MSD23-2 - Aula 12 - Elementos Elétricos e Eletromecânicos

Parte 2b: Modelagem de Sistemas
Elétricos e Eletromecânicos
ENG1718 - Modelagem de Sistemas Dinâmicos
Pontifícia Universidade Católica do Rio de Janeiro

Departamento de Engenharia Mecânica
Prof. Dr. Helon Vicente Hultmann Ayala

helon@puc-rio.br - sala L153
Conteúdo
Introdução
Sistemas Elétricos e Eletromecânicos
- Variáveis, Elementos, Interconexões, Obtenção do

modelo
Referências
!2
Sistemas Elétricos
Variáveis
• Em circuitos elétricos, o interesse é descrever o
comportamento dinâmico das seguintes variáveis
e , tensão em volts [V]

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<latexit
i , corrente em amperes [A]

<latexit sha1_base64="9jtkmSnVkzQh6f031uh1XGFh3yI=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0lEqMeiF48t2A9oQ9lsJ+3azSbsboQS+gu8eFDEqz/Jm//GbZuDtj4YeLw3w8y8IBFcG9f9dgobm1vbO8Xd0t7+weFR+fikreNUMWyxWMSqG1CNgktsGW4EdhOFNAoEdoLJ3dzvPKHSPJYPZpqgH9GR5CFn1FipyQflilt1FyDrxMtJBXI0BuWv/jBmaYTSMEG17nluYvyMKsOZwFmpn2pMKJvQEfYslTRC7WeLQ2fkwipDEsbKljRkof6eyGik9TQKbGdEzVivenPxP6+XmvDGz7hMUoOSLReFqSAmJvOvyZArZEZMLaFMcXsrYWOqKDM2m5INwVt9eZ20r6qeW/Wa15X6bR5HEc7gHC7BgxrU4R4a0AIGCM/wCm/Oo/PivDsfy9aCk8+cwh84nz/PfYzt</latexit>
<latexit
q , carga em coulombs [C]

<latexit sha1_base64="6st+2unI49vTKzHpFrX8LltbNi8=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0GPRi8cW7Ae0oWy2k3btZhN3N0IJ/QVePCji1Z/kzX/jts1BWx8MPN6bYWZekAiujet+O4W19Y3NreJ2aWd3b/+gfHjU0nGqGDZZLGLVCahGwSU2DTcCO4lCGgUC28H4dua3n1BpHst7M0nQj+hQ8pAzaqzUeOyXK27VnYOsEi8nFchR75e/eoOYpRFKwwTVuuu5ifEzqgxnAqelXqoxoWxMh9i1VNIItZ/ND52SM6sMSBgrW9KQufp7IqOR1pMosJ0RNSO97M3E/7xuasJrP+MySQ1KtlgUpoKYmMy+JgOukBkxsYQyxe2thI2ooszYbEo2BG/55VXSuqh6btVrXFZqN3kcRTiBUzgHD66gBndQhyYwQHiGV3hzHpwX5935WLQWnHzmGP7A+fwB252M9Q==</latexit>
dq
• A corrente descreve o fluxo de carga por: i =
dt <latexit sha1_base64="+1jlBO6TKEjpzJk9rzve30+sqeY=">AAAB+XicbVDLSgNBEOyNrxhfqx69DAbBU9gVQS9C0IvHCOYBSQizs7PJkNmHM72BsOyfePGgiFf/xJt/4yTZgyYWNBRV3XR3eYkUGh3n2yqtrW9sbpW3Kzu7e/sH9uFRS8epYrzJYhmrjkc1lyLiTRQoeSdRnIae5G1vfDfz2xOutIijR5wmvB/SYSQCwSgaaWDb4qbnB4qyzH/KMx/zgV11as4cZJW4BalCgcbA/ur5MUtDHiGTVOuu6yTYz6hCwSTPK71U84SyMR3yrqERDbnuZ/PLc3JmFJ8EsTIVIZmrvycyGmo9DT3TGVIc6WVvJv7ndVMMrvuZiJIUecQWi4JUEozJLAbiC8UZyqkhlClhbiVsRE0OaMKqmBDc5ZdXSeui5jo19+GyWr8t4ijDCZzCObhwBXW4hwY0gcEEnuEV3qzMerHerY9Fa8kqZo7hD6zPHwrVk+o=</latexit>
!4
Variáveis
• Convenção para descrever corrente e tensão
i
<latexit
+
<latexit sha1_base64="aWOcHJrcbrsxJSLO3n80z068CGE=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBZBEEoigh6LXjy2YD+gDWWznbRrN5uwuxFK6C/w4kERr/4kb/4bt20O2vpg4PHeDDPzgkRwbVz32ymsrW9sbhW3Szu7e/sH5cOjlo5TxbDJYhGrTkA1Ci6xabgR2EkU0igQ2A7GdzO//YRK81g+mEmCfkSHkoecUWOlxkW/XHGr7hxklXg5qUCOer/81RvELI1QGiao1l3PTYyfUWU4Ezgt9VKNCWVjOsSupZJGqP1sfuiUnFllQMJY2ZKGzNXfExmNtJ5Ege2MqBnpZW8m/ud1UxPe+BmXSWpQssWiMBXExGT2NRlwhcyIiSWUKW5vJWxEFWXGZlOyIXjLL6+S1mXVc6te46pSu83jKMIJnMI5eHANNbiHOjSBAcIzvMKb8+i8OO/Ox6K14OQzx/AHzucPcYWMrw==</latexit>
<latexit
ea
<latexit sha1_base64="lC2XlW0eMjlIi4Eed6fWTG+yIoE=">AAAB6nicbVBNS8NAEJ3Ur1q/oh69LBbBU0lE0GPRi8eK9gPaUDbbSbt0swm7G6GE/gQvHhTx6i/y5r9x2+agrQ8GHu/NMDMvTAXXxvO+ndLa+sbmVnm7srO7t3/gHh61dJIphk2WiER1QqpRcIlNw43ATqqQxqHAdji+nfntJ1SaJ/LRTFIMYjqUPOKMGis9YJ/23apX8+Ygq8QvSBUKNPruV2+QsCxGaZigWnd9LzVBTpXhTOC00ss0ppSN6RC7lkoaow7y+alTcmaVAYkSZUsaMld/T+Q01noSh7Yzpmakl72Z+J/XzUx0HeRcpplByRaLokwQk5DZ32TAFTIjJpZQpri9lbARVZQZm07FhuAvv7xKWhc136v595fV+k0RRxlO4BTOwYcrqMMdNKAJDIbwDK/w5gjnxXl3PhatJaeYOYY/cD5/ADd+jb0=</latexit>
<latexit sha1_base64="+uZfP8wbVItquFB0wCTrW6fkLq8=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBiyURQY9FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RTW1jc2t4rbpZ3dvf2D8uFRS8epYthksYhVJ6AaBZfYNNwI7CQKaRQIbAfju5nffkKleSwfzCRBP6JDyUPOqLFS46JfrrhVdw6ySrycVCBHvV/+6g1ilkYoDRNU667nJsbPqDKcCZyWeqnGhLIxHWLXUkkj1H42P3RKzqwyIGGsbElD5urviYxGWk+iwHZG1Iz0sjcT//O6qQlv/IzLJDUo2WJRmApiYjL7mgy4QmbExBLKFLe3EjaiijJjsynZELzll1dJ67LquVWvcVWp3eZxFOEETuEcPLiGGtxDHZrAAOEZXuHNeXRenHfnY9FacPKZY/gD5/MHdI2MsQ==</latexit>
e1 e2
Elemento do
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circuito
• As tensões acima se relacionam através de

ea = e1
<latexit sha1_base64="pOzFjodxKMujws1AzmZDoFtAGzU=">AAAB9HicbVDLSgNBEOyNrxhfUY9eBoPgxbAbBL0IQS8eI5gHJMsyO+lNhsw+nJkNhCXf4cWDIl79GG/+jZNkD5pY0FBUddPd5SeCK23b31ZhbX1jc6u4XdrZ3ds/KB8etVScSoZNFotYdnyqUPAIm5prgZ1EIg19gW1/dDfz22OUisfRo54k6IZ0EPGAM6qN5KJHyQ1Bz7lAr+aVK3bVnoOsEicnFcjR8MpfvX7M0hAjzQRVquvYiXYzKjVnAqelXqowoWxEB9g1NKIhKjebHz0lZ0bpkyCWpiJN5urviYyGSk1C33SGVA/VsjcT//O6qQ6u3YxHSaoxYotFQSqIjsksAdLnEpkWE0Mok9zcStiQSsq0yalkQnCWX14lrVrVsavOw2WlfpvHUYQTOIVzcOAK6nAPDWgCgyd4hld4s8bWi/VufSxaC1Y+cwx/YH3+AKkOkLY=</latexit>
e2
!5
Leis de Elementos
• Os elementos dividem-se em ativos e passivos:
• Passivos: não são capazes de gerar energia, apenas a

dissipam ou a armazenam. Análogos aos elementos
mecânicos: amortecedor, mola e massa
• Resistores, capacitores e indutores
• Ativos: inserem energia e servem como entradas do

sistema. Análogos às entradas de força ou deslocamento
em sistemas mecânicos
• Fontes de corrente ou tensão
!6
Leis de Elementos
• Resistor: elemento que representa uma relação algébrica
entre a tensão nos seus terminais e sua corrente. Um
resistor linear obedece a lei de Ohm:
e = Ri
<latexit sha1_base64="VyrcjFq/Mmsmi7O4q6AkiMcHFPk=">AAAB63icbVBNS8NAEJ3Ur1q/qh69BIvgqSQi6EUoevFYxdpCG8pmO2mX7m7C7kYooX/BiwdFvPqHvPlv3LQ5aOuDgcd7M8zMCxPOtPG8b6e0srq2vlHerGxt7+zuVfcPHnWcKootGvNYdUKikTOJLcMMx06ikIiQYzsc3+R++wmVZrF8MJMEA0GGkkWMEpNLeHXP+tWaV/dmcJeJX5AaFGj2q1+9QUxTgdJQTrTu+l5igowowyjHaaWXakwIHZMhdi2VRKAOstmtU/fEKgM3ipUtadyZ+nsiI0LriQhtpyBmpBe9XPzP66YmugwyJpPUoKTzRVHKXRO7+ePugCmkhk8sIVQxe6tLR0QRamw8FRuCv/jyMnk8q/te3b87rzWuizjKcATHcAo+XEADbqEJLaAwgmd4hTdHOC/Ou/Mxby05xcwh/IHz+QOyGI3/</latexit>
1
• Ou ainda i = e , onde R representa a resistência em
R
<latexit sha1_base64="XwooWdn1xJRjxnm9jO9WLgM1b4Q=">AAACA3icbVDLSsNAFJ3UV42vqDvdDJaCq5KIoJtC0Y3uarEPaEOZTG7aoZMHMxOhhIIbf8WNC0Xc+hPu/BunbRbaeuDC4Zx7ufceL+FMKtv+Ngorq2vrG8VNc2t7Z3fP2j9oyTgVFJo05rHoeEQCZxE0FVMcOokAEnoc2t7oeuq3H0BIFkf3apyAG5JBxAJGidJS3zoqQ7XBzPItruKeHwhCM2eSNSZgNvpWya7YM+Bl4uSkhHLU+9ZXz49pGkKkKCdSdh07UW5GhGKUw8TspRISQkdkAF1NIxKCdLPZDxNc1oqPg1joihSeqb8nMhJKOQ493RkSNZSL3lT8z+umKrh0MxYlqYKIzhcFKccqxtNAsM8EUMXHmhAqmL4V0yHRQSgdm6lDcBZfXiats4pjV5y781LtKo+jiI7RCTpFDrpANXSD6qiJKHpEz+gVvRlPxovxbnzMWwtGPnOI/sD4/AHNY5W2</latexit>
<latexit
ohms [⌦]
<latexit sha1_base64="iE/Qc0pLrseuC5TnzMBnNZlTrMg=">AAACDXicbVDLSsNAFJ34rPFVdelmsBZclUQE3RSKbnRlLfYBbSiTyU07dPJgZiKUkB9w46+4caGIW/fu/BunbRbaeuDC4Zx7ufceN+ZMKsv6NpaWV1bX1gsb5ubW9s5ucW+/JaNEUGjSiEei4xIJnIXQVExx6MQCSOByaLujq4nffgAhWRTeq3EMTkAGIfMZJUpL/eJxGaoNZpZvcBX3PF8QmtpZ2sjALDfMbu82gAFx+sWSVbGmwIvEzkkJ5aj3i189L6JJAKGinEjZta1YOSkRilEOmdlLJMSEjsgAupqGJADppNNvMlzWiof9SOgKFZ6qvydSEkg5DlzdGRA1lPPeRPzP6ybKv3BSFsaJgpDOFvkJxyrCk2iwxwRQxceaECqYvhXTIdGRKB2gqUOw519eJK3Tim1V7LuzUu0yj6OADtEROkE2Okc1dI3qqIkoekTP6BW9GU/Gi/FufMxal4x85gD9gfH5A2zgmUY=</latexit>
<latexit sha1_base64="SxgrIgQmN7fG4z4L8IlobA6t0r4=">AAACAHicbVDLSsNAFJ3UV42vqAsXbgZLwVVJRNBNoejGZS32AW0ok8lNO3TyYGYilJCNv+LGhSJu/Qx3/o3TNgttPXDhcM693HuPl3AmlW1/G6W19Y3NrfK2ubO7t39gHR51ZJwKCm0a81j0PCKBswjaiikOvUQACT0OXW9yO/O7jyAki6MHNU3ADckoYgGjRGlpaJ1Uod5iJsN1PPADQWjm5Fkrh6FVsWv2HHiVOAWpoALNofU18GOahhApyomUfcdOlJsRoRjlkJuDVEJC6ISMoK9pREKQbjZ/IMdVrfg4iIWuSOG5+nsiI6GU09DTnSFRY7nszcT/vH6qgms3Y1GSKojoYlGQcqxiPEsD+0wAVXyqCaGC6VsxHRMdg9KZmToEZ/nlVdK5qDl2zbm/rDRuijjK6BSdoXPkoCvUQHeoidqIohw9o1f0ZjwZL8a78bFoLRnFzDH6A+PzB7lclTc=</latexit>
• O resistor e suas variáveis são representados como:

