Professional Documents
Culture Documents
Formulario Quente
Formulario Quente
Formulario Quente
sen
d ² d ²
M j dv M j
dt ² Fx m dw dt ²
dt T Tcis j [1] dw
F1.L F 2.l P1.x j
m.g .(2.a ) k .x.a j T Tcis j [1]
dt dt
k1.x1.l k 2. x 2.l m. g .Fa
T.l mdv
.l ² j m.( 2.a )²
T F .R Tcis . A.R .v / A
dt
(k 2 k1).l m.g Tcis . A.R x ( 2.a ). A 2. .R.l
. Fa
0 .A v w.R
m.l .v / A v w.R
.v / h k T F .R
A 2. .R.h w
wn. 0 4.m dv
dv v Fx m v w.R
(k1 k 2).l m.g T M . A [1] dw
dt h T mg mR [2] k g dt
wn ² dt ED - .
m.l dv 4.m 2.a dw
wn 2. . f Fx m - Substitui [2] em [1] F mg mR [2]
dt dw 2. . .h TL - S ² ( s ) w² ( s ) b dt
2. 2. ( J mR ²) .R ³.w m.g .R s Substituindo [2] em [1]
t dv dt a
wn T mg m dw 2. . .l
( k1 k 2).l m.g dt dw b ( J mR ²) .R ³.w m.g .R
A1 A2.w B 0 (t ) (1 cos( w.t ) ) dt a
m.l dv dt w ²
T mg m [2] dw
dt A1 A2.w B 0
Substitui [2] em [1] dt
d ²v . A dv
0
dt ² h.( M m) dt
g
wn M j
l d ²x
Fx m
p.l k .l . y j
dt ²
k 3 .E .I / l ³ d²x
d ²x Fx m
dv F Fa m y l .sen dt ²
Fx m T j dt ²
dt j m.l ² d²x
j m.l ² sen F k .x Fa .N F k1.x k 2.x m
dv 3 .E .I m.g dt ²
p.sen ( ) Fa m m.g .l.sen m.l ². d ² m .
dt M j l³ l d ²x
g dt ² F m (k1 k 2).x
Fa . A .v / h . 0 k . g dt ²
l 3 ED - .
dv A .m.r ² k .r ². 0 m l
m .v p.sen( ) Eq geral 2
dt h . 2. .wn wn ². b1.wn ².i TL -
2.k k .g 1
dv w s ². ( s ) . ( s ) .
A1 A2.v B 0 3.m m l s
dt
v vR vC v vR vL vC . .r
x
v vR vL di
vR i.R vR i.R L. vc
v i.R vL i1 i 2 i3
v i.R vC dt
1 i1.R1 v vA
dvC i . . vL.dt dvC 1 1 1 1 1
i C. L i C. i 2.R 2 vA Ec m.x ² mb.x ² Jp. ² Jp. ²
dt dt 2 2 2 2 2
R i3.( R3 R 4) vA
v RC.
dvC
vC
v . . vL.dt vL v RC.
dvC
LC .
d ² vC
vCv vA
m.r ² mb.r ² 2.Jp Jr .Jeq
L vA vA
dt dt dt ²
R1 R2 R3 R 4
Para J1
Entrada com uma contração
d ² p0=pressão na entrada
M j p – pressão no cilindro
Massa 1 dt ²
Cilindro
d ²x d ²
F m. k1. 1 k 2.( 1 2) j1 dx
dt ² dt ² A qe
dt dv
F1 F 2 Fc1 m.x1 d ² Fx m
dx p0 p dt
k1.x1 k 2..( x1 x 2) b1.x
1 m.x-1j1 dt ² ( k1 k 2). 1 k 2. 2
ED A
ED -
dt R d ²x
TL -
Fx p. A
F mg m
b1 k1 k 2 k 2 [ j1.S ² ( k1 k 2)]. 1( s ) k 2. 2( s ) dt ²
.x1 .x1 .x1 .x 2 dy p0 p
m 1 m 1 m1 1( s ) k2 2. A d ²
T J.
