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Controle 2
Aulas 1 a 6
Construção do LGR
• Construir o LGR seguindo os passos
Exercícios: • Interpretar
• Conferir com Matlab ou SciLab
K
a) G (s) =
s ( s − 1)( s + 2 )
0.42 K ( s + 0.84 )
b) G (s) =
( s − 1)( s − 0.6 )
180o ( 2q + 1) 180o ( 2 0 + 1)
, q = 0. = 60o ,180o
3−0 3
8. O LGR no eixo real existe somente à esquerda de um
número ímpar de raízes
9. Ângulos de partida/chagada - Não há raízes complexas conjugadas
CONTROLE 2 – Aula 2: Lugar Geométrico das Raízes
du dv
v −u
K = − ( s 3 + s 2 − 2s ) = − s 3 − s 2 + 2s
dK
= −3s 2 − 2s + 2 = 0,
ds
s1 = −1.2153, s2 = 0.5486 Duas raízes
s1
Ponto de ruptura
Não faz parte do eixo real do LGR
Um ponto de ruptura
= − j 3 − 2 − 2 j + K = 0
j ( − 3 − 2 ) + ( K − 2 ) = 0
− 3 − 2 = 0
K − 2
=0
− ( 2 + 2 ) = 0
= 0, K = 0 Só no polo de MA, s=0
1 1 1
K= = = = 0.632
G ( sx ) 1 1
s ( s − 1)( s + 2 ) s =0.54 0.54 ( 0.54 − 1)( 0.54 + 2 )
E.C. = s + s − 2s + K = 0
3 2
K S1,2 S1,2
0.7 0.55 j1.16 −2.1
1 0.57 j 0.36 −2.14
1.2 0.58 j 0.45 −2.17
2 0.63 j 0.69 −2.26
5 0.77 j1.16 −2.55
CONTROLE 2 – Aula 2: Lugar Geométrico das Raízes
Exc. 1b: Construção do LGR
Esboço e interpretação ?
0.42 K ( s + 0.84 )
b) G (s) =
( s − 1)( s − 0.6 )
0.42 K ( s + 0.84 )
E.C. = 1 + = ( s − 1)( s − 0.6 ) + 0.42 K ( s + 0.84 ) = 0
( s − 1)( s − 0.6 )
E.C. = s 2 − 0.6s − s + 0.6 + 0.42 Ks + 0.35K = s 2 + s ( 0.42 K − 1.6 ) + ( 0.6 + 0.35K ) = 0
2. Localizar os polos e zeros no plano s
3. O LGR começa nos polos com K=0 e termina nos zeros com
K= ∞
6. Número de assíntotas N = 2 – 1 = 1
180o ( 2q + 1) 180o ( 2 0 + 1)
, q = 0. = 180o
2 −1 1
8. O LGR no eixo real existe somente à esquerda de um número ímpar de
raízes
K =−
( s − 1)( s − 0.6 ) =−
1 ( s 2
− 1.6s + 0.6 )
0.42 ( s + 0.84 ) 0.42 ( s + 0.84 )
1 1 1 1 0.039
K= = = = = = 0.058
G ( sx ) 0.42 ( s + 0.84 ) 0.42 ( 0.78 + 0.84 ) 0.68 0.68
( s − 1)( s − 0.6 ) s =0.78 ( 0.78 − 1)( 0.78 − 0.6 ) 0.039
K S1,2
1 0.59 j 0.78
2 0.38 j1.08
3 0.17 j1.28
4 −0.24 j1.53
5 −0.45 j1.59
PD K p + Kd s K pTd ( s + 1 Td )
PI Kp
(s + K i Kp )
Kp
( s + 1 Ti )
s s
Ki T 2 s 1
PID K p + Kd s + Kp d s + +
s s Td i d
TT
Forma 3:
z1 + z2 = K p K d Ti = K p K i
( s + z1 )( s + z2 )
Kd z1 z2 = K i K d Td = K d K p
s
CONTROLE 2 – Projeto do compensador em avanço com LGR
28
PROJETO COM LGR
Exercícios:
5
a) Gp ( s ) = s1,2 = −1.5 j 0.5
( s + 2 )( s + 1)
P:
0.75 = 0.59
b) PD: Gp ( s ) =
s ( s + 5 )( s + 0.05 ) n = 0.54
15 ts = 2
d) PID: Gp ( s ) =
( s + 1)( s + 3)( s + 6 ) M p = 20%
ess = 0 ( degrau )
3. Conferir com Matlab ou SciLab
CONTROLE 2 – Projeto de controladores com LGR