+
<latexit
e
<latexit
i
<latexit
!7
Leis de Elementos
• Capacitor: é o elemento que obedece uma relação
algébrica entre a tensão e a carga, onde a carga é a
integral da corrente. Para um capacitor linear temos:
q = Ce
<latexit sha1_base64="2dd4vEpYvc4aVqSFNZmBCOwxTDs=">AAAB63icbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0ItQ7MVjBfsBbSib7aRduruJuxuhlP4FLx4U8eof8ua/MWlz0NYHA4/3ZpiZF8SCG+u6305hbX1jc6u4XdrZ3ds/KB8etUyUaIZNFolIdwJqUHCFTcutwE6skcpAYDsY1zO//YTa8Eg92EmMvqRDxUPOqM2kx5s69ssVt+rOQVaJl5MK5Gj0y1+9QcQSicoyQY3pem5s/SnVljOBs1IvMRhTNqZD7KZUUYnGn85vnZGzVBmQMNJpKUvm6u+JKZXGTGSQdkpqR2bZy8T/vG5iw2t/ylWcWFRssShMBLERyR4nA66RWTFJCWWap7cSNqKaMpvGU0pD8JZfXiWti6rnVr37y0rtNo+jCCdwCufgwRXU4A4a0AQGI3iGV3hzpPPivDsfi9aCk88cwx84nz+nkY34</latexit>
onde C é a capacitância em farads [F]
• Derivando a equação acima, temos
dq de
=C ) i = C ė
<latexit sha1_base64="CXhciSzo/98lJGaBv9ynaMIFp3Q=">AAACJ3icbVDLSgNBEJyNrxhfUY9eBkPAU9gVQS+RYC4eI5hESEKYne1Nhsw+MtMrhCV/48Vf8SKoiB79EycPQRMLBoqqLqa73FgKjbb9aWVWVtfWN7Kbua3tnd29/P5BQ0eJ4lDnkYzUncs0SBFCHQVKuIsVsMCV0HQH1YnfvAelRRTe4iiGTsB6ofAFZ2ikbv6yOCxXIdf2fMV46g3HqYdjWqZV+iPBTGpjHxT4kQIqJn7bi5BCN1+wS/YUdJk4c1Igc9S6+RcT5EkAIXLJtG45doydlCkUXMI41040xIwPWA9ahoYsAN1Jp3eOadEoHjU7mBcinaq/EykLtB4FrpkMGPb1ojcR//NaCfoXnVSEcYIQ8tlHfiIpRnRSGvWEAo5yZAjjSphdKe8zUw+aanOmBGfx5GXSOC05dsm5OStUruZ1ZMkROSYnxCHnpEKuSY3UCScP5Im8kjfr0Xq23q2P2WjGmmcOyR9YX99676UT</latexit>
dt dt
!8
Leis de Elementos
• Capacitor: para expressar a tensão nos terminais de um
capacitor em termos da corrente, podemos integrar a
dq de
=equação
C ) i = C ė para obter
dt dt Z t
1
e(t) = e(t0 ) + i( )d
C
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t0
• O capacitor e suas variáveis são descritos como:
!9 (CLOSE, FREDERICK, NEWELL, 2002)

Leis de Elementos
• Indutor: representa uma relação algébrica entre a tensão
nos seus terminais e a derivada da corrente
di
e=L
dt
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• A expressão da corrente em função da tensão pode ser

obtida a partir da integral da equação acima:
Z t
1
i(t) = i(t0 ) + e( )d
L
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t0

Leis de Elementos
• Fontes: as entradas de sistemas elétricos são fontes de
corrente e tensão

Leis de Elementos
• Fonte de tensão: qualquer
dispositivo que causa a existência
de uma tensão entre dois pontos,
independente da corrente que
pode fluir
• Fonte de corrente: causa o fluxo

de uma corrente especificada no
ramo do circuito que a contém,
independente da tensão requerida

Leis de Interconexão
• Duas leis de interconexão são utilizadas em conjunto
com as leis dos elementos para obtenção de modelos
de sistemas elétricos
• Lei de Kirchhoff das Tensões

X
ej = 0 Em torno de qualquer loop
do circuito
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j
• Lei de Kirchhoff das Correntes

X
ij = 0 Em qualquer nó do circuito
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j
!13
• Lei de Kirchhoff das Tensões: quando um caminho
fechado (ou loop) é traçado em qualquer parte do
circuito, a soma algébrica da tensão nos elementos que
pertencem ao loop deve ser nula
X
ej = 0 Em torno de qualquer loop
do circuito
j
e1 + e2
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e3 e4 = 0

• Lei de Kirchhoff das Correntes: a soma algébrica de
todas as correntes em um nó deve ser sempre nula
X
ij = 0 Em qualquer nó do circuito
j
• Assume-se por definição que correntes saindo do nó são

positivas e entrando negativas
i1 + i2 + i3 = 0
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Resumo
Resistor +
<latexit
e
<latexit
Capacitor
i
<latexit
Z t
e = Ri 1
e(t) = e(t0 ) + i( )d
<latexit sha1_base64="VyrcjFq/Mmsmi7O4q6AkiMcHFPk=">AAAB63icbVBNS8NAEJ3Ur1q/qh69BIvgqSQi6EUoevFYxdpCG8pmO2mX7m7C7kYooX/BiwdFvPqHvPlv3LQ5aOuDgcd7M8zMCxPOtPG8b6e0srq2vlHerGxt7+zuVfcPHnWcKootGvNYdUKikTOJLcMMx06ikIiQYzsc3+R++wmVZrF8MJMEA0GGkkWMEpNLeHXP+tWaV/dmcJeJX5AaFGj2q1+9QUxTgdJQTrTu+l5igowowyjHaaWXakwIHZMhdi2VRKAOstmtU/fEKgM3ipUtadyZ+nsiI0LriQhtpyBmpBe9XPzP66YmugwyJpPUoKTzRVHKXRO7+ePugCmkhk8sIVQxe6tLR0QRamw8FRuCv/jyMnk8q/te3b87rzWuizjKcATHcAo+XEADbqEJLaAwgmd4hTdHOC/Ou/Mxby05xcwh/IHz+QOyGI3/</latexit>
1 C
i= e t0
R
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<latexit sha1_base64="vXqVCCTLtgZraaeRyefeIYhrtLA=">AAAB+nicbVBNS8NAEN3Ur1q/Uj16WSyCp5KIoBeh6MVjFfsBbSibzaRdutmE3Y1SYn6KFw+KePWXePPfuG1z0NYHA4/3ZpiZ5yecKe0431ZpZXVtfaO8Wdna3tnds6v7bRWnkkKLxjyWXZ8o4ExASzPNoZtIIJHPoeOPr6d+5wGkYrG415MEvIgMBQsZJdpIA7vK8CXuB6EkNHPz7C6HgV1z6s4MeJm4BamhAs2B/dUPYppGIDTlRKme6yTay4jUjHLIK/1UQULomAyhZ6ggESgvm52e42OjBDiMpSmh8Uz9PZGRSKlJ5JvOiOiRWvSm4n9eL9XhhZcxkaQaBJ0vClOOdYynOeCASaCaTwwhVDJzK6YjYmLQJq2KCcFdfHmZtE/rrlN3b89qjasijjI6REfoBLnoHDXQDWqiFqLoET2jV/RmPVkv1rv1MW8tWcXMAfoD6/MHY7KTbw==</latexit>
dq de
Indutor
=C ) i = C ė
dt dt
Leis de Kirchhoff
X
di ej = 0 Em torno de qualquer loop
e=L do circuito
dtZ t <latexit sha1_base64="Kx3POVipeP0xHcrDCptcDLcoLEs=">AAACNXicbVBNS8NAEN34bf2qevSyWIQWoSQi6EUQvXjoQcGq0NSw2Ux0cbMJuxOhhPwpL/4PT3rwoIhX/4LbmoNfD5Z9vDfDzLwwk8Kg6z45Y+MTk1PTM7O1ufmFxaX68sqZSXPNoctTmeqLkBmQQkEXBUq4yDSwJJRwHt4cDv3zW9BGpOoUBxn0E3alRCw4QysF9Q7sdfwo1owXkSiLCMvahmhii+5R+wVua7NyvbLolL5QGBRWLi8Rmr60cyLWolHFgnrDbbsj0L/Eq0iDVDgO6g9+lPI8AYVcMmN6npthv2AaBZdQ1vzcQMb4DbuCnqWKJWD6xejqkm5YJaJxqu1TSEfq946CJcYMktBWJgyvzW9vKP7n9XKMd/uFUFmOoPjXoDiXFFM6jJBGQgNHObCEcS3srpRfMxsS2qBrNgTv98l/ydlW23Pb3sl2Y/+gimOGrJF10iQe2SH75Igcky7h5I48khfy6tw7z86b8/5VOuZUPavkB5yPT1DjqpQ=</latexit>
X j
1 Em qualquer nó do circuito
i(t) = i(t0 ) + e( )d ij = 0
L t0
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j
!16
Exercício 1
Sistemas elétricos
• Obtenha o modelo para o circuito a seguir, através da lei
das tensões:

Exercício 2
Sistemas elétricos
• Obtenha a equação que relaciona a tensão no indutor e a
corrente da fonte, através da lei dos nós:

Obtenção do modelo em
espaço de estados
• É possível obter modelos de circuitos através da
representação em espaço de estados
(
x = Ax
ẋ x + Bu
u
x + Du
y = Cx u
onde
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xn Vetor de estados
ur Vetor de entradas
ym Vetor de saídas
An⇥n Matriz de estado (ou do sistema)
Bn⇥r Matriz de entrada
Cm⇥n Matriz de saída
Dm⇥r
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sha1_base64="X/BbPPQRM1pmBhxdK1enSbL+gJw=">AAAB2HicbZDNSgMxFIXv1L86Vq1rN8EiuCozbtSd4MZlBccW2qFkMnfa0ExmSO4IpfQFXLhRfDB3vo3pz0KtBwIf5yTk3pOUSloKgi+vtrW9s7tX3/cPGv7h0XGz8WSLygiMRKEK00u4RSU1RiRJYa80yPNEYTeZ3C3y7jMaKwv9SNMS45yPtMyk4OSszrDZCtrBUmwTwjW0YK1h83OQFqLKUZNQ3Np+GJQUz7ghKRTO/UFlseRiwkfYd6h5jjaeLcecs3PnpCwrjDua2NL9+WLGc2uneeJu5pzG9m+2MP/L+hVl1/FM6rIi1GL1UVYpRgVb7MxSaVCQmjrgwkg3KxNjbrgg14zvOgj/brwJ0WX7ph0+BFCHUziDCwjhCm7hHjoQgYAUXuDNG3uv3vuqqpq37uwEfsn7+AaqKYoN</latexit>
sha1_base64="8v99OvelWsJjgmfYNbwL877mMH8=">AAACaHicbZE7T8MwEMed8A6vwsIAg3lJTFXCAmy8BsYiEYrUVJHjXouF7US2g1pF+QR8OzY+BgszTltQaTnJ0v9+d9ad/04yzrTx/Q/HnZtfWFxaXvFW19Y3Nmtba486zRWFkKY8VU8J0cCZhNAww+EpU0BEwqGZvNxU9eYrKM1S+WAGGbQF6UnWZZQYi+LaW5RAj8lCEKNYv8RelImk6JexxFE0SvIyVr/JoIxFlVzFhe0wTIDGsqzI9QRRQ3ITF+Jvz+0EGfVEIDs/w+PaoV/3h4FnRTAWh2gcjbj2HnVSmguQhnKidSvwM9MuiDKMcii9KNeQEfpCetCyUhI7t10MTSvxsSUd3E2VPdLgIZ28URCh9UAkttPu96ynaxX8r9bKTfe8XTCZ5QYkHQ3q5hybFFc/gDtMATV8YAWhitldMX0milBj/8mzJgTTT54V4Wn9oh7c+2gZ7aIDdIICdIYu0R1qoBBR9OnsONjZd77cPfdg5JbrjG3bRn/CPfoGCIa72A==</latexit>
sha1_base64="6ilsCJgl9PZ5A2JbzlFKp/l202c=">AAACc3icbZE9T8MwEIad8FXKV4GBAQZDQWKhSliArbQMjCBRWqmpIse9FgvbiWwHUUX5Bfw7Nn4GCzNOW1D5OMnSe8+9p7PPUcKZNp735rhz8wuLS6Xl8srq2vpGZXPrXsepotCiMY9VJyIaOJPQMsxw6CQKiIg4tKPHZlFvP4HSLJZ3ZpRAT5ChZANGibEorLwEEQyZzAQxij3nuBwkIsqe81DiIJgkaR6q72SUh6JILsPMOgwToLHMC9KYIWpMmmEmfnquZsjEE4Dsfw0PK1Wv5o0D/xX+VFTRNG7CymvQj2kqQBrKidZd30tMLyPKMMohLwephoTQRzKErpWS2Lm9bLy0HB9Z0seDWNkjDR7T2Y6MCK1HIrJOe78H/btWwP9q3dQMznsZk0lqQNLJoEHKsYlx8QO4zxRQw0dWEKqYvSumD0QRauw/le0S/N9P/itap7WLmn/rVeuN6TZKaBcdoGPkozNUR9foBrUQRe/OjoOdfefD3XMP3MOJ1XWmPdvoR7gnnzHCvLM=</latexit>
Matriz de ligação direta
!19
espaço de estados
• A escolha das variáveis de estado em
(
x = Ax
ẋ x + Bu
u
x + Du
y = Cx u
não é única. Recomenda-se, entretanto, escolher como
variáveis de estado as variáveis relacionadas a dissipação

e conservação de energia (indutores e capacitores)
• A escolha das tensões nos capacitores e correntes nos

indutores são em geral escolhas que facilitam a
modelagem do sistema em espaço de estados
1 iL 1
ėC = iC ; = eL
C
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dt L
!20
espaço de estados
• Para cada capacitor e indutor, expressamos a derivada
das suas tensões e corrente como função algébrica das
variáveis de estado
1 iL 1
ėC = iC ; = eL
C
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dt L
e obtemos através das leis de Kirchhoff as relações para
iC e eL acima

espaço de estados
• Exemplo 1: quando escrevemos a lei dos nós para o circuito abaixo
preferimos a notação
ao invés de
pois na 1a equação teremos uma equação que é função do estado.

espaço de estados
• Exemplo 2: quando escrevemos a lei das tensões para o
circuito abaixo
• Para preservar eC no equacionamento, não usamos eA e

eB ao mesmo tempo. Se o símbolo eB (eA) é utilizado, a
tensão no nó A (B) é descrita por eB + eC (eA - eC)

Exercício 3
Sistemas elétricos
• Obtenha a representação no espaço de estados com
u = ii (t), y = eo (t)
<latexit sha1_base64="kD3L9Xh2tLCnLF70oWGXqnmqkgs=">AAAB+3icbZDLSsNAFIZP6q3WW61LN4NFqCAlEUE3haIblxXsBdoQJtNJO3QyCTMTMYS+ihsXirj1Rdz5Nk7bLLT1h4GP/5zDOfP7MWdK2/a3VVhb39jcKm6Xdnb39g/Kh5WOihJJaJtEPJI9HyvKmaBtzTSnvVhSHPqcdv3J7azefaRSsUg86DSmbohHggWMYG0sr1xJGsxjNX12jtIG9SJDXrlq1+250Co4OVQhV8srfw2GEUlCKjThWKm+Y8fazbDUjHA6LQ0SRWNMJnhE+wYFDqlys/ntU3RqnCEKImme0Gju/p7IcKhUGvqmM8R6rJZrM/O/Wj/RwbWbMREnmgqyWBQkHOkIzYJAQyYp0Tw1gIlk5lZExlhiok1cJROCs/zlVehc1B277txfVps3eRxFOIYTqIEDV9CEO2hBGwg8wTO8wps1tV6sd+tj0Vqw8pkj+CPr8wfYVJMB</latexit>
82 3 " #" # " #

