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Deber Nº 3
Diseño de controladores - Parte 1
Miguel Fernando Calle Romero
1
𝐺(𝑠) =
𝑠(𝑠 + 4)
a.
1
𝐺(𝑠) =
𝑠 2 + 4𝑠 + 1
𝑠1 = −0.2679 𝑦 𝑠2 = −3.73205
Condición de ángulo.
ESCUELA POLITECNICA NACIONAL
SISTEMAS DE CONTROL DISCRETO
7.07
𝜃1 = 90 + tan−1 ( ) = 134.9914
7.0721
7.07 − 4
𝜃2 = 90 + tan−1 ( ) = 113.4656
7.0721
7.0721
tan(68.457°) =
𝑎 − 7.07
𝑎 = −9.8593
𝐺𝑐(𝑠) = 𝐾𝑑(𝑠 + 𝑎)
𝐾𝑑(𝑠 + 9.8593)
| | =1
𝑠(𝑠 + 4) 𝑠=0
𝐾𝑑 = 0.101426
close all
s=tf('s');
G1=1/(s*(s+4))
Gc=0.10142*(s+9.8593)
G2=feedback(G1*Gc,1)
sisotool(G2);
ESCUELA POLITECNICA NACIONAL
SISTEMAS DE CONTROL DISCRETO
b.
𝜀 = 0.707
𝑒𝑠𝑠 = 4%
1 1
𝐾𝑣 = lim 𝑠 =
𝑠→0 𝑠(𝑠 + 4) 4
1
𝑒𝑠𝑠 =
𝐾𝑣
𝑒𝑠𝑠 = 4 𝐶𝑢𝑚𝑝𝑙𝑒 𝑐𝑜𝑛 𝑙𝑎 𝑐𝑜𝑛𝑑𝑖𝑐𝑖𝑜𝑛 𝑑𝑒 𝑒𝑟𝑟𝑜𝑟.
0.707
𝜃1 = 90 + tan−1 ( ) = 134.9914
0.70721
4 − 0.707
𝜃2 = tan−1 ( ) = 77.879
0.70721
0.70721
tan(32.8693°) =
𝑎 − 0.707
𝑎 = −1.80147
𝐺𝑐(𝑠) = 𝐾𝑑(𝑠 + 𝑎)
𝐾𝑑(𝑠 + 1.80147)
| | =1
(𝑠 + 4) 𝑠=0
𝐾𝑑 = 2.2204
𝜔𝑛 = 2.8571
𝑃𝑑𝑑𝑠 = −2 ± 𝑗2.0403
𝑍𝑝𝑑 = 𝑒 (−2±𝑗2.0403)∗𝑇
𝑍𝑝𝑑 = 0.80174 ± 𝑗0.165895
1 + 0.80174
𝜃1 = 90 + tan−1 ( ) = 174.7393
0.165895
0.5 + 0.80174
𝜃2 = 90 + tan−1 ( ) = 172.7373
0.165895
ESCUELA POLITECNICA NACIONAL
SISTEMAS DE CONTROL DISCRETO
= −83.7383
0.165895
tan(83.7383°) =
𝑎 − 0.80174
𝑎 = −0.819942
𝐾𝑑(𝑧 + 0.819942)
| | =1
(𝑧 − 0.5)
𝑧=1
𝐾𝑑 = 0.27473
1
𝜏= = 0.5
𝜀𝜔𝑛
𝜔𝑛 = 5 𝑟𝑎𝑑/𝑠𝑒𝑔
𝜀 = 0.4
𝜔𝑛 = 5 𝑟𝑎𝑑/𝑠𝑒𝑔
𝑃𝑑𝑑𝑠 = −2 ± 𝑗4.5825
𝑍𝑝𝑑 = 𝑒 (−2±𝑗4.5825)∗𝑇
𝑍𝑝𝑑 = 0.73426 ± 𝑗0.36218
ESCUELA POLITECNICA NACIONAL
SISTEMAS DE CONTROL DISCRETO
1 + 0.73426
𝜃1 = 90 + tan−1 ( ) = 168.2039
0.36218
0.5 + 0.73426
𝜃2 = 90 + tan−1 ( ) = 163.6462
0.36218
= −75.925
0.36218
tan(83.7383°) =
𝑎 − 0.73426
𝑎 = −0.8250
𝐾𝑑(𝑧 + 0.8250)
| | =1
(𝑧 − 0.5)
𝑧=1
𝐾𝑑 = 0.27396
7.5𝑥10−4 (𝑧 + 0.9355)
𝐺(𝑧) =
(𝑧 − 1)(𝑧 − 0.8187)