PROJETO COM LGR
Ex. 1a:
5
a) Gp ( s ) = s1,2 = −1.5 j 0.5
( s + 2 )( s + 1)
P:
5
Kp = 180 ( 2q + 1) ; q = 0,1, 2
( s + 2 )( s + 1) s =−1.5 j 0.5
5
Kp = 0 − (1 + 2 ) = 180 ( 2q + 1) ; q = 0,1, 2
( s + 2 )( s + 1) s =−1.5 j 0.5
1 1
K= = =
5 5
( s + 2 )( s + 1) s =−1.5 j 0.5 ( −1.5 j 0.5 + 2 )( −1.5 j 0.5 + 1)
1 1( )
2
0.5 1
K= = 2 0.5 =
2
= = 0.1
5 5 5 10
( 0.5 + j 0.5)( −0.5 + j 0.5)
4. Obter o controlador Gc ( s ) = K p = K = 0.1
CONTROLE 2 – Projeto de controladores com LGR
PROJETO COM LGR: P
Ex. 1a: >> gp1 = (5)/((s+2)*(s+1));
>> rlocus(gp1)
0.75 = 0.59
b) PD: Gp ( s ) =
s ( s + 5 )( s + 0.05 ) n = 0.54
0.75 = 0.59
b) PD: Gp ( s ) =
s ( s + 5 )( s + 0.05 ) n = 0.54
0.75
= 180 ( 2q + 1) ; q = 0,1, 2
s ( s + 5 )( s + 0.05 )
s =−0.32 j 0.44
0.75
= 0 − (1 + 2 + 3 ) = 180 ( 2q + 1) ; q = 0,1, 2
s ( s + 5 )( s + 0.05 )
s =−0.32 j 0.44
3 2 1
-5 -0.323 -0.05 0
G ( s ) = i − i = 180 ( 2q + 1) ; q = 0,1, 2
0.75
K p (1 + Td s ) = 180 ( 2q + 1) ; q = 0,1, 2
s ( s + 5 )( s + 0.05 )
s =−0.32 j 0.44
1 = 180 ( 2q + 1) + (1 + 2 + 3 )
0.44 0.44
tan (1 ) = → tan 72.93 = → x = 0.455
x − ( +0.32 ) x − 0.32
X
zc = −0.455
1 1 1
zc = − = −0.46 → = 0.46 → Td = = 2.17
Td Td 0.46
CONTROLE 2 – Projeto de controladores com LGR
PROJETO COM LGR: PD
Ex. 1b:
s1,2 = −0.323 j 0.4407
3. Calcular Kp
1 1
K pTd s + G p ( s ) = 1 → K pTd =
Td 1
s + Gp ( s )
Td
s ( s + 5 )( s + 0.05 )
K pTd =
0.75 ( s + 0.46 ) s =−0.32+ j 0.44
PDD
Ângulo do PD
d
tg (57.8 ) =
o
=
zc −
4.49
tg (57.8 ) =
o
zc − 2.3
zc =
4.49
o
+ 2.3 = 5.12 zc = 5.12
tg (57.8 )
CONTROLE 2 – Projeto de controladores com LGR
PROJETO COM LGR: PID
Ex. 1d: 2. Calcular zero do PD
>> gc6 = tf(conv([15],[1 5.12]),conv([1 1],conv([1 3],[1 6])));
>> rlocus(gc6)
>> g = (1.55*(s+5.13)*15*(s+0.8))/((s+1)*(s+3)*(s+6));
>> rlocus(g)
( s + 0.8 ) K=
1
= 4.6
GPI ( s ) = G ( s) H ( s) s = p
s
Projeto do compensador
de avanço (e em cascata)
usando LGR
Gc ( s ) = K p s + z1
1. P:
Gc ( s ) = K c
s + p1
1. PD:
Gc ( s ) = K p ( s + z1 ) Avanço: p1 z1
2. PI: Atraso: p1 z1
s + z1
Gc ( s ) = K p
s Avanço-atraso:
3. PID:
Gc ( s ) = GcAv ( s ) GcAtr ( s )
Gc ( s ) = K p
( s + z1 )( s + z2 ) s + z1 s + z2
s Gc ( s ) = K c
s + p1 s + p2
CONTROLE 2 – Projeto do compensador em avanço com LGR
COMPENSAÇÃO
s + z1
p1 z1 Gc ( s ) = K c p1 z1
s + p1
Avanço de fase Atraso de fase
Mais
negativo
4
Gp =
s ( s + 2)
Ex. 4:
Especificações de projeção
• Dobrar o wn de MF sem modificar o fator de amortecimento
relativo
1
Gp ( s ) = M p = 4.32%, t p = 3.14
( s + 1)
b)
( ln Mp ) ( ln 0.16 )
2 2
Erro 2% (98%)
4 4
ts = 2 ts =
4 n = = =4
n ts 0.5 2
b) Calcular a E.C.