>
> ėo 1/RC 1/C eo 1/C
>
> 4 diL 5
>
< = + ii (t)
1/L 0 iL 0
dt " #
>
> h i h i e h i
>
> o
>
: eo = 1 0 + 0 ii (t)
iL
(CLOSE, FREDERICK, NEWELL, 2002)
<latexit sha1_base64="uyBcvZ6MaeQdovqBHX3ZNjWJgK4=">AAADiHictVJLb9QwEPYmlJbw2sKRi8WKqqhim6BWpQekqnvh0ENBbFtpdxU5jrO16jiRPUGsov0r/VHc+DdMHuKRzZWRLH8z883LnihX0oLv/xw47oOth9s7j7zHT54+ez7cfXFls8JwMeWZysxNxKxQUospSFDiJjeCpZES19HdpPJffxPGykx/hVUuFilbaplIzgBN4e7gfh6JpdQlxyR27bValDIw8vvao3QeZ0BFmNH5vNYSw3gZy/BiXcaAAULHf+h79GNPinfB4ZcJ3avuSZ0lOLxA1e8Ebwb+LovlOuSDHjqmb+jdzDKU+/C28vXW6A7RN0PwPxru77MxNh8SDkf+2K+FboKgBSPSymU4/IEfxotUaOCKWTsL/BwWJTMguRLYc2FFzvgdW4oZQs1SYRdlvUhr+gYtMU0yg0cDra1/R5QstXaVRsjElm9t11cZ+3yzApIPi1LqvACheVMoKRSFjFZbSWNpBAe1QsC4kdgr5bcMNw1wdz18hKA78ia4ej8O/HHw+Wh0dt4+xw55RV6TfRKQE3JGPpFLMiXc2XIOnCPn2PVc3z1xTxuqM2hjXpJ/xD3/BS7RFgw=</latexit>
!24
Exercício 4
Sistemas elétricos
• Obtenha a representação no espaço de estados para o
sistema abaixo, onde
⇥ ⇤T
u = ei (t), y = eL eR i
<latexit sha1_base64="ymMqr7ObV751roI0KTlTT4X7ZLw=">AAACKXicbVDLSsNAFJ34Nr6iLt0MFkVBSiKCboSiGxcuqrS20NQwmdzWoZNJmJmIIfR33PgrbhQUdeuPOK1FfB2Y4XDOvdx7T5hyprTrvlpj4xOTU9Mzs/bc/MLikrO8cqGSTFKo04QnshkSBZwJqGumOTRTCSQOOTTC3vHAb1yDVCwRNZ2n0I5JV7AOo0QbKXAq2SEEbEtv72A/jUOc40Psh9BloghjoiW76dsQnOJNDMG5+Zntg4i+vMta4JTcsjsE/ku8ESmhEaqB8+hHCc1iEJpyolTLc1PdLojUjHLo236mICW0R7rQMlSQGFS7GF7axxtGiXAnkeYJjYfq946CxErlcWgqzYZX6rc3EP/zWpnuHLQLJtJMg6CfgzoZxzrBg9hwxCRQzXNDCJXM7IrpFZGEahOubULwfp/8l1zslj237J3tlSpHozhm0BpaR1vIQ/uogk5QFdURRbfoHj2hZ+vOerBerLfP0jFr1LOKfsB6/wAcQKS/</latexit>
82 3 " #" # " #

>
> ėC 0 1/C eC 0
>
> 4 diL 5 = + ii (t)
>
>
>
< dt 1/L R/L iL 1/L
2 3 2 3 2 3
> eL 1 R " # 1
>
> 6 7 6 7 eC 6 7
>
> 4eR 5 =4 0 R5 + 405 ei (t)
>
> iL
:
i
<latexit sha1_base64="8zQZmdXUhccql3Fzvpl1LdltQWI=">AAADtnicrVJLj9MwEHYTHkt5deHIxaJitQi1jQGJvSCt6IVDD0tFdxe1JXKcSddax4lsB1FF/YecuPFvcJxogTRHLFmaxzfzzWdPlAuuTRD86nn+rdt37h7c699/8PDR48Hhk3OdFYrBgmUiU5cR1SC4hIXhRsBlroCmkYCL6Hpa5S++gdI8k5/NNod1SjeSJ5xRY0PhYe/HKoINlyWzTfSu33hRSo3i33d9jFdxZjCEU7xaOS9RlJUxD2e7Mja2AGT8B36E33e0CPARJpOpazAik5l1R/PJrFW7X3fDatla4FedNA5M9jrzkB+bl1W2i2PmqiCc11RtRV2CRsRJqPkqdfMbi/xvVcSCnTQctNDgZNXB+vvCwTAYB+7gfYM0xhA15ywc/LTfy4oUpGGCar0kQW7WJVWGMwF2+kJDTtk13cDSmpKmoNelW7sdfmEjMU4yZa802EX/rihpqvU2jSzSjnyl27kq2JVbFiY5WZdc5oUByWqipBDYZLjaYRxzBcyIrTUoU9zOitkVtXtp7Kb37SOQtuR94/z1mARj8unt8PRD8xwH6Bl6jo4RQe/QKfqIztACMe+N98WLPOaf+F998Dc11Os1NU/RP8fPfwNoxiEx</latexit>
0 1 0

Exercício 5
Sistemas elétricos
• Usando o MATLAB, obtenha a função de transferência
dos sistemas abaixo (para os parâmetros em SI: R = 10, L
= 100, C = 1/10) pelo modelo em espaço de estados do
Ex. 5 (adaptado). Compare com a equação do Ex. 1:
82 3 " #" # " #

>
> ėC 0 1/C eC 0
>
> 4 5
>
< diL = + ei (t)
1/L R/L iL 1/L
dt " #
>
> hi h i e h i
>
> C
>
: i = 0 1 + 0 ei (t)
iL
<latexit sha1_base64="zCXd43bBWryfj4nEKlBAGhoi04A=">AAADyXicrVLdb9MwEHcTPkb46uCRF4uq0xCsTRDSeKk0UQmB6MOY1m1SUyLHuXTWHCeznWkl6hP/IW888a/gpNE0kvLGSbbOd/e7+935wowzpV33V8ey79y9d3/rgfPw0eMnT7vbz05UmksKU5ryVJ6FRAFnAqaaaQ5nmQSShBxOw4tx6T+9AqlYKo71MoN5QhaCxYwSbUzBdud3Px9BwHb1qzfYz5IQL/EI+yEsmCjChGjJrldOH4IJ3sEQHJn7s9P3QUQ33m/HTh1PDRG1cppojP0o1QY9xr5fvWJJaBGxYLIqIm0At9M5O3i0IYVrKnvDcZVgzxuWdPaOhpMGto27qWqqNYJfbyxTBXutzOsZld42iDU7+GcD/53uRpZr4/o3gm7PHbiV4Lbi1UoP1XIYdH+a36J5AkJTTpSaeW6m5wWRmlEOhnOuICP0gixgZlRBElDzotrEFe4bS4TjVJojNK6stxEFSZRaJqGJNJTPVdNXGjf5ZrmO388LJrJcg6DrQnHOsU5xudY4YhKo5kujECqZ4YrpOTFrps3yO2YIXrPltnLyduC5A+/ru97Bh3ocW+gFeol2kYf20QH6hA7RFFHro8Wt3Lqyv9iX9rX9fR1qdWrMc/SX2D/+AFOTLQ4=</latexit>
Ex. 1:

Exercício 6
Sistemas elétricos
• Obtenha o modelo em espaço de estados para y = eo <latexit sha1_base64="VCjYZfmgi8BcmhYCdzdocZAn7f0=">AAACcnicbVHdTtswGHUC21j2V0C7GdLmrarEVNTFATF2EQkNbeJi0li1AlJTIsf9UiycOLIdtCrKA/B63PEU3PAAuF00bbAjWd/5zvEn28dJIbg2vn/luAuLDx4+WnrsPXn67PmL1vLKoZalYjBgUkh1nFANgucwMNwIOC4U0CwRcJSc7c38o3NQmsv8p5kWMMroJOcpZ9RYKW5ddPoxCftxEAbR9wwmdKMfb4ZbDd+zHokM/DIV/lrbNrDWnxZ/CzH5EOBG2a+9TjROFWXVl1iu6/e1rXxWcYgbQ9cV2dYnm13ySZ8EXeLr7k7tTUOIZdxq+z1/DnyfkIa0UYODuHUZjSUrM8gNE1TrIfELM6qoMpwJqL2o1FBQdkYnMLQ0pxnoUTWPrMYdq4xxKpVducFz9e+JimZaT7PE7syoOdV3vZn4P29YmnRnVPG8KA3k7PdBaSmwkXiWPx5zBcyIqSWUKW7vitkptdkY+0ueDYHcffJ9chj0iN8jP7bau5+bOJbQGnqH1hFBH9Eu2kcHaIAYunZeOq+dN86N+8p96zbZuU4zs4r+gbtxC9DBtmg=</latexit>
e a função de transferência (com o MATLAB) que

relaciona as tensões ei e eo, dados os valores abaixo:
R1 = R2 = 2⌦, R3 = 4⌦, C1 = 1 F, C2 = 4 F, L = 1/2 H
<latexit sha1_base64="CAWRejUOJck2da7mf213YtlMbhg=">AAACNXicbVDLSgNBEJz1bXxFPXoZDIIHiTuroJeAKIgHQQ1GhSQss5NOHJx9MNMrhiU/5cX/8KQHD4p49RecxEV8FQxUV3XT0xUkShp03UdnaHhkdGx8YrIwNT0zO1ecXzgzcaoF1ESsYn0RcANKRlBDiQouEg08DBScB1d7ff/8GrSRcXSK3QSaIe9Esi0FRyv5xcOqzypV36t4jaMQOnyt6m9UNnO+Zz3WQLjBjO73bOlZ66ukh7RC2bpHc+mg5xdLbtkdgP4lLCclkuPYL943WrFIQ4hQKG5MnbkJNjOuUQoFvUIjNZBwccU7ULc04iGYZja4ukdXrNKi7VjbFyEdqN8nMh4a0w0D2xlyvDS/vb74n1dPsb3dzGSUpAiR+FzUThXFmPYjpC2pQaDqWsKFlvavVFxyzQXaoAs2BPb75L/kzCszt8xONks7u3kcE2SJLJNVwsgW2SEH5JjUiCC35IE8kxfnznlyXp23z9YhJ59ZJD/gvH8A2MOnQw==</latexit>
eA
<latexit sha1_base64="LescNgEOTDB9jSoxYg35STWh/rE=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0lEqMeqF48V7Qe0oWy2k3bpZhN2N0IJ/QlePCji1V/kzX/jts1BWx8MPN6bYWZekAiujet+O4W19Y3NreJ2aWd3b/+gfHjU0nGqGDZZLGLVCahGwSU2DTcCO4lCGgUC28H4dua3n1BpHstHM0nQj+hQ8pAzaqz0gP3rfrniVt05yCrxclKBHI1++as3iFkaoTRMUK27npsYP6PKcCZwWuqlGhPKxnSIXUsljVD72fzUKTmzyoCEsbIlDZmrvycyGmk9iQLbGVEz0sveTPzP66YmvPIzLpPUoGSLRWEqiInJ7G8y4AqZERNLKFPc3krYiCrKjE2nZEPwll9eJa2LqudWvfvLSv0mj6MIJ3AK5+BBDepwBw1oAoMhPMMrvDnCeXHenY9Fa8HJZ47hD5zPHwb+jZ0=</latexit>
8 2 R +R
>
>
2 3 1 2 1 1 32 3 2 1 3
>
> ėa
> 6 7 6 R 1 R2 C 1 R2 C 1 R1 C 1 7 e a
>
> 6 7 6 1 R + R 1 76 7 6 R1 C 1 7
>
>
> 4
ė o
5 =6 2 3 7 4 eo 5 + 4 0 7
6
5 ei (t)
>
< diL 4 R C R2 R3 C 2 C2 5
2 2 iL
dt 0 1/L 0 0
>
> 2 3
>
>
>
> h i h i ea h i
>
> 6 7
>
> eo = 0 1 0 4eo 5 + 0 ei (t)
>
:
<latexit sha1_base64="DXTB+YDlLaY/slbij6O3wmp+BbE=">AAAFDnictVRLb9NAEHZrAyW8UjhyWRFStUpJvU4F5WCpogIVKRIlatpKeVjr9SZd1S9516iR5V/Ahb/ChQMIceXMjX/D2DFpcXxlJXtmv29mdubzww5dLqSu/15ZVbUbN2+t3a7duXvv/oP6+sMTEcQRZX0auEF0ZhPBXO6zvuTSZWdhxIhnu+zUvjjI+NMPLBI88I/lLGQjj0x9PuGUSICsdfVps2dhs2cZpjF857Ep2e5ZHXO38A+Aw0PJLmWC3qSwNYBabFHXRHjHQAVymNaaQ2cSEZq8toJNsZWC5ZlFJioIkSb4uRh3WvilGBstrIvWHqTFJoNIubWNhqFno1mWYLMp9xPbIzLilxDDrC7aQMzqwf0tnMR8Z8GOj2tFPAUxRForZyNoIJCQTdBweLUL/u7y5hxuddPEkZB+vXhtA5kVBZ8VWaBfC/RLMwcsSJZChwWJM7gKwzmWn16ONbLYq+oGVO/kFNgSCyk5Mq+jA4N3MpX00gTL3S+UWIgAw5eyWpUyVs6gF6ZUYf5UM66qg6Csc5XM+VD/daTqpufg/HWy6g29recLLTu4cBpKsY6s+i94wWjsMV9SlwgxwHooRwmJJKcug+ZjwUJCL8iUDcD1icfEKMk/5xQ1AXHQJIjg8iXK0esZCfGEmHk2RELL56LMZWAVN4jlZG+UcD+MJfPp/KBJ7CIZoOzfgBweMSrdGTiERhx6RfScwOOW8AepgQi4PPKyc2K0sd7G73cb+68KOdaUx8oTZVPBygtlXzlUjpS+QtWP6mf1q/pN+6R90b5rP+ahqytFziPln6X9/APfL5Uw</latexit>
iL
Eo (s) s
=
<latexit sha1_base64="o3x7X3yCgSy5KOT264KMHbmHC9M=">AAACa3icbVFdSxtBFJ3dftnYalofWlofhoaAJRJ3VlH7sCAViw+F2tCokMRldnI3Ds5+MHNXDMu+9Cf2rf+gL/0PTuIiVnthuOeecy9z50yUK2nQ83477qPHT54+W3jeWHzxcmm5+er1sckKLaAvMpXp04gbUDKFPkpUcJpr4Emk4CS62J/pJ5egjczSHzjNYZTwSSpjKThaKmz+bPdCFvRCP/CH3xKY8PVeuBls1XjfamyIcIUl/VLZ0rfSbUm/BpRt+LRmDqvGcBxrLsqDMFszHyub5SzTgNaCqUq2bc42O+yTOfM7zDOd3SpstryuNw/6ELAatEgdR2Hz13CciSKBFIXixgyYl+Oo5BqlUGC3KAzkXFzwCQwsTHkCZlTOvapo2zJjGmfanhTpnL07UfLEmGkS2c6E47m5r83I/2mDAuPdUSnTvEBIxc1FcaEoZnRmPB1LDQLV1AIutLS7UnHOrStov6dhTWD3n/wQHPtd5nXZ963W3ufajgXynnwga4SRHbJHDskR6RNB/jhLzhvnrfPXXXHfuas3ra5Tz6yQf8JtXwN+BbQK</latexit>
Ei (s) 16s3 + 19s2 + 10s + 8 !27 (CLOSE, FREDERICK, NEWELL, 2002)
Exercício 7
Sistemas elétricos
• Obtenha a representação no espaço de estados com
⇥ ⇤T
u = ei (t), y = eB
<latexit sha1_base64="ORVBvK/fQkJD7BD1pWB1ItZ58qw=">AAACL3icbVBNS8NAFNzUrxq/qh69LBalgpREBL0USgXxqGCr0MSw2b62i5tN2N2IJfQfefGveBFRxKv/wm0bRKsDC8PMPPa9CRPOlHacF6swMzs3v1BctJeWV1bXSusbLRWnkkKTxjyW1yFRwJmApmaaw3UigUQhh6vw9mTkX92BVCwWl3qQgB+RnmBdRok2UlA6TWsQsIre28deEoV4gGvYC6HHRBZGREt2P7QhaOBdzILsJDgYjplreyA634mby6BUdqrOGPgvcXNSRjnOg9KT14lpGoHQlBOl2q6TaD8jUjPKYWh7qYKE0FvSg7ahgkSg/Gx87xDvGKWDu7E0T2g8Vn9OZCRSahCFJmk27KtpbyT+57VT3T32MyaSVIOgk4+6Kcc6xqPycIdJoJoPDCFUMrMrpn0iCdWmYtuU4E6f/Je0DqquU3UvDsv1Rl5HEW2hbVRBLjpCdXSGzlETUfSAntArerMerWfr3fqYRAtWPrOJfsH6/AKP4Kb/</latexit>
i C2 i1

