MEC-3341 MECANICA AUTOMOTRIZ

OBTENER LA FUNCION DE TRANSFERENCIA Y SIMULAR EN MATLAB

SOLUCION:
ΣF ＝ m ⋅ a

para la masa 1

F - FB1 - FK2 - FK1 ＝ m1 ⋅ a

d d2 d
F + B1 ⋅ ― x2 + k2 ⋅ x2 ＝ m1 ⋅ ―― x1 + B 1 ⋅ ― x1 + k1 ⋅ x1 (1)
dt dt 2 dt

para la masa 2

F - FB1 - FK2 - FK1 ＝ m2 ⋅ a

d d2 d
B1 ⋅ ― x1 + k2 ⋅ x1 ＝ m2 ⋅ ―― x2 + B1 ⋅ ― x2 + x2 ⎛⎝k2 + k3⎞⎠ (2)
dt dt 2
dt

aplicando la transformada de la place

F ((S)) + s ⋅ B1 ⋅ x2 + k2 ⋅ x2 ＝ x1 ⋅ ⎛⎝s 2 ⋅ M1 + s ⋅ B1 + k1 + k2⎞⎠

F ((S)) ＝ x1 ⋅ ⎛⎝s 2 ⋅ M1 + s ⋅ B1 + k1 + k2⎞⎠ - x2 ⋅ ⎛⎝s ⋅ B1 + k2⎞⎠ (3)

x1 ⋅ ⎛⎝s ⋅ B1 + k2⎞⎠ ＝ x2 ⋅ ⎛⎝s 2 ⋅ m2 + s ⋅ B1 + k2 + k3⎞⎠

s 2 ⋅ m2 + s ⋅1B1 + k2 + k3
YUCRA MAMANI WILDER x ＝ x ⋅ ―――――――
1 2
s ⋅ B 1 + k2
 x1 ⋅ ⎛⎝s ⋅ B1 + k2⎞⎠ ＝ x2 ⋅ ⎛⎝s 2 ⋅ m2 + s ⋅ B1 + k2 + k3⎞⎠
MEC-3341 MECANICA AUTOMOTRIZ

s 2 ⋅ m2 + s ⋅ B1 + k2 + k3
x1 ＝ x2 ⋅ ―――――――
s ⋅ B 1 + k2

remplazando en (3):

⎛ s 2 ⋅ m2 + s ⋅ B1 + k2 + k3 ⎞
F (s) ＝ x2 ⋅ ―――――――⎟ ⋅ ⎛⎝s 2 ⋅ m1 + s ⋅ B1 + k1 + k2⎞⎠ - x2 ⋅ ⎛⎝s ⋅ B1 + k2⎞⎠
( ) ⎜
⎜⎝ s ⋅ B 1 + k2 ⎟⎠
⎛⎛ s 2 ⋅ m + s ⋅ B + k + k ⎞ ⎞
2 1 2 3
F ((s)) ＝ x2 ⋅ ⎜⎜―――――――⎟ ⋅ ⎛⎝s 2 ⋅ m1 + s ⋅ B1 + k1 + k2⎞⎠ - x2 ⋅ ⎛⎝s ⋅ B1 + k2⎞⎠⎟
⎜⎝⎜⎝ s ⋅ B 1 + k2 ⎟⎠ ⎟⎠

F ((s)) ⎛ s ⋅ m2 + s ⋅ B1 + k2 + k3 ⎞ ⎛⎛ 2
2

――＝ ⎜―――――――⎟ ⋅ ⎝⎝s ⋅ m1 + s ⋅ B1 + k1 + k2⎞⎠ - x2 ⋅ ⎛⎝s ⋅ B1 + k2⎞⎠⎞⎠

x2 ((s)) ⎜⎝ s ⋅ B 1 + k2 ⎟⎠

x2 s ⋅ B 1 + k2
―― ＝ ―――――――――――――――――――――――
F ((s)) ⎛⎝s 2 ⋅ m2 + s ⋅ B1 + k2 + k3⎞⎠ ⋅ ⎛⎝s 2 ⋅ m1 + s ⋅ B1 + k1 + k2⎞⎠ - ⎛⎝s ⋅ B1 + k2⎞⎠ ⋅ ⎛⎝s ⋅ B1 + k2⎞⎠

asumiendo valores a la funcion de transferencia

N
m1 ＝ 1 kg k2 ＝ 1 ― B1 ＝ 1
m
m2 ＝ 1 kg
N
k3 ＝ 1 ―
N m
k1 ＝ 1 ―
m

1 s+s 1 s+1
G ((s)) ＝ ――――――――― ＝ ―――――――――
((s + 1)) ((s + 1)) ⎛⎝1 s + s + 1⎞⎠ ⎛⎝s + 2 s + 1⎞⎠ ⋅ ⎛⎝1 s 2 + s + 1⎞⎠
2 2