s + 2n + = s + 2 ( 0.5 )( 4 ) s + ( 4 ) = 0
2 2 2 2
n
= s 2 + 4s + 16 = 0
c) Obter os PDDs:
s1,2 = −2 j3.46
2
PDD
j3.46 1 = tan −1 + 90 = 120
3.46
−1 2 − 2
2 = tan + 90 = 90
x x 3.46
-2
m + − 180
2 = = −15
2
-2
1 = 90 − = 30
2
1 1
− = −2 + x1 = −2 − 0.92 = −2.92 = 2.92
T T
1 1
− = −2 − x2 = −2 − 3.56 = −5.46 = 5.46
T T
1 1
T= = 0.34 = = 0.53
2.92 5.46 ( 0.34 )
5. Calcular Kc
s + 1 T 1 s + 5.46 s ( s + 0.5 )
Kc = = s1,2 = −2 j3.46
s + 1 T Gp ( s ) s + 2.92 2.5 s = s
s = s1 1
A C
D= ( −2 + 0.5) + 3.462 = 3.77
2
B D
x o x x x
-2 -0.5 A C D 4.89 4 3.77
-5.46
Kc = = = 8.24
B 2.5 3.58 2.5
-2.92
>> s = tf('s’);
>> GpS = 5/(s*(0.5*s+1)); >> rlocus(GpS)
M p = 16%
PDD
= 0.5
s1,2 = −2 j3.46
n = 4
m + − 180
2 = = −22.5
2
-2
1 = 90 − = 30
2
1 1
− = −2 + x1 = −2 − 1.43 = −3.43 = 3.43
T T
1 1
− = −2 − x2 = −2 − 2.65 = −4.65 = 4.65
T T
1 1
T= = 0.29 = = 0.63
3.43 4.65 ( 0.29 )
5. Calcular Kc
s + 1 T s + 4.65 s ( s + 0.5 )
2 2
1
Kc =
2
G (s) = s1,2 = −2 j3.46
s + 1 T p s + 3.43 2.5
s = s1 s = s1
Kc =
2
−2 + j 3.46 + 3.43 2.5
A 2
C D
Kc = 2
2
B 2.5
CONTROLE 2 – Projeto do compensador em avanço com LGR
Ex. 1b: Projeto do compensador de avanço
1 1
5. Calcular Kc s1,2 = −2 j3.46 T
= 3.43
T
= 4.65
AC D
Kc =
B 2.5
A= ( −2 + 5.46 ) + 3.462 = 4.36
2
s + 3.43
Gc ( s ) =
2.5
Gp ( s ) =
s ( s + 0.5 ) s + 4.65 B= ( −2 + 2.92 ) + 3.462 = 3.74
2
PDD
C= ( )
− + =4
j3.46 2 2
2 3.46
A C
D= ( −2 + 0.5) + 3.462 = 3.77
2
B D
x o x x x
-4.65 -2 -0.5 A C D 4.36 2
4 3.77
Kc =
2
= = 8.18
B 2.5 3.74 2.5
2
-3.43
Gc ( s ) = 8.18
s + 4.65
>> s = tf('s’);
>> GpS = 5/(s*(0.5*s+1)); >> rlocus(GpS)
M p = 16%
PDD
s1,2 = −2 j3.46 = 0.5
n 4
Versão 1 Versão 2
ts = 3.14 t p = 3.14
1 1
x2 = 2.02 x1 = 0.28 = 0.98 = 3.29
T T
1. Ganho do compensador
A 4
C A = 2.38 B = 1.3 C = 1.3 K c4 = 14.56
K c4 =
B4
1. Obter o compensador
s + 0.98
4
Gc ( s ) = 14.56
s + 3.29
>> s = tf('s’);
>> GpS = 1/(s+1); >> rlocus(GpS)
s1,2 = −1 j
= 135 2 = 67.5 m 2 = 33.75 2 = 11.25 1 = 22.5
1 1
x2 = 1.49 x1 = 0.19 = 0.80 = 2.49