Método da impedância
complexa
• É possível obter modelos de sistemas elétricos

diretamente na freqüência usando a transformada de
Laplace
• Premissas
• Relação linear de tensão/corrente nos elementos
• Condições iniciais nulas
!29
complexa
• A impedância complexa de um elemento em um circuito
é dada por
E(s)
Z(s) =
I(s)
<latexit sha1_base64="NyIqFO+co7fIRn38Cqkh79FXGvQ=">AAACAnicbVDLSgMxFL1TX7W+Rl2Jm2AR6qbMiKAboSiC7irYB7ZDyWQybWjmQZIRylDc+CtuXCji1q9w59+YaWehrQcSTs65l5t73JgzqSzr2ygsLC4trxRXS2vrG5tb5vZOU0aJILRBIh6Jtosl5SykDcUUp+1YUBy4nLbc4WXmtx6okCwK79Qopk6A+yHzGcFKSz1z774ij9A56nq+wCS90q9xepPdPbNsVa0J0Dyxc1KGHPWe+dX1IpIENFSEYyk7thUrJ8VCMcLpuNRNJI0xGeI+7Wga4oBKJ52sMEaHWvGQHwl9QoUm6u+OFAdSjgJXVwZYDeSsl4n/eZ1E+WdOysI4UTQk00F+wpGKUJYH8pigRPGRJpgIpv+KyADrLJROraRDsGdXnifN46ptVe3bk3LtIo+jCPtwABWw4RRqcA11aACBR3iGV3gznowX4934mJYWjLxnF/7A+PwBl/uVog==</latexit>
onde E(s) e I(s) são as transformadas de Laplace da

tensão e corrente, respectivamente
• Para os elementos resistência, indutor e capacitor

lineares, temos respectivamente:
1
ZR (s) = R, ZL (S) = sL, ZC (s) =
<latexit sha1_base64="10SOi91jQOy/eQTAktaXNLm5cWk=">AAACQXicbVBJSwMxGM3Urdat6tFLsBRakDIjgl4KxSIo9FCrXejCkEkzbWhmIckIZZi/5sV/4M27Fw+KePVi2g5iW7+Q8PLe+7I8y2dUSF1/0RIrq2vrG8nN1Nb2zu5eev+gIbyAY1LHHvN4y0KCMOqSuqSSkZbPCXIsRprWqDzRmw+EC+q593Lsk56DBi61KUZSUWa6lW3nRB4WYbdvc4TDK7WLwpvJmmqbtZlWO+n+jrZZyd3li6Iyx5WVsRgfYURhWURmOqMX9GnBZWDEIAPiqprp527fw4FDXIkZEqJj6L7shYhLihmJUt1AEB/hERqQjoIucojohdMEIphVTB/aHlfTlXDK/u0IkSPE2LGU00FyKBa1Cfmf1gmkfdELqesHkrh4dpEdMCg9OIkT9iknWLKxAghzqt4K8RCpGKQKPaVCMBa/vAwapwVDLxi3Z5nSZRxHEhyBY5ADBjgHJXANqqAOMHgEr+AdfGhP2pv2qX3NrAkt7jkEc6V9/wB7yqpi</latexit>
Cs
!30
complexa
• Se as impedâncias complexas são conectadas em série, a
impedância resultante é a soma de todas as impedâncias
Ea Eb
Ei Z1 Z2 Z3 Eo
Ei Z1 + Z2 + Z3 Eo
• Para ver isto, basta somar as definições das impedâncias para

cada elemento
!31
(OGATA, 2002)
complexa
• Se as impedâncias complexas são conectadas em
paralelo, a impedância resultante é dada pelo inverso da
soma do inverso de todas as impedâncias
Z1
Ei Z2 Eo Ei 1/Zt = 1/Z1 + 1/Z2 + 1/Z3 Eo
Z3
!32
(OGATA, 2002)
Exemplo de modelagem pelo
método da impedância complexa
• Seja o circuito LRC abaixo
• Podemos descrever seu equacionamento:
!33
(OGATA, 2002)
complexa
• Ao tomar a TL deste conjunto de equações, considerando
CIs nulas, temos:
• O que nos leva a uma função de transferência:
Agora obteremos o mesmo resultado pelo método da

impedância complexa
!34
(OGATA, 2002)
complexa
• Para o circuito RLC temos sua descrição equivalente
usando as impedâncias complexas:
• Usando a definição de impedância complexa temos

1) [Ei(s)-Eo(s)]/I(s) = Z1
2) Eo(s)/I(s) = Z2
O que nos leva a:
!35
(OGATA, 2002)
complexa
• Desenvolvendo com
obtém-se:
que é o mesmo resultado obtido anteriormente com a Lei

de Kirchhoff das tensões.
!36
(OGATA, 2002)
Exercício 8
• Obtenha, para o circuito abaixo do Exercício 6, a sua
função de transferência através do método das
impedâncias complexas. Compare os resultados.
R1 = R2 = 2⌦, R3 = 4⌦, C1 = 1 F, C2 = 4 F, L = 1/2 H
<latexit sha1_base64="CAWRejUOJck2da7mf213YtlMbhg=">AAACNXicbVDLSgNBEJz1bXxFPXoZDIIHiTuroJeAKIgHQQ1GhSQss5NOHJx9MNMrhiU/5cX/8KQHD4p49RecxEV8FQxUV3XT0xUkShp03UdnaHhkdGx8YrIwNT0zO1ecXzgzcaoF1ESsYn0RcANKRlBDiQouEg08DBScB1d7ff/8GrSRcXSK3QSaIe9Esi0FRyv5xcOqzypV36t4jaMQOnyt6m9UNnO+Zz3WQLjBjO73bOlZ66ukh7RC2bpHc+mg5xdLbtkdgP4lLCclkuPYL943WrFIQ4hQKG5MnbkJNjOuUQoFvUIjNZBwccU7ULc04iGYZja4ukdXrNKi7VjbFyEdqN8nMh4a0w0D2xlyvDS/vb74n1dPsb3dzGSUpAiR+FzUThXFmPYjpC2pQaDqWsKFlvavVFxyzQXaoAs2BPb75L/kzCszt8xONks7u3kcE2SJLJNVwsgW2SEH5JjUiCC35IE8kxfnznlyXp23z9YhJ59ZJD/gvH8A2MOnQw==</latexit>
Eo (s) s
=
<latexit sha1_base64="o3x7X3yCgSy5KOT264KMHbmHC9M=">AAACa3icbVFdSxtBFJ3dftnYalofWlofhoaAJRJ3VlH7sCAViw+F2tCokMRldnI3Ds5+MHNXDMu+9Cf2rf+gL/0PTuIiVnthuOeecy9z50yUK2nQ83477qPHT54+W3jeWHzxcmm5+er1sckKLaAvMpXp04gbUDKFPkpUcJpr4Emk4CS62J/pJ5egjczSHzjNYZTwSSpjKThaKmz+bPdCFvRCP/CH3xKY8PVeuBls1XjfamyIcIUl/VLZ0rfSbUm/BpRt+LRmDqvGcBxrLsqDMFszHyub5SzTgNaCqUq2bc42O+yTOfM7zDOd3SpstryuNw/6ELAatEgdR2Hz13CciSKBFIXixgyYl+Oo5BqlUGC3KAzkXFzwCQwsTHkCZlTOvapo2zJjGmfanhTpnL07UfLEmGkS2c6E47m5r83I/2mDAuPdUSnTvEBIxc1FcaEoZnRmPB1LDQLV1AIutLS7UnHOrStov6dhTWD3n/wQHPtd5nXZ963W3ufajgXynnwga4SRHbJHDskR6RNB/jhLzhvnrfPXXXHfuas3ra5Tz6yQf8JtXwN+BbQK</latexit>
Ei (s) 16s3 + 19s2 + 10s + 8
!37
Sistemas
Eletromecânicos
Sistemas Eletromecânicos
• Sistemas eletromecânicos são criados pela
combinação de subsistemas elétricos e mecânicos
• Atuadores eletromecânicos são utilizados para

converter energia elétrica em mecânica
• Exemplos frequentes: motores elétricos e solenóides
• Sensores também são exemplos de sistemas

eletromecânicos: acelerômetros, LVDTs (Linear Variable
Differential Transformer), encoders rotacionais e
potenciômetros
!39
Interação Campo
Magnético-Corrente
• Sistemas eletromecânicos usam a relação entre uma corrente
elétrica e um campo magnético para realizar uma força
mecânica
• Três relações básicas entre corrente elétrica e magnetismo

podem ser enumeradas:
1.A existência de uma corrente gera um campo magnético
2.Um fio condutor com corrente em um campo magnético tem

uma força eletromagnética exercida sobre ele
3.Um fio condutor movendo-se em um campo magnético tem

uma tensão induzida nas suas extremidades
!40
Interação Campo
Magnético-Corrente
• Um fio transportando uma corrente gera um campo
magnético concêntrico a ele
• A lei de Biot-Savart define o sentido das linhas do campo

magnético através da regra da mão direita
!41
(KLUEVER, 2015)
Interação Campo
Magnético-Corrente
• Um fio estacionário transportando uma
corrente em um campo magnético sofre uma
força eletromagnética induzida calculada pelo
produto vetorial:
F = Ill ⇥ B
<latexit sha1_base64="/NQmMSJVjzf5xKloKASS3cLdYPc=">AAACCHicbVDLSsNAFJ3UV62vqEsXDhbBVUlE0I1QKojuKtgHNKFMppN26EwSZm6EUrp046+4caGIWz/BnX/jNM1CWw8MnHvOvdy5J0gE1+A431ZhaXllda24XtrY3NresXf3mjpOFWUNGotYtQOimeARawAHwdqJYkQGgrWC4dXUbz0wpXkc3cMoYb4k/YiHnBIwUtc+9BIZ4Gt8iW9xRgX2gEumZ1Wta5edipMBLxI3J2WUo961v7xeTFPJIqCCaN1xnQT8MVHAqWCTkpdqlhA6JH3WMTQiZpc/zg6Z4GOj9HAYK/MiwJn6e2JMpNYjGZhOSWCg572p+J/XSSG88Mc8SlJgEZ0tClOBIcbTVHCPK0ZBjAwhVHHzV0wHRBEKJruSCcGdP3mRNE8rrlNx787K1VoeRxEdoCN0glx0jqroBtVRA1H0iJ7RK3qznqwX6936mLUWrHxmH/2B9fkDZOyXqg==</latexit>
il
<latexit sha1_base64="zgnSNULm0uBeuLeRC11XE74Y5fM=">AAAB6XicbVBNS8NAEJ3Ur1q/oh69LBbBU0lE0GPRi8cq9gPaUDbbTbt0swm7E6GE/gMvHhTx6j/y5r9x2+agrQ8GHu/NMDMvTKUw6HnfTmltfWNzq7xd2dnd2z9wD49aJsk0402WyER3Qmq4FIo3UaDknVRzGoeSt8Px7cxvP3FtRKIecZLyIKZDJSLBKFrpQci+W/Vq3hxklfgFqUKBRt/96g0SlsVcIZPUmK7vpRjkVKNgkk8rvczwlLIxHfKupYrG3AT5/NIpObPKgESJtqWQzNXfEzmNjZnEoe2MKY7MsjcT//O6GUbXQS5UmiFXbLEoyiTBhMzeJgOhOUM5sYQyLeythI2opgxtOBUbgr/88ippXdR8r+bfX1brN0UcZTiBUzgHH66gDnfQgCYwiOAZXuHNGTsvzrvzsWgtOcXMMfyB8/kDmImNYw==</latexit>
onde:
B , campo magnético [ T ]
<latexit sha1_base64="dtlsfl/Rfh0EkZV4ck122BFrBUU=">AAACEXicbVDLSgMxFM3UVx1foy7dBEuhqzIjgm6EUkF0V8E+oDOUTJppQ5PMkGSEMvQX3Pgrblwo4tadO//GtDMLrR4IOTnnXm7uCRNGlXbdL6u0srq2vlHetLe2d3b3nP2DjopTiUkbxyyWvRApwqggbU01I71EEsRDRrrh5HLud++JVDQWd3qakICjkaARxUgbaeDUqtBPeAiv4AW8ySmDvqacqPzVtPNr4FTcursA/Eu8glRAgdbA+fSHMU45ERozpFTfcxMdZEhqihmZ2X6qSILwBI1I31CBzMggW2w0g1WjDGEUS3OEhgv1Z0eGuFJTHppKjvRYLXtz8T+vn+roPMioSFJNBM4HRSmDOobzeOCQSoI1mxqCsKTmrxCPkURYmxBtE4K3vPJf0jmpe27duz2tNJpFHGVwBI5BDXjgDDTANWiBNsDgATyBF/BqPVrP1pv1npeWrKLnEPyC9fENhLuaUA==</latexit>
<latexit
l , vetor adimensional no sentido do fluxo da

