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∑ 𝑀𝐶𝐺 = 𝐼𝐶𝐺 𝛼
𝛼 = 𝜃̈
𝐼𝜃̈ = 𝑉(𝑙𝑠𝑒𝑛𝜃) − 𝐻(𝑙𝑐𝑜𝑠𝜃)……(3)
𝑎𝑥 = 𝑥̈ 𝐶𝐺
𝐻 = 𝑚𝑥̈ 𝐶𝐺
∑ 𝐹𝑦 = 𝑚𝑎𝑦
𝑎𝑦 = 𝑦̈ 𝐶𝐺
𝑉 − 𝑚𝑔 = 𝑚𝑦̈ 𝐶𝐺 ……(4)
∑ 𝐹𝑥 = 𝑚𝑎𝑥
𝑢 − 𝐻 = 𝑀𝑥̈ ……(5)
𝑠𝑒𝑛𝜃 ≈ 𝜃, 𝑐𝑜𝑠𝜃 ≈ 1
Función de transferencia:
Despejando 𝑋(𝑠) :
𝑚𝑔𝑙𝜃(𝑠) − (𝐼 + 𝑚𝑙 2 )𝑠 2 𝜃(𝑠)
𝑋(𝑠) =
𝑚𝑙𝑠 2
Reemplazando 𝑋(𝑠) en :
𝑚𝑔𝑙𝜃(𝑠) − (𝐼 + 𝑚𝑙 2 )𝑠 2 𝜃(𝑠)
(𝑀 + 𝑚)𝑠 2 + 𝑚𝑙𝑠 2 𝜃(𝑠) = 𝑈(𝑠)
𝑚𝑙𝑠 2
𝜃(𝑠) 𝑚𝑙
=−
𝑈(𝑠) (𝑀𝑚𝑙 2 + (𝑀 + 𝑚)𝐼)𝑠 2 − (𝑚𝑔𝑙(𝑀 + 𝑚))
(Función de transferencia)
𝑥1 =𝜃
𝑥2 = 𝜃̇
𝑥3 =𝑥
𝑥4 = 𝑥̇
𝑦1 𝜃 𝑥1
𝑦 = [𝑦 ] = [ ] = [𝑥 ]
2 𝑥 3
𝑥̇ 1 = 𝜃̇ = 𝑥2
𝑥̇ 2 = 𝜃̈
𝑥̇ 3 = 𝑥̇ = 𝑥4
𝑥̇ 4 = 𝑥̈
(𝑀 + 𝑚)𝑚𝑔𝑙 𝑚𝑙
𝑥̇ 2 = 2
𝑥1 − 𝑢
(𝑀 + 𝑚)𝐼 + 𝑚𝑀𝑙 (𝑀 + 𝑚)𝐼 + 𝑚𝑀𝑙 2
𝑙 + 𝑚𝑙 2 𝑚2 𝑙 2 𝑔
𝑥̇ 4 = 𝑢 − 𝑥
(𝑀 + 𝑚)𝐼 + 𝑚𝑀𝑙 2 (𝑀 + 𝑚)𝐼 + 𝑚𝑀𝑙 2 1
𝑥̇ = 𝐴𝑥 + 𝐵𝑢
𝑦 = 𝐶𝑥 + 𝐷𝑢
0 1 0 0 0
x1 M m mgl
x ml
0 0 0 1
x2 M m I mMl x2 ( M m) I mMl 2
2
u
0 0 0 1 x3 0
x3 x
m 2l 2 g 4 I ml 2
x4 M m I mMl 2 0 0 0 2
M m I mMl
x1