TL - FT - dt R dt ²
2( s ) j1.S ² ( k1 k 2)
b1 k1 k 2 k2 dy d ²x
.s ² x1( s ) x1( s ).s. . x1( s ) x 2( s ) 2. A.R p 0 p [II] R1 mg m. R 2.k 2.( y 0 y R 2.k 2.( y 0 y
m 1 mPara
1 J2 m1 dt dt ²
FT- d ² Pinhão
M j d ²x
k2 dt ² M 0 R1 mg m. 2 R 2.k 2. y R1.k1. ( R1².k1.
Fx.2.r Fy.r 0 dt ²
x1( s ) m1 d ²
k 2 .( 1 2 ) j 2 Fy 2.Fx x .R1 y .R 2
x 2( s ) b1 k1 k 2 dt ² ED -
deslocamento
S ² S . d ²
m1 m1 ED - j1 k 2. 2 k 2. 1 x 2. y d ²
.( J .m.R1²) ( 2.R 2².k 2 R1².K 1) R1( m.g k
dt ² Carga dt ²
Massa 2 TL - [ j 2.S ² k 2]. 2( s ) k 2. 2( s ) d²y
Fy m
d ²x 2( s ) k2 dt ²
F m. FT -
dt ² 1( s ) j 2.S ² k 2 dy d²y
Fc 2 F 2 m.x 2
Fy c m
dt dt ²
k 2.( x 2 x1) b 2.x 2 m.x 2
d²y dy
ED - Fy m c
dt ² dt
b2 k2 k2 p. A d²y dy
.x 2 .x 2 .x 2 .x1 2. m c [I]
m2 m2 m2 m dt ² dt
Sustituindo II em I
ED -
d ² d ² y 4. A.R c dy 2. A. p 0
T j . 0
dt ² dt ² m m dt m
T Tmola Tamortecer dor Tpneu 2. A
y ( s) dv
j. kt b.r1². k .r 2(u r 2. ) m Fx m
FT - dt
ED - p( s ) C 4. A².R
j. b.r1². ( kt k .r 2²) Kr 2u 0
S S y (s)
m m f ( s)
TL - x( s)
ou
j.s ². ( s ) b.r1². ( s ) ( kt k .r 2²) ( s ) Kr 2u ( s ) Massa 1
x ( s ) 2. y ( s )
d ² x2 d²y
m1 ( x3 x 2).k 2 F FT - 4. A ED – k1( y x ) b1( y x ) m
dt ² dt ²
( s) k .r 2 x( s) m
m2
d ² x3
dt ²
( x3 x 2).k 2 0 u (s) j.s ² b.r1² (kt k .r 2²) FT -
p( s )
S S
C 4. A².R
TL - [m1.s² b1.s k1}.x(s) y(s)[b1.s k1]
m m
Massa 2
d ²x
ED - k1( y x) b1( y x ) F m
dt ²
TL -
[m2.s ² b1.s (k1 k 2)]. y ( s ) x( s )[b1.s (k1 k 2
Tanque 1
d ( p)
q1 q 2 C
dt
1 1 p .g .h1
Ec J 1.1² J 2. 2²
dv 2 2 C A1 / .g
Fx m R1. 1 R 2. 2
dt dh1
q1 q 2 A1
d ²x n1 dt
F mg m Massa 2 1.
dt ² d ²z n2 p R1.q 2
Fx m .g ( h1 h 2) R1.q 2
d ² dt ² 1 1 n1²
T J. Ec J 1.1² J 2.1².