<latexit sha1_base64="9yYWSZDe/upArvka1WFMW/TGFmY=">AAACGXicbVDLSgMxFM3UVx1foy7dBEvBVZkRQTdCqSC6q2Af0BlKJs20oUlmSDJCGfobbvwVNy4Ucakr/8a0MwttPRBycs693NwTJowq7brfVmlldW19o7xpb23v7O45+wdtFacSkxaOWSy7IVKEUUFammpGuokkiIeMdMLx1czvPBCpaCzu9SQhAUdDQSOKkTZS33Gr0E94CK/hJbzNKYO+ppyo/NWwq8Wdm32n4tbcOeAy8QpSAQWafefTH8Q45URozJBSPc9NdJAhqSlmZGr7qSIJwmM0JD1DBTKjg2y+2RRWjTKAUSzNERrO1d8dGeJKTXhoKjnSI7XozcT/vF6qo4sgoyJJNRE4HxSlDOoYzmKCAyoJ1mxiCMKSmr9CPEISYW3CtE0I3uLKy6R9WvPcmnd3Vqk3ijjK4AgcgxPggXNQBzegCVoAg0fwDF7Bm/VkvVjv1kdeWrKKnkPwB9bXD6CdnPY=</latexit>
<latexit
corrente e módulo igual ao comprimento do fio
!42
(KLUEVER, 2015)
Interação Campo
Magnético-Corrente
• Se o fio se mantém perpendicular ao campo
B temos
F = Bli
<latexit sha1_base64="u+vtw215tD0EGck0YSPhqHx3JPY=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0ItQKojHCqYttKFstpN26WYTdjdCKf0NXjwo4tUf5M1/47bNQVsfDDzem2FmXpgKro3rfjuFtfWNza3idmlnd2//oHx41NRJphj6LBGJaodUo+ASfcONwHaqkMahwFY4up35rSdUmify0YxTDGI6kDzijBor+Xc3dcF75Ypbdecgq8TLSQVyNHrlr24/YVmM0jBBte54bmqCCVWGM4HTUjfTmFI2ogPsWCppjDqYzI+dkjOr9EmUKFvSkLn6e2JCY63HcWg7Y2qGetmbif95ncxE18GEyzQzKNliUZQJYhIy+5z0uUJmxNgSyhS3txI2pIoyY/Mp2RC85ZdXSfOi6rlV7+GyUqvncRThBE7hHDy4ghrcQwN8YMDhGV7hzZHOi/PufCxaC04+cwx/4Hz+ADRJjkY=</latexit>
il
<latexit sha1_base64="zgnSNULm0uBeuLeRC11XE74Y5fM=">AAAB6XicbVBNS8NAEJ3Ur1q/oh69LBbBU0lE0GPRi8cq9gPaUDbbTbt0swm7E6GE/gMvHhTx6j/y5r9x2+agrQ8GHu/NMDMvTKUw6HnfTmltfWNzq7xd2dnd2z9wD49aJsk0402WyER3Qmq4FIo3UaDknVRzGoeSt8Px7cxvP3FtRKIecZLyIKZDJSLBKFrpQci+W/Vq3hxklfgFqUKBRt/96g0SlsVcIZPUmK7vpRjkVKNgkk8rvczwlLIxHfKupYrG3AT5/NIpObPKgESJtqWQzNXfEzmNjZnEoe2MKY7MsjcT//O6GUbXQS5UmiFXbLEoyiTBhMzeJgOhOUM5sYQyLeythI2opgxtOBUbgr/88ippXdR8r+bfX1brN0UcZTiBUzgHH66gDnfQgCYwiOAZXuHNGTsvzrvzsWgtOcXMMfyB8/kDmImNYw==</latexit>
onde l é o comprimento do fio e <latexit sha1_base64="2zgHmGJm0USTRY7JuW6/ySgL+9E=">AAACJnicbVBdS8MwFE3n16xfVR99CY6CT6MVQV8GY4K4twnuA9Yy0izbwtK0JKkwyn6NL/4VX3yYiPjmTzFdK+j0QsjJOeeSe08QMyqV43wYpbX1jc2t8ra5s7u3f2AdHnVklAhM2jhikegFSBJGOWkrqhjpxYKgMGCkG0yvM737QISkEb9Xs5j4IRpzOqIYKU0NrJoNvTgM4A2swWYOGfQUDYnMXw3T/r4L2bQzc4M1TTawKk7VWRb8C9wCVEBRrYG18IYRTkLCFWZIyr7rxMpPkVAUMzI3vUSSGOEpGpO+hhzpOfx0ueYc2poZwlEk9OEKLtmfHSkKpZyFgXaGSE3kqpaR/2n9RI2u/JTyOFGE4/yjUcKgimCWGRxSQbBiMw0QFlTPCvEECYSVTtbUIbirK/8FnfOq61Tdu4tKvVHEUQYn4BScARdcgjq4BS3QBhg8gmewAK/Gk/FivBnvubVkFD3H4FcZn19NsaAc</latexit>

<latexit
B é a densidade do fluxo magnético

<latexit sha1_base64="JnE9nPUhXV0NbAmkObRDoNunHok=">AAACJnicbVDLSsNAFJ3UV42vqEs3gyXgqiQi6KZQIojdVbAPaEKZTCft0MmDmYlQQr/Gjb/ixkVFxJ2f4qSJoNULw5w551zm3uMnjAppWR9aZW19Y3Oruq3v7O7tHxiHR10RpxyTDo5ZzPs+EoTRiHQklYz0E05Q6DPS86fXud57IFzQOLqXs4R4IRpHNKAYSUUNjYYJ3ST04Q1swFYBGXQlDYkoXo5uft+lrJu52WEt3RkaNatuLQv+BXYJaqCs9tBYuKMYpyGJJGZIiIFtJdLLEJcUMzLX3VSQBOEpGpOBghFSc3jZcs05NBUzgkHM1YkkXLI/OzIUCjELfeUMkZyIVS0n/9MGqQyuvIxGSSpJhIuPgpRBGcM8MziinGDJZgogzKmaFeIJ4ghLlayuQrBXV/4Luud126rbdxe1plPGUQUn4BScARtcgia4BW3QARg8gmewAK/ak/aivWnvhbWilT3H4Fdpn18OCZ/y</latexit>
<latexit
• Na equação acima temos o módulo da força

eletromagnética, que é a base do
funcionamento dos atuadores
eletromecânicos
!43
(KLUEVER, 2015)
Interação Campo
Magnético-Corrente
• Um fio que se move em relação a um campo
magnético sofre uma tensão induzida ec <latexit sha1_base64="SAlbuFdGZIhlGy++Y5OJ8qaRT4M=">AAAB6nicbVBNS8NAEJ3Ur1q/oh69LBbBU0lE0GPRi8eK9gPaUDbbSbt0swm7G6GE/gQvHhTx6i/y5r9x2+agrQ8GHu/NMDMvTAXXxvO+ndLa+sbmVnm7srO7t3/gHh61dJIphk2WiER1QqpRcIlNw43ATqqQxqHAdji+nfntJ1SaJ/LRTFIMYjqUPOKMGis9YJ/13apX8+Ygq8QvSBUKNPruV2+QsCxGaZigWnd9LzVBTpXhTOC00ss0ppSN6RC7lkoaow7y+alTcmaVAYkSZUsaMld/T+Q01noSh7Yzpmakl72Z+J/XzUx0HeRcpplByRaLokwQk5DZ32TAFTIjJpZQpri9lbARVZQZm07FhuAvv7xKWhc136v595fV+k0RRxlO4BTOwYcrqMMdNKAJDIbwDK/w5gjnxXl3PhatJaeYOYY/cD5/ADqGjb8=</latexit>
ec = (vv ⇥ B ) · l
<latexit sha1_base64="h31xmg5X1WeydFxr4YvFazbFIDw=">AAACDHicbVDLSsNAFJ3UV62vqks3g0Wom5KIoBuh1I3LCvYBTSiTyaQdOpOEmZtCKf0AN/6KGxeKuPUD3Pk3TtMstPXAwLnn3Mude/xEcA22/W0V1tY3NreK26Wd3b39g/LhUVvHqaKsRWMRq65PNBM8Yi3gIFg3UYxIX7COP7qd+50xU5rH0QNMEuZJMoh4yCkBI/XLFdanN7jqJtLHY+wCl0zjrGqcY5cGMWBhuuyanQGvEicnFZSj2S9/uUFMU8kioIJo3XPsBLwpUcCpYLOSm2qWEDoiA9YzNCJmqTfNjpnhM6MEOIyVeRHgTP09MSVS64n0TackMNTL3lz8z+ulEF57Ux4lKbCILhaFqcAQ43kyOOCKURATQwhV3PwV0yFRhILJr2RCcJZPXiXti5pj15z7y0q9kcdRRCfoFFWRg65QHd2hJmohih7RM3pFb9aT9WK9Wx+L1oKVzxyjP7A+fwCy8Zl8</latexit>
geralmente denominada força

contraeletromotriz (ou contrafem) ec
<latexit sha1_base64="SAlbuFdGZIhlGy++Y5OJ8qaRT4M=">AAAB6nicbVBNS8NAEJ3Ur1q/oh69LBbBU0lE0GPRi8eK9gPaUDbbSbt0swm7G6GE/gQvHhTx6i/y5r9x2+agrQ8GHu/NMDMvTAXXxvO+ndLa+sbmVnm7srO7t3/gHh61dJIphk2WiER1QqpRcIlNw43ATqqQxqHAdji+nfntJ1SaJ/LRTFIMYjqUPOKMGis9YJ/13apX8+Ygq8QvSBUKNPruV2+QsCxGaZigWnd9LzVBTpXhTOC00ss0ppSN6RC7lkoaow7y+alTcmaVAYkSZUsaMld/T+Q01noSh7Yzpmakl72Z+J/XzUx0HeRcpplByRaLokwQk5DZ32TAFTIjJpZQpri9lbARVZQZm07FhuAvv7xKWhc136v595fV+k0RRxlO4BTOwYcrqMMdNKAJDIbwDK/w5gjnxXl3PhatJaeYOYY/cD5/ADqGjb8=</latexit>
• Obs.: força eletromotriz é um antigo

sinônimo para tensão
!44
(KLUEVER, 2015)
Interação Campo
Magnético-Corrente
• Se o fio é perpendicular ao vetor campo
magnético, temos
ec = Blv
<latexit sha1_base64="3l/DZmeytUsM6VYh78dq0HZwpuk=">AAAB8HicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0ItQ6sVjBVsrbSib7aRdutmE3U2hhP4KLx4U8erP8ea/cdvmoK0PBh7vzTAzL0gE18Z1v53C2vrG5lZxu7Szu7d/UD48auk4VQybLBaxagdUo+ASm4Ybge1EIY0CgY/B6HbmP45RaR7LBzNJ0I/oQPKQM2qs9IQ9Rm5IXYx75Ypbdecgq8TLSQVyNHrlr24/ZmmE0jBBte54bmL8jCrDmcBpqZtqTCgb0QF2LJU0Qu1n84On5MwqfRLGypY0ZK7+nshopPUkCmxnRM1QL3sz8T+vk5rw2s+4TFKDki0WhakgJiaz70mfK2RGTCyhTHF7K2FDqigzNqOSDcFbfnmVtC6qnlv17i8rtXoeRxFO4BTOwYMrqMEdNKAJDCJ4hld4c5Tz4rw7H4vWgpPPHMMfOJ8/mhOPnA==</latexit>
• Assim, se o fio permanecer perpen-

dicular ao campo magnético podemos ec
usar a equação acima para determinar o

módulo de ec = Blv
<latexit sha1_base64="3l/DZmeytUsM6VYh78dq0HZwpuk=">AAAB8HicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0ItQ6sVjBVsrbSib7aRdutmE3U2hhP4KLx4U8erP8ea/cdvmoK0PBh7vzTAzL0gE18Z1v53C2vrG5lZxu7Szu7d/UD48auk4VQybLBaxagdUo+ASm4Ybge1EIY0CgY/B6HbmP45RaR7LBzNJ0I/oQPKQM2qs9IQ9Rm5IXYx75Ypbdecgq8TLSQVyNHrlr24/ZmmE0jBBte54bmL8jCrDmcBpqZtqTCgb0QF2LJU0Qu1n84On5MwqfRLGypY0ZK7+nshopPUkCmxnRM1QL3sz8T+vk5rw2s+4TFKDki0WhakgJiaz70mfK2RGTCyhTHF7K2FDqigzNqOSDcFbfnmVtC6qnlv17i8rtXoeRxFO4BTOwYMrqMEdNKAJDCJ4hld4c5Tz4rw7H4vWgpPPHMMfOJ8/mhOPnA==</latexit>
!45
(KLUEVER, 2015)
Motor Elétrico de Corrente
Contínua
• O motor elétrico é uma máquina capaz de converter
energia elétrica em mecânica
• Há dois tipos de motores elétricos: de corrente alternada

(motor CA) e contínua (motor CC)
Estator
Redução
Escovas
Eixo do motor
Torque de saída
Fonte de (posição/velocidade
tensão Armadura angular)
(rotor)
!46
(GURU & HIZIROGLU, 2001)
Contínua
!47
(PALM, 2014)
Contínua
• Motores CC são usados extensivamente por
possibilitarem o controle preciso de torque e velocidade
• Têm potência que pode variar de frações a > 1k HP
• Exemplo de aplicações: automóveis, aeronaves,

computadores, impressoras, robôs, barbeadores
elétricos, brinquedos, gravadores de cassete, câmeras de
vídeo, trens, etc…
!48
Contínua
• A armadura gira entre os pólos Stator
do estator. A corrente que passa
pelos fios da armadura faz com
que nesta condição haja uma
força eletromagnética
• Assim, o torque eletromagnético

total sobre o rotor é o produto da
soma das forças induzidas (em
cada fio) e o braço da alavanca
(raio do rotor)
⌧m = F r = Blir
<latexit sha1_base64="LIRJhJJan1bQPVsWp4/l8qCWcK4=">AAACCHicbVDLSsNAFJ34rPEVdenCwVJwVRIRdFMoFURwU8E+oA1hMp20Q2cmYWYilNClG3/FjQtF3PoJ7vwbp20QbT1w4XDOvdx7T5gwqrTrfllLyyura+uFDXtza3tn19nbb6o4lZg0cMxi2Q6RIowK0tBUM9JOJEE8ZKQVDi8nfuueSEVjcadHCfE56gsaUYy0kQLnqKtRGnBYgVeyUmNU2qUf5SbgNHCKbtmdAi4SLydFkKMeOJ/dXoxTToTGDCnV8dxE+xmSmmJGxnY3VSRBeIj6pGOoQJwoP5s+MoYlo/RgFEtTQsOp+nsiQ1ypEQ9NJ0d6oOa9ifif10l1dOFnVCSpJgLPFkUpgzqGk1Rgj0qCNRsZgrCk5laIB0girE12tgnBm395kTRPy55b9m7PitVaHkcBHIJjcAI8cA6q4BrUQQNg8ACewAt4tR6tZ+vNep+1Lln5zAH4A+vjG9Kkl+w=</latexit>
!49
Contínua
• Se a densidade do fluxo magnético é Stator
constante, podemos reescrever a
equação
⌧m = F r = Blir
<latexit sha1_base64="LIRJhJJan1bQPVsWp4/l8qCWcK4=">AAACCHicbVDLSsNAFJ34rPEVdenCwVJwVRIRdFMoFURwU8E+oA1hMp20Q2cmYWYilNClG3/FjQtF3PoJ7vwbp20QbT1w4XDOvdx7T5gwqrTrfllLyyura+uFDXtza3tn19nbb6o4lZg0cMxi2Q6RIowK0tBUM9JOJEE8ZKQVDi8nfuueSEVjcadHCfE56gsaUYy0kQLnqKtRGnBYgVeyUmNU2qUf5SbgNHCKbtmdAi4SLydFkKMeOJ/dXoxTToTGDCnV8dxE+xmSmmJGxnY3VSRBeIj6pGOoQJwoP5s+MoYlo/RgFEtTQsOp+nsiQ1ypEQ9NJ0d6oOa9ifif10l1dOFnVCSpJgLPFkUpgzqGk1Rgj0qCNRsZgrCk5laIB0girE12tgnBm395kTRPy55b9m7PitVaHkcBHIJjcAI8cA6q4BrUQQNg8ACewAt4tR6tZ+vNep+1Lln5zAH4A+vjG9Kkl+w=</latexit>
como
⌧m = K m i
<latexit sha1_base64="SObPSzkMl6rZ/FL+9gr4ga6o2yg=">AAACCHicbVDLSgMxFM3UVx1foy5dGCwFV2VGBN0USgVR3FSwD2iHIZNm2tAkMyQZoZQu3fgrblwo4tZPcOffmLaDaOuBC4dz7uXee8KEUaVd98vKLS2vrK7l1+2Nza3tHWd3r6HiVGJSxzGLZStEijAqSF1TzUgrkQTxkJFmOLiY+M17IhWNxZ0eJsTnqCdoRDHSRgqcw2JHozTgsAwvZbnKrqX9I9wEnAZOwS25U8BF4mWkADLUAuez041xyonQmCGl2p6baH+EpKaYkbHdSRVJEB6gHmkbKhAnyh9NHxnDolG6MIqlKaHhVP09MUJcqSEPTSdHuq/mvYn4n9dOdXTuj6hIUk0Eni2KUgZ1DCepwC6VBGs2NARhSc2tEPeRRFib7GwTgjf/8iJpnJQ8t+TdnhYq1SyOPDgAR+AYeOAMVMAVqIE6wOABPIEX8Go9Ws/Wm/U+a81Z2cw++APr4xudQpfM</latexit>
onde Km é a constante de torque