y1 1 0 0 0 x2
y 0 0 1 0 x
2 3
x4
𝑑 𝜕𝑇 𝜕𝑇 𝜕𝑉
( )− + =0
𝑑𝑡 𝜕𝑞̇ 𝑗 𝜕𝑞𝑗 𝜕𝑞𝑗
Siendo:
𝑞=𝜃
𝑑 𝜕𝑇 𝜕𝑇 𝜕𝑉
( )− + =0
𝑑𝑡 𝜕𝜃̇ 𝜕𝜃 𝜕𝜃
𝑈 = 𝑚𝑙𝑔𝑐𝑜𝑠𝜃
Cálculo de la energía cinética del sistema K:
𝐾 = 𝐾𝑝𝑒𝑛𝑑𝑢𝑙𝑜 + 𝐾𝑐𝑎𝑟𝑟𝑜
1 1
𝐾𝑝𝑒𝑛𝑑 = 𝑚𝑣 2 + 𝐼𝜃̇ 2
2 2
𝑣 2 = 𝑥𝐺 2 + 𝑦̇ 𝐺 2
𝑥̇ 𝐺 = 𝑥̇ + 𝑙𝜃𝑐𝑜𝑠𝜃 ̇
𝑦̇ 𝐺 = −𝑙𝜃𝑠𝑒𝑛𝜃 ̇
2 2
𝑣 2 = (𝑥̇ + 𝑙𝜃̇ 𝑐𝑜𝑠𝜃) + (−𝑙𝜃̇𝑠𝑒𝑛𝜃)
̇ + 𝑙 2 𝜃̇ 2
𝑣 2 = 𝑥̇ 2 + 2𝑥̇ 𝑙 𝜃𝑐𝑜𝑠𝜃
Reemplazando en:
1 1
𝐾𝑝𝑒𝑛𝑑𝑢𝑙𝑜 = 𝑚(𝑥̇ + 2𝑥̇ 𝑙 𝜃̇𝑐𝑜𝑠𝜃 + 𝑙 2 𝜃 2 ) + 𝐼𝜃̇ 2
2 2
1
𝐾𝑐𝑎𝑟𝑟𝑜 = 𝑀𝑥̇ 2
2
𝐾 = 𝐾𝑝𝑒𝑛𝑑𝑢𝑙𝑜 + 𝐾𝑐𝑎𝑟𝑟𝑜
1 1
𝐾𝑇 = (𝑚 + 𝑀)𝑥̇ 2 + 𝑚𝑙𝑥̇ 𝜃̇𝑐𝑜𝑠𝜃 + (𝑚𝑙 2 + 𝐼)𝜃̇ 2
2 2
Hallando L:
𝐿 =𝐾−𝑈
1 1
𝐿 = (𝑚 + 𝑀)𝑥̇ 2 + 𝑚𝑙𝑥̇ 𝜃̇𝑐𝑜𝑠𝜃+ (𝑚𝑙 2 + 𝐼)𝜃̇ 2 − 𝑚𝑙𝑔𝑐𝑜𝑠𝜃
2 2
𝑑 𝜕𝐿 𝜕𝐿
( )− =𝑢
𝑑𝑡 𝜕𝑥̇ 𝜕𝑥
𝑑 𝜕𝐿 𝜕𝐿
( )− =0
𝑑𝑡 𝜕𝜃̇ 𝜕𝜃
𝜕𝐿 𝜕 1 1
= ( (𝑚 + 𝑀)𝑋̇ 2 + 𝑚𝑙𝑋̇𝜃̇𝑐𝑜𝑠𝜃 + (𝑚𝑙 2 + 𝐼)𝜃̇ 2 − 𝑚𝑙𝑔𝑐𝑜𝑠𝜃)
𝜕𝑥 𝜕𝑥 2 2
𝜕𝐿
=0
𝜕𝑥
𝜕𝐿 𝜕 1 1
= ( (𝑚 + 𝑀)𝑋̇ 2 + 𝑚𝑙𝑋̇𝜃̇𝑐𝑜𝑠𝜃 + (𝑚𝑙 2 + 𝐼)𝜃̇ 2 − 𝑚𝑙𝑔𝑐𝑜𝑠𝜃)
𝜕𝑥̇ 𝜕𝑥̇ 2 2
𝜕𝐿
= (𝑚 + 𝑀)𝑋̇ + 𝑚𝑙𝜃̇𝑐𝑜𝑠𝜃
𝜕𝑥̇
𝑑 𝜕𝐿 𝑑
( ) = ((𝑚 + 𝑀)𝑋̇ + 𝑚𝑙𝜃̇𝑐𝑜𝑠𝜃)