dt ² d ²z 2 2 ( h1 h 2). .g dh1
Fc Fg Fa m n 2²q1 A1
d ²x dt ² d ² R1 dt
R1 mg m. R 2.k 2.( y 0 y R 2.k 2.( y 0 y R1.k1.( x J Tanque 2
dt ² dz dt ² 1
Fa c Fg m.g Eceq jeq.eq ² d ( p)
dt 2 q 2 q3 C 2
dt
d ²x Fc kcd (²1.r1 z ) n1² p .g .h 2
R1 mg m. 2 R 2.k 2. y R1.k1. ( R1².k1. ) J jeq j1 j 2 C 2 A2 / .g
dt ² d ² z dz
dt ² n 2²
m c. m.g kc ( 1r1 z ) 0 p 2 R 2.q3
x .R1 y .R 2 dt ² dt
ED - Polia 2 .gh) R 2.q3
d ² d ² h 2. .g dh 2
1.) j
.( J .m.R1²) ( 2.R 2².k 2 R1².K 1) R1( m.g kT q2 A2
dt ² dt ² R2 dt
d ² (h1 h 2). .g h 2. .g dh 2
j Fm.r 2 Tc A2
dt ² R1 R2 dt
d ²
j Fm.r 2 kt ( 2 1) 0
dt ²
Polia 1
d ²
T j
dt ²
d ²
j Te Fc.r1
dt ²
d ²
j kt ( 1 2) kc.r1( r1. 1 Z ) 0
dt ²
d ( p)
q1 q 2 C
dt dq 1
pI R.q . q.dt TL T
p R.q 2 .g .h q
dt C R
p d ( p) V A.h
q1 C dT
R dt q1 q 2 C
dV d ( A.h) dh dt
p .g .h q A.
dt dt dt q1 q q 2 0
.g .h d ( .g .h) d ²h dh A
q1 C dT TL T
R dt p I .A R. A dhC
dt ² dt C dt R
C A / .g
dh 2.h R.C
dT
T TL
d .h .g .h
q1 A C A / .g dt
dt R
I .L / A
d ²h dh
p ..L R. A 2.h. .g
dt ² dt
Malha 1 vN vE
i1 i 2 i3
vR1 vR 2 0 vC vR 2
i1 i 2 i3 vR 2 vR1 i1.R1 E vR1 vC
i2
i1.R1 v vA R2 vR 2 (i1 i 2).R 2 i1 i 2 i3
dvA dv Malha 2 v vN vN dvN
i 3 C1. i3 C . vC vR 2 0 C
dt dt R1 R2 dt
dvC 1 v vC vC dvC
i 2 C 2. vR 2 dv . i 2.dt (i1 i 2).R 2 0 C
i1 C. C
dt R2 dt R1 R2 dt
v vA R1 R 2
dvC dvA vA vC vR 2 . i1.dt ( R 2 R1).i1 vC
i1RC 20 v
C 2. C1. [1] C .R 2 t=0
R1 dt dt v vA vR1 (1 R1 / R 2)
vA i 2.R 2 vC v vR1 vA dvC R1.R 2.C dvC
vC C .R 2 . vC(t0) k .e.^ ( t / R1.C )
dvC v vC i1.R1 dt R1 R 2 dt
vA R 2.C 2. vC R1
dt vC ( R1) dvC ( R1) dvC R1 R 2 k .v
v vC c. .vc 0 R1 R 2
dvA d ² vC dvC R2 dt dt C .R 1. R 2
R 2.C 2 v
dt dt ² dt dv i (t ) .e.^ ( t / R1.C )
R 2.v R 2.vC vC.R1 R 2.R1.C . R1 R 2
d ² vC R1.C1 R1.C 2 R 2.C 2 dvC v dt t≠0
vC
dt ² R1.R 2.C1.C 2 dt ² R 2. R
R1.R 2.C1.C 21.C .S .vC ( s ) vC ( R1 R 2)( s ) vR 2( s )
vC ( s ) R2
v( s ) ( R 2.R1.C ).S ( R1 R 2)
i1 i 2 i3
i1 i 2 i3 i1 i 2 i3
v vr1 vL vC1 v1( s ) vA
1 i1
i1 . (ei eA).dt R2
vA vC1 vR 2 vC1 L
di1 vA
v i1.R1 L. vC1 deA i2
i2 c R1
dt dt
di 2 di3 vA vC v1( s ) v 2( s )
v (i 2 i3).R1 L. L. vC1 e0
i3 dvC
dt dt R3 i3 C
1 dt
vC i 2.R 2 . i 2.dt 1 deA e0
. (ei eA).dt c v1 ( s ) vC vC dvC
C2 L dt R2 C.