<latexit sha1_base64="uc5wMn7wZsEmHRIJb7TvHfyQqEQ=">AAACDXicbVDLSgMxFM3UVx1foy7dBGvBVZkRQTeFUkEUNxXsA9phyKRpG5pkhiQjlKE/4MZfceNCEbfu3fk3pu2A2nrgXg7n3EtyTxgzqrTrflm5peWV1bX8ur2xubW94+zuNVSUSEzqOGKRbIVIEUYFqWuqGWnFkiAeMtIMhxcTv3lPpKKRuNOjmPgc9QXtUYy0kQLnqNjRKAk4LMNLWa6ya2n/KDcBp7ZpgVNwS+4UcJF4GSmADLXA+ex0I5xwIjRmSKm258baT5HUFDMytjuJIjHCQ9QnbUMF4kT56fSaMSwapQt7kTQlNJyqvzdSxJUa8dBMcqQHat6biP957UT3zv2UijjRRODZQ72EQR3BSTSwSyXBmo0MQVhS81eIB0girE2AtgnBmz95kTROSp5b8m5PC5VqFkceHIBDcAw8cAYq4ArUQB1g8ACewAt4tR6tZ+vNep+N5qxsZx/8gfXxDXaGmUQ=</latexit>
do motor medida em [N . m / A]
• Ou seja, o torque induzido no rotor

é linearmente proporcional à
corrente aplicada à armadura
!50
Contínua
• O movimento dos enrolamentos da armadura relativos ao
campo magnético gera uma tensão contrafem que se
opõe à corrente na armadura
• Como os vetores de velocidade dos fios são sempre

perpendiculares ao campo magnético, temos
ec = Blv = Blr✓˙
<latexit sha1_base64="N7HRtvqeDj8v627DdFMuUYyDsuw=">AAAB/3icbVC7SgNBFJ2Nrxhfq4KNzWAQrMKuCNoIITaWEUwMJMsyO7mbDJl9MHM3EGIKf8XGQhFbf8POv3GSbKGJBy4czrmHuXOCVAqNjvNtFVZW19Y3ipulre2d3T17/6Cpk0xxaPBEJqoVMA1SxNBAgRJaqQIWBRIegsHN1H8YgtIiie9xlIIXsV4sQsEZGsm3j8Dn1zU5NKM63QRpB/uAzLfLTsWZgS4TNydlkqPu218mzbMIYuSSad12nRS9MVMouIRJqZNpSBkfsB60DY1ZBNobz+6f0FOjdGmYKDMx0pn6OzFmkdajKDCbEcO+XvSm4n9eO8PwyhuLOM0QYj5/KMwkxYROy6BdoYCjHBnCuBLmVsr7TDGOprKSKcFd/PIyaZ5XXKfi3l2Uq7W8jiI5JifkjLjkklTJLamTBuHkkTyTV/JmPVkv1rv1MV8tWHnmkPyB9fkDTDOVoQ==</latexit>
onde ✓˙ é a velocidade angular do rotor

<latexit sha1_base64="LBRxp6Kx3qAMOQyie+jFfO8fyqc=">AAACDHicbVDLSgNBEJz1GeMr6tHLYAh4Crsi6EUI0YPHCOYBSQizk04yZHZ2mekNhCUf4MVf8eJBEa9+gDf/xkmyiCYWNBRV3T3T5UdSGHTdL2dldW19YzOzld3e2d3bzx0c1kwYaw5VHspQN3xmQAoFVRQooRFpYIEvoe4Pr6d+fQTaiFDd4ziCdsD6SvQEZ2ilTi5fgA6/KsuRLd3qhkhbOABk2dbND7ddbtGdgS4TLyV5kqLSyX3aTTwOQCGXzJim50bYTphGwSVMsq3YQMT4kPWhaaliAZh2MjtmQgtW6dJeqG0ppDP190TCAmPGgW87A4YDs+hNxf+8Zoy9y3YiVBQjKD5/qBdLiiGdJkO7QgNHObaEcS3sXykfMM042vyyNgRv8eRlUjsrem7RuzvPl8ppHBlyTE7IKfHIBSmRW1IhVcLJA3kiL+TVeXSenTfnfd664qQzR+QPnI9vIbGaZw==</latexit>
<latexit sha1_base64="hP+6LrUf2d3tZaldqaQQvEKMXyw=">AAAB2XicbZDNSgMxFIXv1L86Vq1rN8EiuCozbnQpuHFZwbZCO5RM5k4bmskMyR2hDH0BF25EfC93vo3pz0JbDwQ+zknIvSculLQUBN9ebWd3b/+gfugfNfzjk9Nmo2fz0gjsilzl5jnmFpXU2CVJCp8LgzyLFfbj6f0i77+gsTLXTzQrMMr4WMtUCk7O6oyaraAdLMW2IVxDC9YaNb+GSS7KDDUJxa0dhEFBUcUNSaFw7g9LiwUXUz7GgUPNM7RRtRxzzi6dk7A0N+5oYkv394uKZ9bOstjdzDhN7Ga2MP/LBiWlt1EldVESarH6KC0Vo5wtdmaJNChIzRxwYaSblYkJN1yQa8Z3HYSbG29D77odBu3wMYA6nMMFXEEIN3AHD9CBLghI4BXevYn35n2suqp569LO4I+8zx84xIo4</latexit>
sha1_base64="MUFg8TcHN/j/rmj0YsmgGVbJ1ys=">AAACAXicbZDJSgNBEIZrXOMYNXr10hgCnsKMF70Ioh48RjALJCH0dGqSJj0L3TWBEPIAXnwVLx4U8SW8+TZ2FkQTCwo+/r96qT9IlTTkeV/O2vrG5tZ2bsfdze/tHxQO8zWTZFpgVSQq0Y2AG1QyxipJUthINfIoUFgPBjdTvz5EbWQSP9AoxXbEe7EMpeBkpU6hWMKOuLxWQ9u61U2ItaiPxN3W7Q/bKa/szYqtgr+AIiyq0il82ptEFmFMQnFjmr6XUnvMNUmhcOK2MoMpFwPew6bFmEdo2uPZMhNWskqXhYm2HRObqb9PjHlkzCgK7GTEqW+Wvan4n9fMKLxoj2WcZoSxmD8UZopRwqbJsK7UKEiNLHChpf0rE32uuSCbn2tD8JdXXoXaWdn3yv69Bzk4hhM4BR/O4QruoAJVEPAIz/AKb86T8+K8z+Nacxa5HcGfcj6+AX/bmPA=</latexit>
sha1_base64="6YxTu8YaxVqKok3a+QvxtZmlJs8=">AAACDHicbVDLSgNBEJyNr7i+oh69DIaAp7DrRS9CiB48RjAPyIYwO+kkQ2Znl5neQAj5AC/+ihcPinj1A7z5N04eiCYWNBRV3T3TFSZSGPS8Lyeztr6xuZXddnd29/YPcodHNROnmkOVxzLWjZAZkEJBFQVKaCQaWBRKqIeD66lfH4I2Ilb3OEqgFbGeEl3BGVqpncsXoM2vynJoSwedGGmAfUDmBjc/3HZ5RW8Gukr8BcmTBSrt3KfdxNMIFHLJjGn6XoKtMdMouISJG6QGEsYHrAdNSxWLwLTGs2MmtGCVDu3G2pZCOlN/T4xZZMwoCm1nxLBvlr2p+J/XTLF72RoLlaQIis8f6qaSYkynydCO0MBRjixhXAv7V8r7TDOONj/XhuAvn7xKaudF3yv6d16+VF7EkSUn5JScEZ9ckBK5JRVSJZw8kCfyQl6dR+fZeXPe560ZZzFzTP7A+fgGIHGaYw==</latexit>
!51
Contínua
• Podemos escrever a fórmula da contrafem
ec = Blv = Blr✓˙
<latexit sha1_base64="N7HRtvqeDj8v627DdFMuUYyDsuw=">AAAB/3icbVC7SgNBFJ2Nrxhfq4KNzWAQrMKuCNoIITaWEUwMJMsyO7mbDJl9MHM3EGIKf8XGQhFbf8POv3GSbKGJBy4czrmHuXOCVAqNjvNtFVZW19Y3ipulre2d3T17/6Cpk0xxaPBEJqoVMA1SxNBAgRJaqQIWBRIegsHN1H8YgtIiie9xlIIXsV4sQsEZGsm3j8Dn1zU5NKM63QRpB/uAzLfLTsWZgS4TNydlkqPu218mzbMIYuSSad12nRS9MVMouIRJqZNpSBkfsB60DY1ZBNobz+6f0FOjdGmYKDMx0pn6OzFmkdajKDCbEcO+XvSm4n9eO8PwyhuLOM0QYj5/KMwkxYROy6BdoYCjHBnCuBLmVsr7TDGOprKSKcFd/PIyaZ5XXKfi3l2Uq7W8jiI5JifkjLjkklTJLamTBuHkkTyTV/JmPVkv1rv1MV8tWHnmkPyB9fkDTDOVoQ==</latexit>
como
ec = Kc ✓˙
<latexit sha1_base64="UDYfqXj3Jo+EravtlbugCKjiUD8=">AAACFnicbVC7SgNBFJ2NrxhfUUubwRCwMeyKoI0QYiPYRDAPSJZldnKTDJl9MHM3EEK+wsZfsbFQxFbs/BtnkxQx8cCFwzn3MHOPH0uh0bZ/rMza+sbmVnY7t7O7t3+QPzyq6yhRHGo8kpFq+kyDFCHUUKCEZqyABb6Ehj+4Tf3GEJQWUfiIoxjcgPVC0RWcoZG8/HmRgsdvKnJoRrU7EdI29gFZLpXpvcfpgujlC3bJnoKuEmdOCmSOqpf/NmmeBBAil0zrlmPH6I6ZQsElTHLtREPM+ID1oGVoyALQ7nh61oQWjdKh3UiZCZFO1cXEmAVajwLfbAYM+3rZS8X/vFaC3Wt3LMI4QQj57KFuIilGNO2IdoQCjnJkCONKmL9S3meKcTRN5kwJzvLJq6R+UXLskvNwWShX5nVkyQk5JWfEIVekTO5IldQIJ0/khbyRd+vZerU+rM/ZasaaZ47JH1hfv4cGnbw=</latexit>
onde Kc é a constante de contrafem medida em

