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  • Motor CD

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    Hugo Gar
    13 views9 pages
    The document imports several Python libraries for control systems modeling and analysis. It then defines state space and transfer function models of a system. Various control system analyses are performed, including step responses of open loop systems, adding feedback, and designing a PID controller to control the system. Plots of the step responses are generated to analyze the system behavior under different configurations.

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    motor_CD

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    The document imports several Python libraries for control systems modeling and analysis. It then defines state space and transfer function models of a system. Various control system analyses are performed, including step responses of open loop systems, adding feedback, and designing a PID controller to control the system. Plots of the step responses are generated to analyze the system behavior under different configurations.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    13 views9 pages

    Motor CD

    Uploaded by

    Hugo Gar
    The document imports several Python libraries for control systems modeling and analysis. It then defines state space and transfer function models of a system. Various control system analyses are performed, including step responses of open loop systems, adding feedback, and designing a PID controller to control the system. Plots of the step responses are generated to analyze the system behavior under different configurations.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
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    of 9

    ControlAut http://localhost:8888/nbconvert/html/Documents/ProgPython/ControlA...

    import emoji
    import numpy as np
    import matplotlib.pyplot as plt
    import control as co
    from scipy import signal
    from IPython.display import Image
    from IPython.core.display import HTML
    import ipywidgets as widgets
    from ipywidgets import interact, interactive, fixed, interact_manual

    1 de 9 22/01/2021 04:43 p. m.
    ControlAut http://localhost:8888/nbconvert/html/Documents/ProgPython/ControlA...

    2 de 9 22/01/2021 04:43 p. m.
    ControlAut http://localhost:8888/nbconvert/html/Documents/ProgPython/ControlA...

    R=1; L=0.5; J=0.01; b=0.1; Km=0.01;

    A=[[-R/L, -Km/L],[Km/J, -b/J]]


    B=[[1/L],[0]]
    C=[0,1]
    D=0
    sys2=signal.StateSpace(A,B,C,D)
    t2,y2=signal.step(sys2)

    plt.plot(t2,y2)
    #plt.plot(t2, [1 for i in t2])
    plt.grid()
    plt.xlabel('Voltaje (V)')
    plt.ylabel('Tiempo (t)')
    #plt.ylim(0,1.20)
    #plt.xlim(0,3)
    plt.show()

    3 de 9 22/01/2021 04:43 p. m.
    ControlAut http://localhost:8888/nbconvert/html/Documents/ProgPython/ControlA...

    sys2

    sys=signal.ss2tf(A,B,C,D)
    t3,y3=signal.step(sys)
    plt.plot(t3,y3)
    plt.plot(t2,y2)
    #plt.plot(t2, [1 for i in t2])
    plt.grid()
    plt.ylabel('Velocidad ($\omega$)')
    plt.xlabel('Tiempo (t)')
    #plt.ylim(0,1.20)
    #plt.xlim(0,3)
    plt.show()

    4 de 9 22/01/2021 04:43 p. m.
    ControlAut http://localhost:8888/nbconvert/html/Documents/ProgPython/ControlA...

    sys

    systf = co.tf([2], [1, 12 ,20.02]) # Creamos el sistema mediante la


    t,y=co.step_response(systf)
    plt.plot(t,y)
    #plt.plot(t2, [1 for i in t2])
    plt.grid()
    plt.ylabel('Velocidad ($\omega$)')
    plt.xlabel('Tiempo (t)')
    #plt.ylim(0,1.20)
    #plt.xlim(0,3)
    plt.show()

    systf

    5 de 9 22/01/2021 04:43 p. m.
    ControlAut http://localhost:8888/nbconvert/html/Documents/ProgPython/ControlA...

    sysr=co.feedback(systf,1,-1)

    sysr

    t,y=co.step_response(sysr)
    plt.plot(t,y)
    #plt.plot(t2, [1 for i in t2])
    plt.grid()
    plt.ylabel('Velocidad ($\omega$)')
    plt.xlabel('Tiempo (t)')
    #plt.ylim(0,1.20)
    #plt.xlim(0,3)
    plt.show()

    6 de 9 22/01/2021 04:43 p. m.
    ControlAut http://localhost:8888/nbconvert/html/Documents/ProgPython/ControlA...

    ganancia=widgets.IntSlider(
    value=10,
    min=1,
    max=150,
    step=1,
    description='Ganancia:',
    disabled=False,
    continuous_update=False,
    orientation='horizontal',
    readout=True,
    readout_format='d'
    )
    display(ganancia)

    systf=co.tf([2*ganancia.value], [1, 12 ,20.02])


    sysrg=co.feedback(systf,1)
    tr,yr=co.step_response(sysrg)
    plt.plot(tr,yr)
    #plt.plot(t2, [1 for i in t2])
    plt.grid()
    plt.ylabel('Velocidad ($\omega$)')
    plt.xlabel('Tiempo (t)')
    #plt.ylim(0,1.20)
    #plt.xlim(0,3)
    plt.show()

    7 de 9 22/01/2021 04:43 p. m.
    ControlAut http://localhost:8888/nbconvert/html/Documents/ProgPython/ControlA...

    sysrg

    kp=100;kd=10;ki=200;
    contr=co.tf([kd, kp, ki],[1, 0])
    systf=co.tf([2], [1, 12 ,20.02])
    sysc=contr*systf
    syscr=co.feedback(sysc,1,-1)
    tr,yr=co.step_response(syscr)
    plt.plot(tr,yr)
    #plt.plot(t2, [1 for i in t2])
    plt.grid()
    plt.ylabel('Velocidad ($\omega$)')
    plt.xlabel('Tiempo (t)')
    #plt.ylim(0,1.20)
    #plt.xlim(0,3)
    plt.show()

    8 de 9 22/01/2021 04:43 p. m.
    ControlAut http://localhost:8888/nbconvert/html/Documents/ProgPython/ControlA...

    contr

    sysc

    syscr

    tr,yr=co.step_response(syscr)

    9 de 9 22/01/2021 04:43 p. m.

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