v ( s ) i 2( s ).R1 Ri.C1.S .vC1( s ) L.S .i 2( s ) L.C1.S ².vC1ei ( s()s
) vC eA1((ss)) e0( s ) R2 R1 dt
C.S .eA( s ) v 2( s ) v1( s ) v 2( s ) d (v1 v 2)
LS LS R2 C.
i 2( s ) C 2.S .vC1( s ) R 2 R1 R 1 dt
vC1( s ) i 2( s ).R 2 i 2( s ) R1
C 2( s ) R 2.C 2 S 1 e0( s ).1 eA( s ) R2 R2
R2 v 2( s ) v1( s ) v 2( s ) R 2.SC.v1( s )
vC1( s ) R 2.C 2.S 1 R1 R1
e0( s ) R2
v( s ) R 2.L.C1.C 2.S ³ ( R1.R 2.C1.C 2 L.C1 L.C 2).S ² ( R 1.C1 R1.C 2 R 2.C 2).S 1 v 2( s ) R 2.(1 R1.C.S )
ei ( s ) R 2.( L.C .S 2 1) L.C .S ².R1 L.S R1
v1( s ) ( R1 R 2 R1.R 2.C.S )
i1 i 2 i3
R Z R3 Z 3 R1 Z 1
R2 Z 2 Tanque 1
vA v 2 v1 1 dm
i1 i 2 i Zc Z L.S qe qs
C .S dt
e0 v1( s ) vC vC dvC
i1 C. e0 dh.1
R1 R 2 i ED - A1.R1 h1 h 2
R2 R1 dt Z3 dt
e0
i2 v1 vA dv 2 vA TL -
R3 R 4 C.
R1 dt R2 .h 2( S ) h1( S ).( R1. A1.S 1)
ei uBD uAB uAD
dv 2 R1 h1( S ) 1
R1 R3 v1 R1.C. 1.vA FT -
ei dt R 2 h 2( S ) R1. A1.S 1
( R1 R 2) ( R 3 R 4)
Tanque 2
di Z 2.Zc
R1.R 4 R 2.R3 vA v 2 L. Zeq Z1 dv
ei .e0 dt Z 2 Zc qe qs
( R1 R 2).( R3 R 4) dt
d ²v 2 e1
e0 R1.R 4 R 2.R3 vA v 2 L.C . i A1dh.1 h 2 h1
dt ² Zeq Z 3
ei ( R1 R 2)( R3 R 4) dt R1
dv 2 R1 d ²v 2
v1 R1.C. 1. v 2 L.C. A2dh.2 ( h 2 h1) ( h 2)
dt R 2 dt ² e0 Z3 qi
ei Z 2.Zc dt R1 R2
R1 R1 Z 1 Z3 ED -
v1( s ) R1.C.S .v 2( s ) 1.v 2( s ) 1.Z L2.C.SZc
².v 2( s )
R 2 R 2 dh.2
e0 R 2.R3.C.S R3 A2.R 2.R1 qi.R1.R 2 R 2( h 2
v 2( s ) R2 dt
ei ( R1 . R 2 R 2.R3).C.S R1 R 2 R3
TL – Q(S)R1.R2-h2(S).R2+h1(S).R2-
v1( s ) ( R1.L.C R 2.L.C ).S ² R1.R 2.C.S h2(S).R1=R1.R2A2.S.h2(S)
FT-
h1( S ) R1.R 2
q(S ) ( R1. A1.S 1).( R1 R 2 R1.R
dV dT
q1 q 2 q1 q 2 C
dt M 0 q 0,005. H dt
V A.h Rx.L 2 R.L1 0 H 3 .H ² T T0
A .r ² q2
d ( a.h) dh L1 r 1 9 R
q1 q 2 A. Rx. R.