<latexit sha1_base64="dNOLHj6VjOSR2+IH4mheWIMmLP4=">AAACG3icbVDLSgMxFM3UV62vqks3wVJwVWaKoBuh1I3gpoJ9QFuGTHrbhmYeJHcKZeh/uPFX3LhQxJXgwr8x03ZRWw9cODnn3iT3eJEUGm37x8psbG5t72R3c3v7B4dH+eOThg5jxaHOQxmqlsc0SBFAHQVKaEUKmO9JaHqj29RvjkFpEQaPOImg67NBIPqCMzSSmy8XKbj8pirHplSnFyLt4BCQ5YqpTu9dTpdVc3bzBbtkz0DXibMgBbJAzc1/mRt47EOAXDKt244dYTdhCgWXMM11Yg0R4yM2gLahAfNBd5PZblNaNEqP9kNlKkA6U5cnEuZrPfE90+kzHOpVLxX/89ox9q+7iQiiGCHg84f6saQY0jQo2hMKOMqJIYwrYf5K+ZApxtHEmTMhOKsrr5NGueTYJefhslCpLuLIkjNyTi6IQ65IhdyRGqkTTp7IC3kj79az9Wp9WJ/z1oy1mDklf2B9/wJrLp8q</latexit>
[V . s / rad]
!52
Contínua
• Animação do princípio de funcionamento:
https://www.youtube.com/watch?v=LAtPHANEfQo
!53
Contínua
• O motor CC pode ser representado pelo seguinte
diagrama esquemático:
R
<latexit sha1_base64="NfFBQKCbADihv37V0PCkDJe5Zns=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0GPRi8dW7Ae0oWy2k3btZhN2N0IJ/QVePCji1Z/kzX/jts1BWx8MPN6bYWZekAiujet+O4W19Y3NreJ2aWd3b/+gfHjU0nGqGDZZLGLVCahGwSU2DTcCO4lCGgUC28H4dua3n1BpHssHM0nQj+hQ8pAzaqzUuO+XK27VnYOsEi8nFchR75e/eoOYpRFKwwTVuuu5ifEzqgxnAqelXqoxoWxMh9i1VNIItZ/ND52SM6sMSBgrW9KQufp7IqOR1pMosJ0RNSO97M3E/7xuasJrP+MySQ1KtlgUpoKYmMy+JgOukBkxsYQyxe2thI2ooszYbEo2BG/55VXSuqh6btVrXFZqN3kcRTiBUzgHD66gBndQhyYwQHiGV3hzHp0X5935WLQWnHzmGP7A+fwBrKGM1g==</latexit>
<latexit
L
<latexit sha1_base64="5puov2m8/Zu/Hvbse1+ETxmDeIg=">AAAB6HicbVA9SwNBEJ2LXzF+RS1tFoNgFe5E0DJoY2GRgPmA5Ah7m7lkzd7esbsnhCO/wMZCEVt/kp3/xk1yhSY+GHi8N8PMvCARXBvX/XYKa+sbm1vF7dLO7t7+QfnwqKXjVDFssljEqhNQjYJLbBpuBHYShTQKBLaD8e3Mbz+h0jyWD2aSoB/RoeQhZ9RYqXHfL1fcqjsHWSVeTiqQo94vf/UGMUsjlIYJqnXXcxPjZ1QZzgROS71UY0LZmA6xa6mkEWo/mx86JWdWGZAwVrakIXP190RGI60nUWA7I2pGetmbif953dSE137GZZIalGyxKEwFMTGZfU0GXCEzYmIJZYrbWwkbUUWZsdmUbAje8surpHVR9dyq17is1G7yOIpwAqdwDh5cQQ3uoA5NYIDwDK/w5jw6L86787FoLTj5zDH8gfP5A6OJjNA=</latexit>
sha1_base64="sp3XJCAvsIgH5y/0ngt6eunHliI=">AAAB3XicbZBLSwMxFIXv1FetVatbN8EiuCozbnQpuHHhogX7gHYomfROG5vJDMkdoZT+AjcuFPFvufPfmD4W2nog8HFOQu49UaakJd//9gpb2zu7e8X90kH58Oi4clJu2TQ3ApsiVanpRNyikhqbJElhJzPIk0hhOxrfzfP2MxorU/1IkwzDhA+1jKXg5KzGQ79S9Wv+QmwTghVUYaV6v/LVG6QiT1CTUNzabuBnFE65ISkUzkq93GLGxZgPsetQ8wRtOF0MOmMXzhmwODXuaGIL9/eLKU+snSSRu5lwGtn1bG7+l3Vzim/CqdRZTqjF8qM4V4xSNt+aDaRBQWrigAsj3axMjLjhglw3JVdCsL7yJrSuaoFfCxo+FOEMzuESAriGW7iHOjRBAMILvMG79+S9eh/LugreqrdT+CPv8weQx4t9</latexit>
sha1_base64="y2DS3aTqNu14XjeNZjMcJtj7lZg=">AAAB6HicbVA9SwNBEJ2LXzF+RS1tFoNgFe5sTBm0sbBIwHxAcoS9zVyyZm/v2N0TwpFfYGOhiK0/yc5/4ya5QhMfDDzem2FmXpAIro3rfjuFjc2t7Z3ibmlv/+DwqHx80tZxqhi2WCxi1Q2oRsEltgw3AruJQhoFAjvB5Hbud55QaR7LBzNN0I/oSPKQM2qs1LwflCtu1V2ArBMvJxXI0RiUv/rDmKURSsME1brnuYnxM6oMZwJnpX6qMaFsQkfYs1TSCLWfLQ6dkQurDEkYK1vSkIX6eyKjkdbTKLCdETVjverNxf+8XmrCmp9xmaQGJVsuClNBTEzmX5MhV8iMmFpCmeL2VsLGVFFmbDYlG4K3+vI6aV9VPbfqNd1K/SaPowhncA6X4ME11OEOGtACBgjP8ApvzqPz4rw7H8vWgpPPnMIfOJ8/okmMzA==</latexit>
⌧m
<latexit sha1_base64="l08w1xFWzVvT45WsJN467AMdhe8=">AAAB7XicbVDLSgNBEOyNrxhfUY9eFoPgKeyKoMegF48RzAOSJcxOZpMx81hmeoUQ8g9ePCji1f/x5t84SfagiQUNRVU33V1xKrjFIPj2CmvrG5tbxe3Szu7e/kH58KhpdWYoa1AttGnHxDLBFWsgR8HaqWFExoK14tHtzG89MWO5Vg84TlkkyUDxhFOCTmp2kWQ92StXgmowh79KwpxUIEe9V/7q9jXNJFNIBbG2EwYpRhNikFPBpqVuZllK6IgMWMdRRSSz0WR+7dQ/c0rfT7RxpdCfq78nJkRaO5ax65QEh3bZm4n/eZ0Mk+towlWaIVN0sSjJhI/an73u97lhFMXYEUINd7f6dEgMoegCKrkQwuWXV0nzohoG1fD+slK7yeMowgmcwjmEcAU1uIM6NIDCIzzDK7x52nvx3r2PRWvBy2eO4Q+8zx+j7Y8o</latexit>
sha1_base64="hP+6LrUf2d3tZaldqaQQvEKMXyw=">AAAB2XicbZDNSgMxFIXv1L86Vq1rN8EiuCozbnQpuHFZwbZCO5RM5k4bmskMyR2hDH0BF25EfC93vo3pz0JbDwQ+zknIvSculLQUBN9ebWd3b/+gfugfNfzjk9Nmo2fz0gjsilzl5jnmFpXU2CVJCp8LgzyLFfbj6f0i77+gsTLXTzQrMMr4WMtUCk7O6oyaraAdLMW2IVxDC9YaNb+GSS7KDDUJxa0dhEFBUcUNSaFw7g9LiwUXUz7GgUPNM7RRtRxzzi6dk7A0N+5oYkv394uKZ9bOstjdzDhN7Ga2MP/LBiWlt1EldVESarH6KC0Vo5wtdmaJNChIzRxwYaSblYkJN1yQa8Z3HYSbG29D77odBu3wMYA6nMMFXEEIN3AHD9CBLghI4BXevYn35n2suqp569LO4I+8zx84xIo4</latexit>
sha1_base64="rjvzdDvji0Eow/3uD8a2JalkmJA=">AAAB4nicbZBLSwMxFIXv1FetVatbN8EiuCozbnQpuHFZwT6gHUomzbSxeQzJHaEM/Q9uXCjij3LnvzF9LLT1QODjnITce5JMCodh+B2UtrZ3dvfK+5WD6uHRce2k2nYmt4y3mJHGdhPquBSat1Cg5N3McqoSyTvJ5G6ed565dcLoR5xmPFZ0pEUqGEVvtftI84Ea1OphI1yIbEK0gjqs1BzUvvpDw3LFNTJJnetFYYZxQS0KJvms0s8dzyib0BHvedRUcRcXi2ln5MI7Q5Ia649GsnB/vyiocm6qEn9TURy79Wxu/pf1ckxv4kLoLEeu2fKjNJcEDZmvTobCcoZy6oEyK/yshI2ppQx9QRVfQrS+8ia0rxpR2IgeQijDGZzDJURwDbdwD01oAYMneIE3eA9M8Bp8LOsqBaveTuGPgs8feEmN0A==</latexit>
sha1_base64="IYMoz+z4gMatghqWqujMmXxlqeA=">AAAB7XicbVA9SwNBEJ3zM8avqKXNYhCswp2NlkEbywjmA5Ij7G32kjW7t8funBCO/AcbC0Vs/T92/hs3yRWa+GDg8d4MM/OiVAqLvv/tra1vbG5tl3bKu3v7B4eVo+OW1ZlhvMm01KYTUculSHgTBUreSQ2nKpK8HY1vZ377iRsrdPKAk5SHig4TEQtG0UmtHtKsr/qVql/z5yCrJChIFQo0+pWv3kCzTPEEmaTWdgM/xTCnBgWTfFruZZanlI3pkHcdTajiNszn107JuVMGJNbGVYJkrv6eyKmydqIi16kojuyyNxP/87oZxtdhLpI0Q56wxaI4kwQ1mb1OBsJwhnLiCGVGuFsJG1FDGbqAyi6EYPnlVdK6rAV+Lbj3q/WbIo4SnMIZXEAAV1CHO2hAExg8wjO8wpunvRfv3ftYtK55xcwJ/IH3+QOirY8k</latexit>
e(t) ec
i ⌧l
<latexit sha1_base64="ywjc656j5SmZRzshHjTJY7W6d60=">AAAB63icbVBNS8NAEJ34WetX1aOXxSLUS0lE0GPRi8cK9gPaUDbbTbt0dxN2J0IJ/QtePCji1T/kzX9j0uagrQ8GHu/NMDMviKWw6Lrfztr6xubWdmmnvLu3f3BYOTpu2ygxjLdYJCPTDajlUmjeQoGSd2PDqQok7wSTu9zvPHFjRaQfcRpzX9GRFqFgFHOJ1/BiUKm6dXcOskq8glShQHNQ+eoPI5YorpFJam3Pc2P0U2pQMMln5X5ieUzZhI54L6OaKm79dH7rjJxnypCEkclKI5mrvydSqqydqiDrVBTHdtnLxf+8XoLhjZ8KHSfINVssChNJMCL542QoDGcopxmhzIjsVsLG1FCGWTzlLARv+eVV0r6se27de7iqNm6LOEpwCmdQAw+uoQH30IQWMBjDM7zCm6OcF+fd+Vi0rjnFzAn8gfP5A2TEjcw=</latexit>
<latexit sha1_base64="liYr7ey/OYaoWVYsy6QU5XLvgIg=">AAAB7XicbVDLSgNBEOyNrxhfUY9eBoPgKeyKoMegF48RzAOSJcxOZpMxszPLTK8QQv7BiwdFvPo/3vwbJ8keNLGgoajqprsrSqWw6PvfXmFtfWNzq7hd2tnd2z8oHx41rc4M4w2mpTbtiFouheINFCh5OzWcJpHkrWh0O/NbT9xYodUDjlMeJnSgRCwYRSc1u0iznuyVK37Vn4OskiAnFchR75W/un3NsoQrZJJa2wn8FMMJNSiY5NNSN7M8pWxEB7zjqKIJt+Fkfu2UnDmlT2JtXCkkc/X3xIQm1o6TyHUmFId22ZuJ/3mdDOPrcCJUmiFXbLEoziRBTWavk74wnKEcO0KZEe5WwobUUIYuoJILIVh+eZU0L6qBXw3uLyu1mzyOIpzAKZxDAFdQgzuoQwMYPMIzvMKbp70X7937WLQWvHzmGP7A+/wBommPJw==</latexit>
<latexit
!54
(KLUEVER, 2015)
Contínua
R
<latexit sha1_base64="NfFBQKCbADihv37V0PCkDJe5Zns=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0GPRi8dW7Ae0oWy2k3btZhN2N0IJ/QVePCji1Z/kzX/jts1BWx8MPN6bYWZekAiujet+O4W19Y3NreJ2aWd3b/+gfHjU0nGqGDZZLGLVCahGwSU2DTcCO4lCGgUC28H4dua3n1BpHssHM0nQj+hQ8pAzaqzUuO+XK27VnYOsEi8nFchR75e/eoOYpRFKwwTVuuu5ifEzqgxnAqelXqoxoWxMh9i1VNIItZ/ND52SM6sMSBgrW9KQufp7IqOR1pMosJ0RNSO97M3E/7xuasJrP+MySQ1KtlgUpoKYmMy+JgOukBkxsYQyxe2thI2ooszYbEo2BG/55VXSuqh6btVrXFZqN3kcRTiBUzgHD66gBndQhyYwQHiGV3hzHp0X5935WLQWnHzmGP7A+fwBrKGM1g==</latexit>
<latexit
L
<latexit sha1_base64="5puov2m8/Zu/Hvbse1+ETxmDeIg=">AAAB6HicbVA9SwNBEJ2LXzF+RS1tFoNgFe5E0DJoY2GRgPmA5Ah7m7lkzd7esbsnhCO/wMZCEVt/kp3/xk1yhSY+GHi8N8PMvCARXBvX/XYKa+sbm1vF7dLO7t7+QfnwqKXjVDFssljEqhNQjYJLbBpuBHYShTQKBLaD8e3Mbz+h0jyWD2aSoB/RoeQhZ9RYqXHfL1fcqjsHWSVeTiqQo94vf/UGMUsjlIYJqnXXcxPjZ1QZzgROS71UY0LZmA6xa6mkEWo/mx86JWdWGZAwVrakIXP190RGI60nUWA7I2pGetmbif953dSE137GZZIalGyxKEwFMTGZfU0GXCEzYmIJZYrbWwkbUUWZsdmUbAje8surpHVR9dyq17is1G7yOIpwAqdwDh5cQQ3uoA5NYIDwDK/w5jw6L86787FoLTj5zDH8gfP5A6OJjNA=</latexit>
sha1_base64="sp3XJCAvsIgH5y/0ngt6eunHliI=">AAAB3XicbZBLSwMxFIXv1FetVatbN8EiuCozbnQpuHHhogX7gHYomfROG5vJDMkdoZT+AjcuFPFvufPfmD4W2nog8HFOQu49UaakJd//9gpb2zu7e8X90kH58Oi4clJu2TQ3ApsiVanpRNyikhqbJElhJzPIk0hhOxrfzfP2MxorU/1IkwzDhA+1jKXg5KzGQ79S9Wv+QmwTghVUYaV6v/LVG6QiT1CTUNzabuBnFE65ISkUzkq93GLGxZgPsetQ8wRtOF0MOmMXzhmwODXuaGIL9/eLKU+snSSRu5lwGtn1bG7+l3Vzim/CqdRZTqjF8qM4V4xSNt+aDaRBQWrigAsj3axMjLjhglw3JVdCsL7yJrSuaoFfCxo+FOEMzuESAriGW7iHOjRBAMILvMG79+S9eh/LugreqrdT+CPv8weQx4t9</latexit>
sha1_base64="y2DS3aTqNu14XjeNZjMcJtj7lZg=">AAAB6HicbVA9SwNBEJ2LXzF+RS1tFoNgFe5sTBm0sbBIwHxAcoS9zVyyZm/v2N0TwpFfYGOhiK0/yc5/4ya5QhMfDDzem2FmXpAIro3rfjuFjc2t7Z3ibmlv/+DwqHx80tZxqhi2WCxi1Q2oRsEltgw3AruJQhoFAjvB5Hbud55QaR7LBzNN0I/oSPKQM2qs1LwflCtu1V2ArBMvJxXI0RiUv/rDmKURSsME1brnuYnxM6oMZwJnpX6qMaFsQkfYs1TSCLWfLQ6dkQurDEkYK1vSkIX6eyKjkdbTKLCdETVjverNxf+8XmrCmp9xmaQGJVsuClNBTEzmX5MhV8iMmFpCmeL2VsLGVFFmbDYlG4K3+vI6aV9VPbfqNd1K/SaPowhncA6X4ME11OEOGtACBgjP8ApvzqPz4rw7H8vWgpPPnMIfOJ8/okmMzA==</latexit>
⌧m
<latexit sha1_base64="l08w1xFWzVvT45WsJN467AMdhe8=">AAAB7XicbVDLSgNBEOyNrxhfUY9eFoPgKeyKoMegF48RzAOSJcxOZpMx81hmeoUQ8g9ePCji1f/x5t84SfagiQUNRVU33V1xKrjFIPj2CmvrG5tbxe3Szu7e/kH58KhpdWYoa1AttGnHxDLBFWsgR8HaqWFExoK14tHtzG89MWO5Vg84TlkkyUDxhFOCTmp2kWQ92StXgmowh79KwpxUIEe9V/7q9jXNJFNIBbG2EwYpRhNikFPBpqVuZllK6IgMWMdRRSSz0WR+7dQ/c0rfT7RxpdCfq78nJkRaO5ax65QEh3bZm4n/eZ0Mk+towlWaIVN0sSjJhI/an73u97lhFMXYEUINd7f6dEgMoegCKrkQwuWXV0nzohoG1fD+slK7yeMowgmcwjmEcAU1uIM6NIDCIzzDK7x52nvx3r2PRWvBy2eO4Q+8zx+j7Y8o</latexit>
sha1_base64="rjvzdDvji0Eow/3uD8a2JalkmJA=">AAAB4nicbZBLSwMxFIXv1FetVatbN8EiuCozbnQpuHFZwT6gHUomzbSxeQzJHaEM/Q9uXCjij3LnvzF9LLT1QODjnITce5JMCodh+B2UtrZ3dvfK+5WD6uHRce2k2nYmt4y3mJHGdhPquBSat1Cg5N3McqoSyTvJ5G6ed565dcLoR5xmPFZ0pEUqGEVvtftI84Ea1OphI1yIbEK0gjqs1BzUvvpDw3LFNTJJnetFYYZxQS0KJvms0s8dzyib0BHvedRUcRcXi2ln5MI7Q5Ia649GsnB/vyiocm6qEn9TURy79Wxu/pf1ckxv4kLoLEeu2fKjNJcEDZmvTobCcoZy6oEyK/yshI2ppQx9QRVfQrS+8ia0rxpR2IgeQijDGZzDJURwDbdwD01oAYMneIE3eA9M8Bp8LOsqBaveTuGPgs8feEmN0A==</latexit>
sha1_base64="IYMoz+z4gMatghqWqujMmXxlqeA=">AAAB7XicbVA9SwNBEJ3zM8avqKXNYhCswp2NlkEbywjmA5Ij7G32kjW7t8funBCO/AcbC0Vs/T92/hs3yRWa+GDg8d4MM/OiVAqLvv/tra1vbG5tl3bKu3v7B4eVo+OW1ZlhvMm01KYTUculSHgTBUreSQ2nKpK8HY1vZ377iRsrdPKAk5SHig4TEQtG0UmtHtKsr/qVql/z5yCrJChIFQo0+pWv3kCzTPEEmaTWdgM/xTCnBgWTfFruZZanlI3pkHcdTajiNszn107JuVMGJNbGVYJkrv6eyKmydqIi16kojuyyNxP/87oZxtdhLpI0Q56wxaI4kwQ1mb1OBsJwhnLiCGVGuFsJG1FDGbqAyi6EYPnlVdK6rAV+Lbj3q/WbIo4SnMIZXEAAV1CHO2hAExg8wjO8wpunvRfv3ftYtK55xcwJ/IH3+QOirY8k</latexit>
e(t) ec
i ⌧l
<latexit sha1_base64="ywjc656j5SmZRzshHjTJY7W6d60=">AAAB63icbVBNS8NAEJ34WetX1aOXxSLUS0lE0GPRi8cK9gPaUDbbTbt0dxN2J0IJ/QtePCji1T/kzX9j0uagrQ8GHu/NMDMviKWw6Lrfztr6xubWdmmnvLu3f3BYOTpu2ygxjLdYJCPTDajlUmjeQoGSd2PDqQok7wSTu9zvPHFjRaQfcRpzX9GRFqFgFHOJ1/BiUKm6dXcOskq8glShQHNQ+eoPI5YorpFJam3Pc2P0U2pQMMln5X5ieUzZhI54L6OaKm79dH7rjJxnypCEkclKI5mrvydSqqydqiDrVBTHdtnLxf+8XoLhjZ8KHSfINVssChNJMCL542QoDGcopxmhzIjsVsLG1FCGWTzlLARv+eVV0r6se27de7iqNm6LOEpwCmdQAw+uoQH30IQWMBjDM7zCm6OcF+fd+Vi0rjnFzAn8gfP5A2TEjcw=</latexit>
<latexit sha1_base64="liYr7ey/OYaoWVYsy6QU5XLvgIg=">AAAB7XicbVDLSgNBEOyNrxhfUY9eBoPgKeyKoMegF48RzAOSJcxOZpMxszPLTK8QQv7BiwdFvPo/3vwbJ8keNLGgoajqprsrSqWw6PvfXmFtfWNzq7hd2tnd2z8oHx41rc4M4w2mpTbtiFouheINFCh5OzWcJpHkrWh0O/NbT9xYodUDjlMeJnSgRCwYRSc1u0iznuyVK37Vn4OskiAnFchR75W/un3NsoQrZJJa2wn8FMMJNSiY5NNSN7M8pWxEB7zjqKIJt+Fkfu2UnDmlT2JtXCkkc/X3xIQm1o6TyHUmFId22ZuJ/3mdDOPrcCJUmiFXbLEoziRBTWavk74wnKEcO0KZEe5WwobUUIYuoJILIVh+eZU0L6qBXw3uLyu1mzyOIpzAKZxDAFdQgzuoQwMYPMIzvMKbp70X7937WLQWvHzmGP7A+/wBommPJw==</latexit>
<latexit
• Usando as relações do torque induzido, contrafem, lei das tensões

