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0110
430
Diviso de Mecnica Espacial e Controle INPE, So Jos dos Campos, Brasil, wagner.mahler@gmail.com
2
ETEP Faculdade, So Jos dos Campos, Brasil, denilson@dem.inpe.br
INTRODUO
MODELO MATEMTICO
431
(1)
( )
( )
)(
(
(
(
(
(
(
))
)(
))
)
(
(
))
( )
(
( )
( )
( )
Substituindo ( 5 ) e ( 9 ) em ( 1 ):
(
( )
( )
*(
( )
[(
(8)
3.
(
)(
))
)
(
))]
SIMULAES NUMRICAS
A tabela 1 mostra as condies iniciais:
( )
)
(
(massa do carro)
(massa da esfera)
( )
)+
(acelerao da gravidade)
( 10 )
Considerando
( )
( )
( )
( )
)
(
( )
)+
(
(
(
( )
( )
(
)
)
( )
)(
( ))
*(
))
)
)(
{
{
( )
( ))
(
)
(
( 12 )
+
)
))
( 11 )
( )
(comprimento da haste)
( )
(
*(
( )
) (9)
Substituindo ( 3 ) em ( 7 ):
(7)
*(
(6)
( 16 )
(5)
))
( 18 )
(3)
( )
(
(
( 17 )
(4)
( )
(2)
( 13 )
][ ]
[ ]
( 14 )
( 15 )
( 20 )
432
0.5
0
d/dt - (x2)
10
15
20
25
30
35
40
45
50
10
15
Tempo (s)
20
25
30
35
40
45
50
35
40
45
50
Tempo (s)
x 10
6000
2.5
5000
5.3
2
4000
x - (x3)
- (x1)
5.2
1.5
5.15
5.1
3000
2000
5.05
0.5
5
0
0.5
5.25
3
2.5
1.5
5.35
d - (x2)
5.4
x 10
3.5
1.5
5.45
10
4.5
dx/dt - (x4)
12
x 10
- (x1)
2.5
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
4.95
0.2
0.4
0.6
Tempo (s)
0.8
1.2
1.4
1.6
1.8
0
0
Tempo (s)
1000
10
15
20
25
30
Tempo (s)
35
40
45
50
10
15
20
25
30
Tempo (s)
1.65
5
4.5
dx/dt - (x4)
x - (x3)
1.6
3.5
4.
1.55
3
2.5
2
0
0.2
0.4
0.6
0.8
1.2
Tempo (s)
1.4
1.6
1.8
1.5
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
Tempo (s)
LQR
433
x' = Ax+Bu
y = Cx+Du
Constante
Espao de Estados
Scope
K* u
Ganho
0.02
0.01
d/dt - (x2)
- (x1)
AGRADECIMENTOS
0
-0.01
-0.02
-0.03
-0.04
0
-2
-4
-6
-8
-0.05
-0.06
x 10
-10
10
20
30
40
50
60
70
80
90
-12
100
10
20
30
Tempo (s)
40
50
60
70
80
90
100
Tempo (s)
0.12
0.015
0.1
0.01
dx/dt - (x4)
x - (x3)
0.08
REFERNCIAS
0.005
0.06
0.04
0.02
-0.005
0
-0.02
10
20
30
40
50
60
70
Tempo (s)
80
90
100
-0.01
10
20
30
40
50
60
70
80
90
100
Tempo (s)
CONCLUSES