 0.5942 + 2.90
8.39
( )
(0.2166
2.9085 )+0.228
.
+ 7.1224
2.9085
( )
+2
+ 1.251
+ 0.5942 2.90
+ 0.5942 + 2.90
+ 12.44
Igualando coeficientes
A+B+C+D+E=1
4.44 + 2.44 + 3.1884 + 3.845 + 2.9 + 3.845
2.9 = 12.44
15.18 + 10.3 + 11.25 + 4.43 + 9.2 + 4.43 9.2
= 38.88
31.63 + 11.03 + 17.7 + 1.4874 + 7.259 + 1.4874
7.259 = 112.36
22.06 = 157.09
= 7.1224
( )
0.1296 + 0.0651
+ 0.5942 + 2.9085
+
+
0.1296 0.0651
+ 0.5942 2.9085
0.2830
+
+2
6.6646
+
+ 1.2516
Funcin en el tiempo, ( ) ,
( ) = (0.1296 0.0651 )
+(0.1296 + 0.0651 ) ( .
+0.2830
6.6646 .
= (0.1296 0.0651 )
+(0.1296 + 0.0651 ) ,
+0.2830
6.6646 .
( )
7.1224
.
)
+ 7.1224
,
,
,
+ 7.1224
,
= 0.1296 0.0651
( 2.9085 +
(
2.9085 ) + 0.1296 +
0.0651 ) ,
( 2.9085
2.9085 )
.
+0.2830
6.6646
+ 7.1224
( )
=
0.1296
0.0651
(0.1296 2.9085 +
2.9085 -0.0651
2.9085 +
2.9085 ) +
,
(0.1296 2.9085
0.1296
2.9085 + 0.0651
2.9085
0.0651
2.9085 )
+0.2830
6.6646 .
+ 7.1224
( )
,
=
(0.1296 2.9085 +
0.0651
2.9085 + 0.1296 2.9085 +
0.0651
2.9085 )
+0.2830
6.6646 .
+ 7.1224
( )
,
=
(0.2592
0.1302
2.9085 )
+0.2830
6.6646
2.9085 +
( )
1000
0.2830
6.6646
0 0 1 0 0.1296 0.0651
0 0 0 10.1296 + 0.0651
0100
+ 7.1224
( )
( )
= 1
0.0383 0.3360
8.9222
+ 1.2516
Funcin en el tiempo,
= 1
= (0.0383 0.3360 )
+(0.0383 + 0.3360 ) ( .
0.4456
+ 8.9222 .
= (0.0383 0.3360 )
+(0.0383 + 0.3360 ) ,
0.4456
+ 8.9222 .
( )
.
.
0.1122 0.4157
+
+ 0.5942 + 2.9085
8.3416
+ 1.2516
,
,
(0.0383
= (0.1122 + 0.4157 )
+(0.1122 0.4157 ) ( .
.
0.5659
+ 8.3416
( )
0.5659
+2
Funcin en el tiempo, ( ) ,
Igual se puede obtener derivando X2(t)
=
,
0.0383 0.3360
( 2.9085 +
2.9085 ) +(0.0383 +
0.3360 ) ,
( 2.9085
2.9085 )
.
0.4456
+ 8.9222
( )
+ 0.5942 2.9085
( )
( )
,
0.1122 + 0.4157
( )
( )
( ),
2.9085
,
=
(0.0766 2.9085
+0.672
2.9085 ) 0.4456
+8.9222 .
0.4456
+2
2.9085 0.0383
2.9085 ) 0.4456
( )
+ 0.5942 2.9085
0.0383 + 0.3360
+
+ 0.5942 + 2.9085
+0.3360
+0.3360
+8.9222
2.9085
( )
= (0.1122 + 0.4157 )
+ (0.1122 0.4157 )
0.5659
+ 8.3416
,
.
= (0.1122 + 0.4157 ) ,
( 2.9085 +
2.9085 )
,
( 2.9085
+ 0.1122 0.4157
.
2.9085 ) 0.5659
+ 8.3416
( )
(0.1122 2.9085 +
2.9085 + 0.4157
2.9085
2.9085 )+
,
(0.1122 2.9085
0.1122
2.9085 0.4157
2.9085
=
0.1122
0.4157
( )
2.9085 ) 0.5659
0.4157
8.3416
( )
,
(0.1122 2.9085
0.4157
2.9085 +0.1122 2.9085
0.4157
2.9085 0.5659
+
.
8.3416
,
=
(0.2244 2.9085
0.8314
2.9085 ) 0.5659
.
+8.3416
( )
Donde,
( )
)+
)=
.
+
(13)
(14)
Conclusiones.
Despejando las derivadas de las variables de estado se
obtiene:
Ecuaciones de estado:
.
=
=
( )
=
=
1.46
0
4 4
0
0.98 4.874.87
=
1
0
0
0
0
1
0
0
1
0
= 0
0
0
1
0
0
00
00
10
01
0
0.108
+
0
0
( )