Professional Documents
Culture Documents
Taller 4
Taller 4
TALLER 4-1
1:
1
𝐺𝑝 (𝑠) =
𝑠2
ζ = 0.5
4𝑟𝑎𝑑
𝑤𝑛 =
𝑠𝑒𝑔
𝑇 = 0.1
4 4
𝑡𝑠 = = = 2𝑠𝑒𝑔
ζ𝑤𝑛 0.5 ∗ 4
𝑤𝑑 = 𝑤𝑛 √1 − ζ2 = 4√1 − (0.5)2 = 2√3
−ζ𝑤𝑛 𝜋 −0.5∗4∗𝜋
𝑀𝑝 = 𝑒 𝑤𝑑 = 𝑒 2√3 = 0.163
n=[1];
d=[1 0 0];
gp=tf(n,d);
gz=c2d(gp,0.1,'zoh')
zpk(gz)
0.005(𝑧 + 1)
𝐺(𝑍) =
(𝑧 − 1)2
1
𝐺𝐼𝑎 = 𝐺𝑐 ∗ 𝐺𝑧 2
𝑠
𝑘(𝑧 − 𝛼)
𝐺𝐼𝑎 = ∗ 𝐺(𝑧)
𝑧
0.005𝑘(𝑧 − 𝛼)(𝑧 + 1)
𝐺𝐼𝑎 =
𝑧(𝑧 − 1)2
Cancelación de polos:
𝛼=1
0.005𝑘(𝑧 + 1)
𝐺𝐼𝑎 =
𝑧(𝑧 − 1)
𝛷1 − 𝛳1 − 𝛳2 = −180°
0.28
𝛷1 = 𝑡𝑎𝑛−1 = 8.98°
1 + 0.77
0.28
𝛳1 = 𝑡𝑎𝑛−1 = 19.98°
0.77
1 − 0.77
𝛳2 = 90° + 𝑡𝑎𝑛−1 = 129.4°
0.28
Como no se cumple la condición de Angulo, no podemos cancelar uno de los polos z=1
𝛷1 + 𝛷2 − 𝛳1 − 𝛳2 − 𝛳3 = −180°
1 − 0.77
𝛳3 = 90° + 𝑡𝑎𝑛−1 = 129.4°
0.28
𝛷2 = 89.8°
0.28
tan 89.8° =
0.77 − 𝛼
𝛼 = 0.76
𝑘(𝑧 − 0.76)
𝐺𝑐 =
𝑧
Condición de magnitud:
|𝐺𝐼𝑎 | = 1
0.005𝑘(𝑧 − 0.76)(𝑧 + 1)
| | =1
𝑧(𝑧 − 1)2 𝑧=0.7+𝑗0.28
𝑘 = −51.32 − 𝑗3.86
𝑘𝑝 𝑇 + 𝑘𝑑
𝑘=
𝑇
𝑘𝑑
𝛼=
𝑘𝑝 𝑇 + 𝑘𝑑
0.1𝑘𝑝 + 𝑘𝑑
−51.32 − 𝑗3.86 =
0.1
−5.132 − 𝑗3.86 = 0.1𝑘𝑝 + 𝑘𝑑
𝑘𝑑 𝑘𝑑
0.76 = ⟶ 0.76 = ⟶ 𝑘𝑑 = −3.9 − 𝑗0.29
0.1𝑘𝑝 + 𝑘𝑑 −5.132 − 𝑗3.86
5
𝑔𝑝(𝑠) = ;
𝑆 2 +𝑆+10
Diseñe un P.I.D
0.43393(𝑧 + 0.834)
𝐺𝑧 =
𝑧 2 − 0.01487𝑧 + 0.6064
𝑇 𝑧 + 1 𝑘𝑑 𝑧 − 1
𝐺𝐼𝑎 = 𝐺(𝑧) ∗ [𝑘𝑝 ∗ 𝑘𝑖 ∗ ]
2𝑧 −1 𝑇 𝑧
1 0.43393(𝑧 + 0.834) 𝑇
𝑘𝑣 = lim [ ∗ 𝑘𝑖 ∗ (𝑧 + 1)]
𝑇 𝑧→1 𝑧2 − 0.01487𝑧 + 0.6064 2
𝑘𝑣 = 0.5𝑘𝑖
10 = 0.5𝑘𝑖 ⟶ 𝑘𝑖 = 20
0.43393(𝑧 + 0.8834) ∗ 𝑘 ∗ (𝑧 2 + 𝐴𝑧 + 𝐵)
𝐺𝐼𝑎 =