𝐾𝑣 = 8.00675𝑥10−3 𝐾
1
𝑒𝑠𝑠 = 0.1 =
𝐾𝑣
𝐾𝑣 = 10
10 = 8.00675𝑥10−3 𝐾
𝐾 = 1248.945
7.5𝑥10−4 (𝑧 + 0.9355)
𝐺(𝑧) = 1248.945𝑥
(𝑧 − 1)(𝑧 − 0.8187)
0.9367(𝑧 + 0.9355)
𝐺(𝑧) =
(𝑧 − 1)(𝑧 − 0.8187)
𝜔𝑛 = 1.30188 𝑟𝑎𝑑/𝑠𝑒𝑔
−𝜋∗𝜀
2
𝑀𝑝 = 𝑒 √1−𝜀 = 0.08
ESCUELA POLITECNICA NACIONAL
SISTEMAS DE CONTROL DISCRETO
𝜀 = 0.6265
𝑍𝑝𝑑 = 𝑒 (−0.8156±𝑗1.01471)∗𝑇
𝑍𝑝𝑑 = 0.9671 ± 𝑗0.03927
1 + 0.9671
𝜃1 = 90 + tan−1 ( ) = 178.8563
0.03927
0.8187 + 0.9671
𝜃2 = 90 + tan−1 ( ) = 178.74
0.03927
= −88.7982
0.03927
tan(88.7982°) =
𝑎 − 0.9671
𝑎 = −0.9679
𝐾𝑑(𝑧 + 0.9676)
| | =1
(𝑧 − 0.5)
𝑧=1
𝐾𝑑 = 0.254
1
𝐺(𝑠) =
𝑠(𝑠 + 1)(𝑠 + 10)
Para encontrar el tiempo de muestreo:
1 1
𝐺𝑟(𝑠) = = 2
𝑠(𝑠 + 1)(𝑠 + 10) + 1 𝑠(𝑠 + 11𝑠 + 10) + 1
1
𝐺𝑟(𝑠) =
𝑠3 + 11𝑠 2+ 10𝑠 + 1
𝜔𝑛 = 1
2𝜀 = 9
𝜀 = 4.5
2𝜀 = 10
𝜀=5
1
𝑡𝑠 = = 0.2
𝜀𝜔𝑛
𝑡𝑠
𝑇= = 0.006666
30
Utilizando mapeo de polos y ceros:
𝐾𝑧
𝐺(𝑧) =
(𝑧 − 1)(𝑧 − 𝑒 −𝑇 )(𝑧 − 𝑒 −10𝑇 )
|𝐺(𝑠)|𝑠=0 = |𝐺(𝑧)|𝑧=1
1 𝐾𝑧 (𝑧 + 1)2
| | =| |
(𝑠 + 1)(𝑠 + 10) 𝑠=0 (𝑧 − 𝑒 −𝑇 )(𝑧 − 𝑒 −10𝑇 ) 𝑧=1
1 4𝐾𝑧
=
(1)(10) (𝑠 − 0.9355)(𝑠 − 0.5137)
𝐾𝑧 = 0.0007841
ESCUELA POLITECNICA NACIONAL
SISTEMAS DE CONTROL DISCRETO
0.0007841 (𝑧 + 1)2
𝐺(𝑧) =
(𝑧 − 0.9355)(𝑧 − 0.5137)
𝑀𝑝 < 10% → 𝑀𝑝 = 5%
4
𝑡𝑠 = < 1 % → 𝑡𝑠 = 0.5𝑠
𝜀𝜔𝑛
−𝜋𝜀
2
𝑀𝑝 = 5% = 100& 𝑥 𝑒 √1−𝜀
𝜀 = 0.69
4
𝜔𝑛 = = 11.5942
0.69 𝑥 0.5
𝑃𝑑𝑑𝑠 = −8 ± 𝑗8.4
𝑍𝑝𝑑 = 𝑒 (−8±𝑗8.4)∗𝑇
𝑍𝑝𝑑 = 0.9466 ± 𝑗0.053
0.9355 + 0.9466
𝜃1 = 90 + tan−1 ( ) = 178.4782
0.053
0.5137 + 0.9466
𝜃2 = 90 + tan−1 ( ) = 178.03
0.053
= −88.2585
0.053
tan(88.2585) =
𝑎 − 0.9466
𝑎 = −0.9482
𝐾𝑑(𝑧 + 0.9482)
| | =1
(𝑧 − 0.5)
𝑧=1
𝐾𝑑 = 0.2566
Tipo de controlador Kp 𝜏𝑖 𝜏𝑑
𝐾𝑐𝑟𝑖𝑡 = 80.5
𝑃𝑐𝑟𝑖𝑡 = 0.4
1
𝐺𝑝𝑖𝑑 = 𝐾𝑝 (1 + + 𝜏𝑑𝑠)
𝜏𝑖𝑠
1
𝐺𝑝𝑖𝑑 = 48.3 (1 + + 0.05𝑠)
0.2𝑠
0.01𝑠 2 + 0.2𝑠 + 1
𝐺𝑝𝑖𝑑 = 48.3 ( )
0.2𝑠
Utilizando la transformada de mapeo de polos y ceros:
60.4𝑧 2 − 44.44𝑧 + 8.174
𝐺𝑝𝑖𝑑 =
(𝑧 − 1)