YUCRA MAMANI WILDER 2

MEC-3341 MECANICA AUTOMOTRIZ

YUCRA MAMANI WILDER 3

 MEC-3341 MECANICA AUTOMOTRIZ

>> %INGENIERIA AUTOMOTRIZ

%YUCRA MAMANI WILDER

%FUNCION DIFERENCIAL DEL CONTROLADOR

nc=[1 1]
dc=[1 1]
Gc=tf(nc,dc)

%FUNCION DE TRANSFERENCIA DEL PROCESO

np=[1 1]
dp1=[1 2 1]
dp2=[1 1 1]
dp=conv(dp1,dp2)
Gp=tf(np,dp)

%FUNCION DE TRANSFERENCIA DEL CENSOR

H=0.96

%UNIENDO LOS BLOQUES DE CONTROL Y DE PROCESO

G1=Gc*Gp
G=feedback(G1,H)
[num,den]=tfdata(G,'v')

%EXPANCION EN FRACCIONES PARCIALES

[ze,p,K]=tf2zp(num,den)
[z,p,k]=residue(num,den)

%ENTRADA DE ESCALON UNITARIO

nr=1
dr=[1 0]
r=tf(nr,dr)
Y=r*G

%RESPUESTA ANALITICA DE LA SALIDA

syms y s
y=(s^2+2.6*s+1.6)/(s^5+2*s^4+1.2*s^3+2.7*s^2-1.85*s)
pretty(ilaplace(y))

%RESPUESTA EN EL TIEMPO DE LA SALIDA PARA UN INTERVALOS DE 0 A 30 SEG

%CON INCREMENTOS DE 0.05
t=[0:0.05:30];
step(G,t)
grid
Los resultados obtenidos en MATLAB son:

nc =

1 1

dc =

1 1

Gc =

s+1
-----
s+1

Continuous-time transfer function.

YUCRA MAMANI WILDER 4

np =
 -----
s MEC-3341
+1 MECANICA AUTOMOTRIZ
Continuous-time transfer function.

np =

1 1

dp1 =

1 2 1

dp2 =

1 1 1

dp =

1 3 4 3 1

Gp =

s+1
-----------------------------
s^4 + 3 s^3 + 4 s^2 + 3 s + 1

Continuous-time transfer function.

H=

0.9600

G1 =

s^2 + 2 s + 1
-------------------------------------
s^5 + 4 s^4 + 7 s^3 + 7 s^2 + 4 s + 1

Continuous-time transfer function.

G=

s^2 + 2 s + 1
----------------------------------------------
s^5 + 4 s^4 + 7 s^3 + 7.96 s^2 + 5.92 s + 1.96

Continuous-time transfer function.

num =

0 0 0 1 2 1

den =

1.0000 4.0000 7.0000 7.9600 5.9200 1.9600

ze Y
=UCRA MAMANI WILDER 5
den =
MEC-3341 MECANICA AUTOMOTRIZ
1.0000 4.0000 7.0000 7.9600 5.9200 1.9600

ze =

-1
-1

p=

-0.2350 + 1.1071i
-0.2350 - 1.1071i
-1.5301 + 0.0000i
-1.0000 + 0.0000i
-1.0000 + 0.0000i

K=

z=

0.3445 + 0.0000i
-0.1722 - 0.2015i
-0.1722 + 0.2015i
0.0000 + 0.0000i
0.0000 + 0.0000i

p=

-1.5301 + 0.0000i
-0.2350 + 1.1071i
-0.2350 - 1.1071i
-1.0000 + 0.0000i
-1.0000 + 0.0000i

k=

[]

nr =

dr =

1 0

r=

1
-
s

Continuous-time transfer function.

Y=
YUCRA MAMANI WILDER 6
s^2 + 2 s + 1
Continuous-time transfer function.
MEC-3341 MECANICA AUTOMOTRIZ

Y=

s^2 + 2 s + 1
--------------------------------------------------
s^6 + 4 s^5 + 7 s^4 + 7.96 s^3 + 5.92 s^2 + 1.96 s

Continuous-time transfer function.

y=

(s^2 + (13*s)/5 + 8/5)/(s^5 + 2*s^4 + (6*s^3)/5 + (27*s^2)/10 - (37*s)/20)

/ 4 \ / 4 \ / 4 \
| --- 2| | --- 3| | --- |
| \ exp(#2 t) #2 | | \ exp(#2 t) #2 | | \ exp(#2 t) |
| / ------------- | 1280 | / ------------- | 640 | / --------- | 3652
| --- #1 | | --- #1 | | --- #1 |
\k=1 / \k=1 / \k=1 /
--------------------------- + -------------------------- + -----------------------
37 37 37

/ 4 \
| --- |
| \ #2 exp(#2 t) |
| / -------------------------------- | 1508
| --- 2 3 |
\ k = 1(24 #2 + 60 #2 + 40 #2 + 27) 2 / 32
+ ---------------------------------------------- - --
37 37

where

2 3
#1 == (60 #2 + 40 #2 + 24 #2 + 27) 2

/ 2 \
| 4 3 6 s3 27 s3 37 |
#2 == root| s3 + 2 s3 + ----- + ----- - --, s3, k |
\ 5 10 20 /

YUCRA MAMANI WILDER 7