(𝑧 2 − 0.01487𝑧 + 0.6064) ∗ 𝑧 ∗ (𝑧 − 1)
𝑘𝐼 𝑇2 + 2𝑘𝑝 𝑇 + 2𝑘𝑑
𝑘=
2𝑇
2𝑘𝑑
𝐵= 2
𝑘𝐼 𝑇 + 2𝑘𝑝 𝑇 + 2𝑘𝑑
𝑧 2 + 𝐴𝑧 + 𝐵 = 𝑧 2 − 0.01487𝑧 + 0.60648
𝑘𝐼 𝑇2 − 2𝑘𝑝 𝑇 − 42𝑘𝑑
𝐴= = −0.01487
𝑘𝐼 𝑇2 + 2𝑘𝑝 𝑇 + 2𝑘𝑑
2𝑘𝑑
𝐵= 2
= 0.60648
𝑘𝐼 𝑇 + 2𝑘𝑝 𝑇 + 2𝑘𝑑
𝑘𝐼 = 20
𝑘𝑑 = 1.899
𝑘𝑝 = −2.5347
𝑇 𝑧 + 1 𝑘𝑑 𝑧 − 1
𝐺𝑃𝐼𝐷 = 𝑘𝑝 + 𝑘𝐼 +
2𝑧−1 𝑇 𝑧
0.5 𝑧 + 1 1.899 𝑧 − 1
𝐺𝑃𝐼𝐷 = −2.5347 + 20 +
2 𝑧−1 0.5 𝑧
4.4𝑧2 − 3.5347𝑧 + 2
𝐺𝑃𝐼𝐷 =
𝑧(𝑧 − 1)
3:
𝐾
𝑔𝑝(𝑠) =
𝑠(𝑠 + 10)
T=0.1 seg
ξ=0.7 ; ts=4seg
diseñar un P.I
𝐾
𝐺𝑝 (𝑠) =
𝑠(𝑠 + 10)
ζ = 0.7
𝑡𝑠 = 4𝑠𝑒𝑔
𝑇 = 0.1
4 4 4 𝑟𝑎𝑑
𝑡𝑠 = ⟶ 𝑤𝑛 = = = 1.42
ζ𝑤𝑛 ζ𝑡𝑠 0.7 ∗ 4 𝑠𝑒𝑔
𝑤𝑑 = 𝑤𝑛 √1 − ζ2 = 1.42√1 − (0.7)2 = 1.014
−ζ𝑤𝑛 𝜋 −0.7∗1.42∗𝜋
𝑀𝑝 = 𝑒 𝑤𝑑 = 𝑒 1.014 = 0.045
𝑇𝑧 + 1
𝐺𝑃𝐼 = 𝑘𝑝 + 𝑘𝐼
2𝑧−1
𝑘𝐼 𝑇 − 2𝑘𝑝
𝑧+
𝑇 𝑘𝐼 𝑇 + 2𝑘𝑝
𝐺𝑃𝐼 = (𝑘𝑝 + 𝑘𝐼 ) ∗
2 𝑧−1
𝑇
𝑘 = 𝑘𝑝 +𝑘𝐼
2
𝑘𝐼 𝑇 − 2𝑘𝑝
𝛼=−
𝑘𝐼 𝑇 + 2𝑘𝑝
𝑇
𝐺(𝑧) = (𝑘𝑝 + 𝑘𝐼 )
2
0.003(𝑧 + 0.71)
𝐺𝑧 =
(𝑧 − 1)(𝑧 − 0.36)
0.003(𝑧 + 0.71)
𝐺𝑧 =
(𝑧 − 1)(𝑧 − 0.36)
𝑘0.003(𝑧 + 0.71)
𝐺𝐼𝑎 =
(𝑧 − 1)2
𝛷1 − 𝛳1 − 𝛳2 = −180°
0.091
𝛷1 = 𝑡𝑎𝑛−1 = 3.2°
0.71 + 0.89
0.091
𝛳1 = 𝛳2 = 180° + 𝑡𝑎𝑛−1 = 140.39°
1 − 0.89
0.091
𝛳3 = 𝑡𝑎𝑛−1 = 9.88°
0.89 − 0.36
𝛷1 + 𝛷2 − 𝛳1 − 𝛳2 −𝛳3 = −180°
𝛷2 = 107.46°
0.091
𝑡𝑎𝑛−1 107.46° =
0.89 − 𝛼
𝛼 = 0.918
Condición de magnitud
|𝐺𝐼𝑎 | = 1
𝑘 = 2.258
𝑇
𝑘 = 𝑘𝑝 +𝑘𝐼 ⟶ 2.2580 = 𝑘𝑝 0.05𝑘𝑖
2
𝑘𝐼 𝑇 − 2𝑘𝑝 𝑘𝐼 0.1 − 2𝑘𝑝
𝛼=− ⟶ 0.91 = −
𝑘𝐼 𝑇 + 2𝑘𝑝 𝑘𝐼 0.1 + 2𝑘𝑝
𝑘𝑝 = 2.14
𝑘𝑖 = 2.03
4:
𝑒 −𝑠
𝑔𝑝(𝑠) =
𝑠(𝑠 + 10)
T=0.1 seg
ξ=0.7 ; ts=4seg
diseñar un P.I
1
𝐺𝑝 (𝑠) =
𝑠(𝑠 + 10)
ζ = 0.7
𝑡𝑠 = 4𝑠𝑒𝑔
