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2 II CORTE
PRESENTADO POR:
2420081018 HAROLD FERNANDO LARA OYOLA
2420101024. EFREN LEONARDO SOSA BONILLA
PRESENTADO A:
OSCAR BARRERO MENDOZA, PHD.
CONTROL ELECTRNICO II
PROGRAMA DE INGENIERA ELECTRNICA
FACULTAD DE INGENIERAS
UNIVERSIDAD DE IBAGU
2016A
TALLER#1 II CORTE
PROBLEMA:
Se desea disear un compensador C(z) para controlar la velocidad angular del rotor w(t) de
un motor DC con excitacin independiente, con base al voltaje de armadura va(t). La funcin
de transferencia en tiempo continuo del motor es:
() =
()
40.7591
= 2
() + 105.5094 + 54.0575
Se desea que el sistema en lazo cerrado tenga una respuesta con las siguientes
caractersticas:
= 3
= 10%
= 60
DESARROLLO:
Como el diseo se hace en el plano w, lo primero que se debe hacer es transformar la funcin
de transferencia de la planta a este plano. Para esto primero se trasforma Gp(s) a G(z) y luego
G(z) a G(w) como sigue:
>>Transformacin de G(s) a G(z):
Para sta transformacin del plano s al pano z, se debe tener el T entonces como no se da, se
debe calcular y se hace de la siguiente manera:
Como es una funcin de transferencia de primer orden, se obtiene de la grfica (Fig#01 ) el
y de ah se calcula segn lo explicado en clase:
( )
}
{
( 1)
40.7591
}
{ 2
( + 105.5094 + 54.0575)
. ( + . )
. + .
z2
0.070425 (z + 0.0476)
|1+(/2)
0.9022 z + 6.848 1010 1(/2)
. ( + ) ( )
( + ) ( + . )
1 ( )
1 + ( )
1 (30)
1 + (30)
= .
>>Clculo de Vc:
Ahora se calcula el valor de Vc en magnitud, luego en dB para buscar se valor en el Bode y
obtener el valor en frecuencia del Vc:
( ) =
( ) =
1
0.3333
() = .
() = 20 ( )
() = 20 (0.3333 )
() = .
Entonces se busca el mismo valor pero con signo contrario para compensar:
1
1
0.739 0.3333
= .
>>Definicin del controlador:
Ya con estos valores se obtiene el valor del controlador:
=
=
1 +
1 +
( + . )
( + . )
CODIGO EN MATLAB
%Taller 2 Corte 2
%Harold Lara
%Leonardo Sosa
clc
close all
clear all
num =40.7591;
den =[1.0000 105.5094 54.0575];
Gps=tf(num,den);
ts=3; % Tiempo de establecimiento [seg]
Mp= 0.1; % Sobreimpulso
zeta=-log(Mp)/sqrt(pi^2+log(Mp)^2);
wn=4.6/(zeta*ts);
wd=wn*sqrt(1-zeta^2);
Td=2*pi/wd
Td1=Td/30
Td2=Td/10
%% Td/30 < T < Td/10 => 0.1 < T < 0.3
T=0.2;
%% Clculo de los polos deseados
zd= exp(-T*zeta*wn)*(cos(T*wd)+j*sin(T*wd));
%%Pasando Planta a Z
Gz=c2d(Gps,T);
zpk(Gz)
%% Transformacin de G(z) a G(w) usando la transf. bilineal
Gw=d2c(Gz,'tustin');
zpk(Gw)
% COMO NO DAN K TOCA COLOCAR UN POLO EN 0 PARA ESS=0
Gw2=tf(1,[1 0]);
Gwf=Gw*Gw2 %PLANTA CON EL POLO EN CERO.
% 1) GRAFICAMOS EL BODE!!!
margin(Gwf)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%% Calculo de maxima compensacion en fase phi_m
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
gamma_d=60;
gamma_0=40;
FA=10;
phi_m=gamma_d-gamma_0+FA
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 2) Calculo de alfa
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
alfa=(1-sind(phi_m))/(1+sind(phi_m))
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 3) Calculo de la magntd dl compsdr sin ganancia en v=v_c en dB
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
MCf=1/(sqrt(alfa));
VcdB=20*log10(sqrt(alfa)) %-8.4074
% Se busca -8.9930 en el Bode en magnitud y leo la freq=Vc
8
vc=0.739;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%% Calculo de tao
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
tao=1/(vc*sqrt(alfa))
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Validacin del diseo
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Cwf=tf([tao 1],[alfa*tao 1]);
Cw=Gw2*Cwf;
margin(Cw)
%DIBUJANDO TODAS COMO QUEDA:
margin(Gwf);
hold on
margin(Cw);
margin(Cw*Gw);
hold off
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Transformacin del plano w al z del controlador diseado
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Gcz=c2d(Cw,T,'tustin');
zpk(Gcz)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%% Respuesta paso unitario del sistema controlado en lazo cerrado
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Gclz=feedback(Gz*Gcz,1); %% calculo de la F.T
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%% en lazo cerrado
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
step(Gclz);
%********************************************************