𝑑𝑡 𝜕𝑥̇ 𝑑𝑡
𝑑 𝜕𝐿
( ) = (𝑚 + 𝑀)𝑋̈ + 𝑚𝑙𝜃̈𝑐𝑜𝑠𝜃 − 𝑚𝑙𝜃̇ 2 𝑠𝑒𝑛𝜃
𝑑𝑡 𝜕𝑥̇
Reemplazando en la expresión:
𝑑 𝜕𝐿 𝜕𝐿
( )− =𝑢
𝑑𝑡 𝜕𝑥̇ 𝜕𝑥
(𝑚 + 𝑀)𝑥̈ + 𝑚𝑙𝜃̈𝑐𝑜𝑠𝜃 − 𝑚𝑙𝜃̇ 2 𝑠𝑒𝑛𝜃 = 𝑢
𝑢 = (𝑚 + 𝑀)𝑥̈ + 𝑚𝑙(𝜃̈𝑐𝑜𝑠𝜃 − 𝜃̇ 2 𝑠𝑒𝑛𝜃)
𝜕𝐿 𝜕 1 1
= ( (𝑚 + 𝑀)𝑥̇ 2 + 𝑚𝑙𝑥̇ 𝜃̇𝑐𝑜𝑠𝜃 + (𝑚𝑙 2 + 𝐼)𝜃̇ 2 − 𝑚𝑙𝑔𝑐𝑜𝑠𝜃)
𝜕𝜃 𝜕𝜃 2 2
𝜕𝐿
= −𝑚𝑙𝑥̇ 𝜃̇ 𝑠𝑒𝑛𝜃 + 𝑚𝑙𝑔𝜃̇ 𝑠𝑒𝑛𝜃
𝜕𝜃
𝜕𝐿 𝜕 1 1
= ( (𝑚 + 𝑀)𝑥̇ 2 + 𝑚𝑙𝑥̇ 𝜃̇ 𝑐𝑜𝑠𝜃 + (𝑚𝑙 2 + 𝐼)𝜃̇ 2 − 𝑚𝑙𝑔𝑐𝑜𝑠𝜃)
𝜕𝜃̇ 𝜕𝜃̇ 2 2
𝜕𝐿
= 𝑚𝑙𝑥̇ 𝑐𝑜𝑠𝜃 + (𝑚𝑙 2 + 𝐼)𝜃̇
𝜕𝜃̇
𝑑 𝜕𝐿 𝑑
( ) = (𝑚𝑙𝑥̇ 𝑐𝑜𝑠𝜃 + (𝑚𝑙 2 + 𝐼)𝜃̇)
𝑑𝑡 𝜕𝜃̇ 𝑑𝑡
𝑑 𝜕𝐿
( ) = 𝑚𝑙𝑥̈ 𝑐𝑜𝑠𝜃 − 𝑚𝑙𝑥̇ 𝜃̇𝑠𝑒𝑛𝜃 + (𝑚𝑙 2 + 𝐼)𝜃̈
𝑑𝑡 𝜕𝜃̇
Reemplazando en la expresión:
𝑑 𝜕𝐿 𝜕𝐿
( )− =0
𝑑𝑡 𝜕𝜃̈ 𝜕𝜃
𝑚𝑙𝑥̈ 𝑐𝑜𝑠𝜃 − 𝑚𝑙𝑥̇ 𝜃̇𝑠𝑒𝑛𝜃 + (𝑚𝑙 2 + 𝐼)𝜃 + 𝑚𝑙𝑥̇ 𝜃̇𝑠𝑒𝑛𝜃 − 𝑚𝑙𝑔𝜃̇𝑠𝑒𝑛𝜃 = 0
𝑚𝑙𝑥̈ 𝑐𝑜𝑠𝜃 + (𝑚𝑙 2 + 𝐼)𝜃̈ − 𝑚𝑙𝑔𝜃̇𝑠𝑒𝑛𝜃 = 0
Despegando tenemos:
Igualando
𝑚𝑙𝑔𝜃̇𝑠𝑒𝑛𝜃 − 𝑚𝑙𝑥̈ 𝑐𝑜𝑠𝜃 𝑢 + 𝑚𝑙𝜃̇ 2 𝑠𝑒𝑛𝜃 − (𝑚 + 𝑀)𝑥̈
=
(𝑚𝑙 2 + 𝐼) 𝑚𝑙𝑐𝑜𝑠𝜃
Igualando y despejando 𝜃̈
𝑚𝑙𝑔𝜃̇𝑠𝑒𝑛𝜃 − (𝑚𝑙 2 + 𝐼)𝜃̈ 𝑢 − 𝑚𝑙𝜃̈𝑐𝑜𝑠𝜃 + 𝑚𝑙𝜃̇ 2 𝑠𝑒𝑛𝜃