𝑇 = 0.1
4 4 4 𝑟𝑎𝑑
𝑡𝑠 = ⟶ 𝑤𝑛 = = = 1.42
ζ𝑤𝑛 ζ𝑡𝑠 0.7 ∗ 4 𝑠𝑒𝑔
𝑤𝑑 = 𝑤𝑛 √1 − ζ2 = 1.42√1 − (0.7)2 = 1.014
−ζ𝑤𝑛 𝜋 −0.7∗1.42∗𝜋
𝑀𝑝 = 𝑒 𝑤𝑑 = 𝑒 1.014 = 0.045
0.0036788(𝑧 + 0.7183)
𝐺𝑧 =
(𝑧 − 1)(𝑧 − 0.3679)
𝑘0.0036788(𝑧 + 0.7183)
𝐺𝐼𝑎 =
(𝑧 − 1)2
𝛷1 − 𝛳1 − 𝛳2 = −180°
0.092
𝛷1 = 𝑡𝑎𝑛−1 = 3.06°
0.7183 + 1
1 − 0.89
𝛳1 = 𝛳2 = 90° + 𝑡𝑎𝑛−1 = 140.09°
0.092
0.092
𝛳3 = 𝑡𝑎𝑛−1 = 9.88°
0.89 − 0.3679
𝛷1 + 𝛷2 − 𝛳1 − 𝛳2 −𝛳3 = −180°
𝛷2 = 107.6°
0.092
𝑡𝑎𝑛−1 107.6° =
0.89 − 𝛼
𝛼 = 0.88
Condición de magnitud
|𝐺𝐼𝑎 | = 1
𝑘 = 19.8411
n=[1];
d=[1 10 0];
gp=tf(n,d);
gz=c2d(gp,0.1,'zoh')
zpk(gz)
k=19.8411
nc=k*[1 -0.88];
dc=[1 -1];
gc=tf(nc,dc,0.1)
zpk(gc)
gla=gz*gc
zpk(gla)
glc=feedback(gla,1)
pole(glc)
step(glc)
5:
5𝑒 −2𝑠
𝑔𝑝(𝑠) = 𝑆 2 +𝑆+10;
T=0.1 seg
ξ=0.7 ; ts=4seg
diseñar un P.I
5
𝐺𝑝 (𝑠) =
𝑆2 + 𝑆 + 10
ζ = 0.7
𝑡𝑠 = 4𝑠𝑒𝑔
𝑇 = 0.1
4 4 4 𝑟𝑎𝑑
𝑡𝑠 = ⟶ 𝑤𝑛 = = = 1.42
ζ𝑤𝑛 ζ𝑡𝑠 0.7 ∗ 4 𝑠𝑒𝑔
𝑤𝑑 = 𝑤𝑛 √1 − ζ2 = 1.42√1 − (0.7)2 = 1.014
−ζ𝑤𝑛 𝜋 −0.7∗1.42∗𝜋
𝑀𝑝 = 𝑒 𝑤𝑑 = 𝑒 1.014 = 0.045
0.024(𝑧 + 0.965)
𝐺𝑧 =
𝑧 2 − 1.81𝑧 + 0.9
0.905 − 0.89
𝛳1 = 𝛳2 = 90° + 𝑡𝑎𝑛−1 = 99.26°
0.092
0.092
𝛳3 = 180 − 𝑡𝑎𝑛−1 = 140.09°
1 − 0.89
𝛷1 + 𝛷2 − 𝛳1 − 𝛳2 −𝛳3 = −180°
𝛷2 = 155.93°
0.092
𝑡𝑎𝑛−1 155.93° =
0.89 − 𝛼
𝛼 = 0.88
Condición de magnitud
|𝐺𝐼𝑎 | = 1
𝑘 = 2.53
n=[5];
d=[1 1 10];
gp=tf(n,d);
gz=c2d(gp,0.1,'zoh')
zpk(gz)
k=2.53
nc=k*[1 -0.9];
dc=[1 -1];
gc=tf(nc,dc,0.1)
zpk(gc)
gla=gz*gc
zpk(gla)
glc=feedback(gla,1)
pole(glc)
step(glc)