T T
1. Ganho do compensador
A 4
C A = 1.8 B = 1.02 C = 1 K c4 = 9.71
K c4 =
B4
1. Obter o compensador
s + 0.8
4
Gc ( s ) = 9.71
1 1
K = 9.71
4
= 0.80 = 2.49
c
T T s + 2.49
>> s = tf('s’);
>> GpS = 1/(s+1); >> rlocus(GpS)
Projeto do compensador
de atraso
usando LGR
16
Gp ( s ) = K v = 20 seg −1
s ( s + 4)
a)
820
Gp ( s ) = Aumentar a Kee em 10
s ( s + 10 )( s + 20 )
b)
1
Planta tipo 1 Kˆ v = 20 eˆss = = 0.05
20
3. Calcular 1
1
Planta tipo 1 K v = lim sG p ( s ) ess =
s →0 Kv
Kˆ v = K c lim sG p ( s ) = K c K v
s →0
16 16
K v = lim sG p ( s ) = lim s = =4
s →0 s →0 s ( s + 4 ) 4
1 1
ess = = = 0.25
Kv 4
Controle 2 – Aula de exercícios de fixação
Projeto do compensador em atraso
16 16 Constante estática
Ex. 1: Gp ( s ) = = 2
s ( s + 4 ) s + 4s desejada 3.7
3. Calcular 1
Objetivo do projeto
Kc = 1 Kˆ v = K c K v = 1 4 = 20
Kˆ v 20
= = =5
K v K c 4 1
Controle 2 – Aula de exercícios de fixação
Projeto do compensador em atraso
Ex. 1:
s1,2 = −2 j3.46
4. Calcular T 1 T ,1 T
s +1 T
0.98
s +1 T s =−2 j 3.46
s +1 T
−5 0
s + 1 T s =−2 j 3.46
−2 j 3.46 + 1 T −2 j 3.46 + 1 T
Gc ( s ) Gc ( s ) =
s = s1 −2 j 3.46 + 1 T −2 j 3.46 + 1 T
−2 + j 3.46 + (1 T ) −2 + j3.46 + (1 T )
T =1 = 0.92 −11.35
−2 + j 3.46 + (1 T ) −2 + j3.46 + (1 T )
T =2 = 0.95 −5.33
T =3 = 0.96 −3.47
= 0.98 −2.04
T =5
5. Obter o compensador
1 1
= = 0.2
T =5 T 5
=5 1 1 1
= = = 0.04
T 5 5 25
s + (1 5 ) s + 0.2
Gc ( s ) = =
s + (1 ( 5 5 ) ) s + 0.04
s + 0.2 16
Gc ( s ) G p ( s ) =
s + 0.04 s ( s + 4 )
s + (1 5 ) 16
K v = lim sGc ( s ) G p ( s ) = lim s
s →0
( )
s →0 s + 1 ( 25 ) s ( s + 4 )
0 + (1 5 ) 16 25
Kv = = 4 = 5 4 = 20
0 + (1 ( 25 ) ) 4 5
USANDO O LGR
10
a) G p ( s ) = s1,2 = −2 j 2 3 Kˆ ee = 80
s ( s + 2 )( s + 8 )
10 = 0.5
b) G p ( s ) = eˆss = 0.02
s ( s + 2 )( s + 5 ) n = 4
10
Gp ( s ) = s1,2 = −2 j 2 3 Kˆ ee = 80
s ( s + 2 )( s + 8 )
Não é necessário
( ln Mp )
2
M p = 16.3% = = 0.5
2 + ( ln Mp )
2
Erro 2% (98%)
4 4 4
ts = =2 n = = =4
n ts 0.5 2
b) Calcular a E.C.
s 2 + 2n s + n2 = s 2 + 4s + 16 = 0
= s 2 + 4s + 16 = 0 Não é necessário
c) Obter os PDDs:
s1,2 = −2 j3.46
2
PDD
j3.46 1 = tan −1 + 90 = 120
3.46
−1 2 − 2
2 = tan + 90 = 90
3.46
x x
-2 8−2
3 = tan −1 + 90 = 30
3.46
m + − 180
2 = = 0
2
-2
1 = 90 − = 30
2
1 1
− = −2 + x1 = −2 − 0 = −2 =2
T T
1 1
− = −2 − x2 = −2 − 6 = −8 =8
T T
1
1
=2
1
=8
1
T = = 0.5 = = 0.25
T T 2 8 ( 0.5 )
5. Calcular Kc s+2
Gc ( s ) = K c
s +8
s + 1 T 1 s + 8 s ( s + 2 )( s + 8 )
Kc = = s1,2 = −2 j3.46
s + 1 T Gp ( s ) s+2 10 s=s
s = s1 1
AC D E
Kc =
B 10
PDD
C= ( −2 ) + 3.462 = 4
2
j3.46
A C
D= ( −2 + 2 ) + 3.462 = 3.46
2
B D
x o x x x
E= ( −2 + 8) + 3.462 = 6.92
2
-8 -2 -2
A C D E 6.92 4 3.46 6.92
Kc = = = 19.2
-2 B 10 3.46 10
CONTROLE 2 – Projeto do compensador em avanço com LGR
Ex. 5: Projeto do comp. avanço-atraso
Rede em avanço
6. Obter o compensador
s+2 Gp ( s ) =
10
Gc ( s ) = 19.2 s ( s + 2 )( s + 8 )
s +8
>> s = tf('s’);
>> GpS = 10/(s*(s+2) *(s+8)); >> rlocus(GpS)
s1,2 = −2 j 2 3 Kˆ ee = 80
10 5 1 1
K v = lim s = = 0.625 ess = = = 1.6
s →0 s ( s + 2 )( s + 8 ) 8 K v 0.625
s + 1 T2 s + 1 T2
0.98 −5 0
s + 1 T2 s + 1 T2
s =−2 + j 3.46 s =−2 + j 3.46
−2 + j 3.46 + 1 T2 −2 + j 3.46 + 1 T2
G (s) G (s)
t t
=
−2 + j 3.46 + 1 26.6 T2 −2 + j3.46 + 1 26.6 T2
c c
s = s1
T =2 = 0.94 −6.35
T =4 = 0.97 −3.08
T2 = 6 = 0.98 −2.03
T2 = 6 = 26.6 Compensador
em atraso
1 1
= = 0.16 s + (1 11) s + 0.16
T 6 G (s) =
At
=
s + (1 ( 9.16 11) ) s + 0.006
c
1 1
= = 0.00625
T 26.6 6
s+2
G ( s ) = 19.2
Compensador Av
+
c
em avanço s 8
s + 2 s + 0.16
Gc ( s ) = G ( s ) G ( s ) = 19.2
A T
+ s + 0.006
c c
s 8
Sistema compensado
s + 2 s + 0.16 10
G ( s ) = Gc ( s ) G p ( s ) = 19.2
s + 8 s + 0.006 s ( s + 2 )( s + 8 )
s + 2 s + 0.16 10
K v = lim Gc ( s ) G p ( s ) = lim s 19.2
s →0 s →0
s + 8 s + 0.006 s ( s + 2 )( s + 8 )
0 + 2 0 + 0.16 1
K v = 19.2
0 + 8 0 + 0.006 ( 2 )( 8 )
10 1 1
K v = (19.2 0.25 ) 26.6 = 80 ess = = = 0.125
16 K v 80
10
G (s) = 3 3ª ordem
s + 10s 2 + 16s + 10
s1,2 = −2 j 2 3
s1 = −2 + j 3.46
Sistema compensado
10 = 0.5
Gp ( s ) = eˆss = 0.02
s ( s + 2 )( s + 5 ) n = 4
Aulas 1 a 6
Dúvidas ?