=
𝑚𝑙𝑐𝑜𝑠𝜃 (𝑚 + 𝑀)
De (i) despejamos 𝑥̈ :
Reemplazamos en (ii):
(𝑢 − 𝑚𝑙𝜃̈𝑐𝑜𝑠𝜃 + 𝑚𝑙𝜃̇ 2 𝑠𝑒𝑛𝜃)
𝐼𝜃̈ + 𝑚𝑙 2 𝜃̈ − 𝑚𝑙𝑔𝑠𝑒𝑛𝜃 + 𝑚𝑙 𝑐𝑜𝑠𝜃 = 0
𝑚+𝑀
𝑥1 = 𝜃
𝑥2 = 𝜃̇
𝑥3 = 𝑥
𝑥4 = 𝑥̇
𝑦1 𝜃 𝑥1
𝑦 = [𝑦 ] = [ ] = [𝑥 ]
2 𝑥 3
Tanto 𝜃 como x son cantidades medibles, entonces por variables de estado
obtenemos:
𝑥̇ 1 = 𝑥2 = 𝑓1
𝑚𝑙𝑔(𝑚 + 𝑀)𝑥1 − 𝑚𝑙𝑢
𝑓2 = 𝑥̇ 2 = 𝜃̈ =
[𝐼(𝑚 + 𝑀) + 𝑚𝑙 2 𝑀]
𝑥̇ 3 = 𝑥4 = 𝑓3
𝑚2 𝑙 2 𝑔𝑥1 − (𝐼 + 𝑚𝑙 2 )𝑢
𝑓4 = 𝑥̇ 4 = 2 2
𝑚 𝑙 − (𝐼 + 𝑚𝑙 2 )(𝑚 + 𝑀)
f1 0
u
ml
2
f
f u
I m M ml 2
M
u f 3 0
u I ml 2
f 2 2
m l I ml m M
4 2
u
f f
f ( x ) f ( x ,u ) x x0 u u0
x u
0 1 0 0 0
m lg m M x ml
0 0 0 1
I m M ml M
2 x
I m M ml 2
M
x 2 u
0 0 0 1 x3 0
2 2
m l gx1 x4 I ml 2
0 0 0
m 2l 2 I ml 2 m M m 2l 2 I ml 2 m M
x1
y1 1 0 0 0 x2
y
y2 0 0 1 1 x3
x4
II. ESTABILIDAD:
Código en Script
num=[0 0 -4.5454];
den=[1 0 -31.1818];
t=0:0.01:2;
step(num,den,t)
Gráfica utilizando las Matrices de Estado:
III. CONCLUSIÓN: