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TEMA:
INTEGRANTES
Edison Chicaiza.
SISTEMAS DE CONTROL
DESARROLLO:
1. Indicar los pasos de un diseño de un programa.
a. Transformar los requerimientos a un sistema físico.
10 A Bs+C
= +
s (s +4 s+ 13) s (s ¿¿ 2+4 s+ 13) ¿
2
−10 40
s−
10 13 13
F ( s) = +
13 s s2 +4 s +13
−10 14
s−2−
10 13 13
F ( s) = + 2
13 s s + 4 s+13
10 10( s+ 2)
F ( s) = −
13 s 14
13( s¿¿ 2+4 s +13)− 2
¿
13 (s + 4 s+13)
10 10( s+2)
F ( s) = −
13 s 14
13( s ¿ ¿ 2+4 s +22+ 32)− ¿
13( s + 4 s+22 +32 )
2
10 10( s+ 2) 14(3)
F ( s) = − −
13 s 13( ( s+2 )2 +32 ) 13(3)( ( s+2 )2 +32 )
10 10 14 −2 t
f ( t )= u ( t )− e−2 t cos 3 t u ( t )− e sin3 t u(t)
13 13 13∗3
10 13 −2 t 1
f ( t )= { (
− e cos 3 t− sin 3 t u ( t )
13 10 3 )}
1 2 1
√ 2
1+
3 ()
=1.05 θ=cos−1
1.05
=17.75 °( )
f ( t )= {0.76−0.76 e−2t ( cos 3t +17.75 ° ) }u ( t )
SISTEMAS DE CONTROL
Vi ( t )=V
i ( t )= A
C=F
R=Ω
L=H
f (t)=N
x (t)=m
k =N/m
fv =Ns/m
N s2
M=
m
5 S 2+ 10
[ ][
−10
F( S) X 1(S )
[ ]
0
=
−10
S
5
+10 X 2(S ) ]
F( S) −10
X 1(S)=
[ 0
S
5
+10 ]
5 S 2 +10
[ −10
−10
S
5
+ 10 ]
S
F ( S)( +10)
5
X 1(S)=
( 5 S 2+ 10 ) S +10 −100
( )
5
S
+ 10
X 1( S) 5
=
F (S ) S 3 +50 S 2+ 2 S
SISTEMAS DE CONTROL
T(t)= Nm
Θ(t)= rad
K= Nm/rad
D=Nms/rad
J=N s2m/rad
T (S) 5 S 2 +4 Θ(S )
[ ][
0
=
−4 2
−4
3 S +2 S+ 4 Θ(S ) ][ ]
5 S2 + 4 T ( S)
Θ2 ( S)=
[ −4 0 ]
5 S 2+ 4
[ −4 2
−4
3 S +2 S+ 4 ]
4(T (S))
Θ2 ( S)=
( 5 S + 4 )( 3 S2 +2 S +4 ) −16
2
4(T ( S))
Θ2 ( S)=
15 S +10 S + 20 S 2+12 S2 +8 S+16−16
4 3
4
Θ2 ( S ) 15
= 3
T (S ) 4 2S 4 S2 12 S 2 8 S
S + + + +
3 3 15 15