dt dt L2 A (T T 0) dT
P .g .H c q1 C
p1 patm Rx F / 2 .g R dt
p 2 p1 .g .h L1 dP A d ( .g .H )
F . 2.R. q c. q . dT
d ( p / .g ) A dp L2 dt .g dt R.C T R.q1 T 0
q1 q 2 A. dt
dt .g dt
dm
me ms
Tanque 1 dt
Tanque 1 ( de cima )
A1dh.1 ms 0
q1 q1 ( h 2 h1) / R1 dm dC1
dt qe qs q q1 dm
dt dt Tanque 1 m
dh.1 dE dt
ED - A1.R1 h1 h 2 A1dh.1
dt qi q1 Eq c/ variável desvio q G ( hi) G ( h1) dt d ( .v) pi p 0
dt
TL - R1. A1.S .h1( S ) h1( S ) .h 2( S ) dt du R
q1 h1 / R1
q G.cp.(Ti T 0) Gcp.(T 1 T 0) .V 1
h1( S ) 1 dv dtd pi p 0
FT - R1. A1 dh.1 .v
h2( S ) .( S 1) ED - A 1 .R 1 R 1 R 1 .qi du dt dt R
dt c
Tanque 2
TL - dt dv dp d dp pi p 0
dv v
qe qs A 1 . R 1 .S .h 1( S ) H 1( S ) R1 .q1( S ) dT 1 dt dt dt dt R
dt q G.C (T 1 Ti ) .V 1.C
h1( S ) R1 dt P dp v dp pi p 0
A2dh.2 FT -
qi q1 q 2 qi ( S ) R 1 . A1 .S 1 [ I ]
R.T dt R.T dt R
dt Tanque 2 ( de Baixo) dT 1s
q.s G.C (T 1s Tis ) .V 1.C dp dp pi p 0
A2dh.2 (h 2 h1) (h 2 h3) A2dh.2 dt C1 C2 [I]
qi q 2 q1 [II] dt dt R
dt R1 R2 dt
Subtraindo [ I ] e [ II ] dp
ED - (C1 Cd2().TR1 T p 0 pi
A2dh.2 h1 h2
dh.2 R2 R2 q qs G .C ( Ti Tis (T 1 T 1 s ) .V 1 .C dt 1s )
R 2. A2 1 .h 2 R 2.qi .h1 h3 dt R1 R 2
dt R1 R1 Fx 0 dt
dh.2 R2 Variáveis Desvio
TL - ED - R 2. A2 h2 .h1 Ff Fm 0
dt R1 q qs Q
R2 R 2 Ff Fm
R 2. A2.S .h 2( S ) 1 .h 2( S ) R 2.qi( S ) TL - .h1( S ) h3( S ) T 1 T 1s 1
R1 R1 R2 p 0. A K .x [ II]
R 2. A2.S .h 2( S ) h 2( S ) .h1( SQ ) G.C . 1 .V 1.C d 1
R1 dt Substitui [II] em[I]
h 2( S ) R 2 / R1 Transformada de Laplace
FT - Q ( s ) .V 1.C .S 1( s ) G.C . 1( s )
h1( S ) R 2. A2.S 1
R2 FT do SISTEMA 1( s ) 1 k .x
R 2.qi ( S ) .h1( S ) h3( S ) d
R1 Q( s) .V 1.C.S G.C A k .x
h 2( S ) h 2( S )
R2 (C1 C 2).R pi
R2 qi( S ) ( R 2. A2.S 1).( R1. A1.S Tamque
1) 2 dt A
R 2. A2.S 1
R1 Já c/ a variáveis desvio dx k .x
Tanque 3 d 2 R.k (C1 C 2). pi
G.( 1 2) .V 2.C dt A
A3dh.3 dt
q 2 q0 dx pi. A
dt Transformada de Laplace . x
A3dh.3 ( h 2 h3) h3 .V 2.C.S . 2( s ) C.G 1( s ) 2( s ) dt k
pi. A 1
dt R3 R3 2( s ) C.G .x ( s ) x ( s ) .
k s
dh.3 R3 R3 1( s ) .V 2.C.S G.C
ED - R 3. A3. 1 .h3 .h 2 pi. A
dt R2 R2 Função Tramsferencia do Sistema .x(t ) . .(1 e ^ ( t / )
TL -
2( s ) k
)
R3 R3 Q( s )
R3. A3.S .h3( S ) 1 .h3( S ) .h 2( S )
R2 R2
h3( S ) ( R3 / R 2)
FT - h 2( S ) R3
R3. A3.S 1
R2