para o subsistema elétrico e a lei de D’Alembert para o
subsistema mecânico rotacional, obtemos o seguinte conjunto
de equações:
8
di <
+ Ri = e(t) Kc ✓˙ L
dt
:J ✓¨ + b✓˙ = K i ⌧
m l <latexit sha1_base64="6iD82ctkd241NwilzmH1Ex1E7Go=">AAACWHicbVFdS+QwFE2rrmNXd0f3cV/CDgsu4tAugr4Ig74sqw+67KgwGUqa3s4E07Qkt8JQ+icFH/Sv+GJm7INfFwLnnnM/kpOkVNJiGN57/tLyyqfVzlrweX3jy9fu5taFLSojYCgKVZirhFtQUsMQJSq4Kg3wPFFwmVwfz/XLGzBWFvo/zkoY53yiZSYFR0fF3YIlMJG6Fm6GbYJTytLMcFGnsqlTbHb+yUPYxl+7J7FgaYEMp4CcMhb8ZanLaUvs0ISyF/khPYlzucuQV7EKGOi03RB3e2E/XAR9D6IW9EgbZ3H31s0VVQ4aheLWjqKwxHHNDUqhoAlYZaHk4ppPYOSg5jnYcb0wpqE/HZPSrDDuaKQL9mVHzXNrZ3niKnOOU/tWm5MfaaMKs4NxLXVZIWjxvCirFMWCzl2mqTQgUM0c4MJId1cqptwZi+4vAmdC9PbJ78HF734U9qPzvd7gqLWjQ76TH2SbRGSfDMgfckaGRJA78ugteyveg0/8VX/tudT32p5v5FX4W0+RhbKY</latexit>
sha1_base64="2kcZa02v5W25Hrc0c6MRLPRna5U=">AAACTXicbVHLauMwFJXdt/tKu52NmFBoKQ32bKabwkA3pZ1FW5oHRMHI8nUiKstGuh4Ixj9ZmMX0V7qpknrRxxwQnHuOdK90lJRKWgzDf56/srq2vrG5FWzv7O7tdw52BraojIC+KFRhRgm3oKSGPkpUMCoN8DxRMEweLxf+8A8YKwv9gPMSJjmfaplJwdFJcadgCUylroXrYZvgN2VpZrioU9nUKTan9/ICjvHk7CYWLC2Q4QyQU8aCa5a6mrbCKU0oe1df0Js4l2cMeRWrgIFO2wlxpxv2wiXoVxK1pEta3MadJ9dXVDloFIpbO47CEic1NyiFgiZglYWSi0c+hbGjmudgJ/UymIYeOSWlWWHc0kiX6vsTNc+tneeJ25lznNnP3kL8nzeuMDuf1FKXFYIWb4OySlEs6CJlmkoDAtXcES6MdHelYsZdsOj+InAhRJ+f/JUMfvSisBfdhWSTfCPfyTGJyE/yi1yRW9IngvwlL96qt+Y9+8TfeIvL99rcDskH+Fuv2kWx1A==</latexit>
sha1_base64="7muYXejpvzJ5qnLW4vJm+JRW8FE=">AAACWHicbVFNS+wwFE3rd31PR126CQ6CIg6tG90IohtRF77HGxUmQ0nT25lgmpbkVhhK/6TgwvdX3sbM2IUf70Lg3HPuR3KSlEpaDMNXz5+bX1hcWl4JVn/8XFvvbGze2aIyAvqiUIV5SLgFJTX0UaKCh9IAzxMF98njxVS/fwJjZaH/4KSEYc5HWmZScHRU3ClYAiOpa+Fm2Ca4oSzNDBd1Kps6xebgtzyFPdw/vI4FSwtkOAbklLHgiqUupy1xQBPKPuSn9DrO5SFDXsUqYKDTdkPc6Ya9cBb0O4ha0CVt3MadZzdXVDloFIpbO4jCEoc1NyiFgiZglYWSi0c+goGDmudgh/XMmIbuOialWWHc0Uhn7MeOmufWTvLEVeYcx/arNiX/pw0qzE6GtdRlhaDF+6KsUhQLOnWZptKAQDVxgAsj3V2pGHNnLLq/CJwJ0dcnfwd3R70o7EW/wu7ZeWvHMtkmO2SPROSYnJFLckv6RJAX8s+b9xa8vz7xl/yV91Lfa3u2yKfwN98AkEWylA==</latexit>
!55
(KLUEVER, 2015)
Contínua
• Para obter o diagrama de blocos deste conjunto de
equações podemos aplicar Laplace (CIs nulas)
8
< di
L + Ri = e(t) Kc ✓˙
dt
:J ✓¨ + b✓˙ = K i ⌧
m l
<latexit sha1_base64="6iD82ctkd241NwilzmH1Ex1E7Go=">AAACWHicbVFdS+QwFE2rrmNXd0f3cV/CDgsu4tAugr4Ig74sqw+67KgwGUqa3s4E07Qkt8JQ+icFH/Sv+GJm7INfFwLnnnM/kpOkVNJiGN57/tLyyqfVzlrweX3jy9fu5taFLSojYCgKVZirhFtQUsMQJSq4Kg3wPFFwmVwfz/XLGzBWFvo/zkoY53yiZSYFR0fF3YIlMJG6Fm6GbYJTytLMcFGnsqlTbHb+yUPYxl+7J7FgaYEMp4CcMhb8ZanLaUvs0ISyF/khPYlzucuQV7EKGOi03RB3e2E/XAR9D6IW9EgbZ3H31s0VVQ4aheLWjqKwxHHNDUqhoAlYZaHk4ppPYOSg5jnYcb0wpqE/HZPSrDDuaKQL9mVHzXNrZ3niKnOOU/tWm5MfaaMKs4NxLXVZIWjxvCirFMWCzl2mqTQgUM0c4MJId1cqptwZi+4vAmdC9PbJ78HF734U9qPzvd7gqLWjQ76TH2SbRGSfDMgfckaGRJA78ugteyveg0/8VX/tudT32p5v5FX4W0+RhbKY</latexit>
8
> 1
<I(s) = [E(s) Kc s⇥(s)]
Ls + R
> 1
:s⇥(s) = [Km I(s) ⌧l (s)]
Js + b
<latexit sha1_base64="YIad2jfifm1C5IgzGNou/AK+EFM=">AAACf3icbVFda9RAFJ2kVmv82tZHX4YuxZa1SyJC9aFQFEGtD61028JOCJPJze7QySTM3BSWkL/hD/PN/+KDk22Qte2FgcM5c8/9SislLYbhb89fe7D+8NHG4+DJ02fPXww2t85tWRsBE1Gq0lym3IKSGiYoUcFlZYAXqYKL9OpTp19cg7Gy1Ge4qCAu+EzLXAqOjkoGP1kKM6kb4TxsG3zdtXv0kLIsN1w0Udt8t6MfLWUKcpzSz526T48TQS07mwPyjmBGzuYYU8aCFXbV5Jsdpf9MjpOiq7LPkNeJWjEIGOisbyQZDMNxuAx6F0Q9GJI+TpLBL5aVoi5Ao1Dc2mkUVhg33KAUCtqA1RYqLq74DKYOal6AjZvl/lq645iM5qVxTyNdsqsZDS+sXRRuhp2C49ze1jryPm1aY/4+bqSuagQtbgrltaJY0u4YNJMGBKqFA1wY6XqlYs7d1tCdLHBLiG6PfBecvx1H4Tg6fTc8+tivY4O8Ittkl0TkgByRL+SETIggf7xtb+S98T3/tT/2w5uvvtfnvCT/hf/hL01GvXs=</latexit>
!56
8 Contínua
> 1
• A partir de <I(s) =
Ls + R
[E(s) Kc s⇥(s)]
> 1
:s⇥(s) = [Km I(s) ⌧l (s)]
Js + b <latexit sha1_base64="YIad2jfifm1C5IgzGNou/AK+EFM=">AAACf3icbVFda9RAFJ2kVmv82tZHX4YuxZa1SyJC9aFQFEGtD61028JOCJPJze7QySTM3BSWkL/hD/PN/+KDk22Qte2FgcM5c8/9SislLYbhb89fe7D+8NHG4+DJ02fPXww2t85tWRsBE1Gq0lym3IKSGiYoUcFlZYAXqYKL9OpTp19cg7Gy1Ge4qCAu+EzLXAqOjkoGP1kKM6kb4TxsG3zdtXv0kLIsN1w0Udt8t6MfLWUKcpzSz526T48TQS07mwPyjmBGzuYYU8aCFXbV5Jsdpf9MjpOiq7LPkNeJWjEIGOisbyQZDMNxuAx6F0Q9GJI+TpLBL5aVoi5Ao1Dc2mkUVhg33KAUCtqA1RYqLq74DKYOal6AjZvl/lq645iM5qVxTyNdsqsZDS+sXRRuhp2C49ze1jryPm1aY/4+bqSuagQtbgrltaJY0u4YNJMGBKqFA1wY6XqlYs7d1tCdLHBLiG6PfBecvx1H4Tg6fTc8+tivY4O8Ittkl0TkgByRL+SETIggf7xtb+S98T3/tT/2w5uvvtfnvCT/hf/hL01GvXs=</latexit>
obtemos o diagrama de blocos:
⌧l (s)
<latexit sha1_base64="3qFy/Z0U3PahrHf/8Kw4Iwg1DT4=">AAACBXicbVDLSgMxFM3UV62vUZe6CJZCRSgzIuiy6EbQRRX7gHYYMplMG5pkhiQjlKEbN/6KGxeKuPUf3Pk3pu0stHrgwuGce5N7T5AwqrTjfFmFhcWl5ZXiamltfWNzy97eaak4lZg0ccxi2QmQIowK0tRUM9JJJEE8YKQdDC8mfvueSEVjcadHCfE46gsaUYy0kXx7v9ILI4lwduXzcaauj27HpZ5Gqc+q6tC3y07NmQL+JW5OyiBHw7c/e2GMU06Exgwp1XWdRHsZkppiRszLqSIJwkPUJ11DBeJEedn0ijGsGCWEUSxNCQ2n6s+JDHGlRjwwnRzpgZr3JuJ/XjfV0ZmXUZGkmgg8+yhKGdQxnEQCQyoJ1mxkCMKSml0hHiATijbBlUwI7vzJf0nruOY6NffmpFw/z+Mogj1wAKrABaegDi5BAzQBBg/gCbyAV+vRerberPdZa8HKZ3bBL1gf30iQl8Y=</latexit>
E(s) 1 I(s) - 1 s⇥(s) 1 ⇥(s)

+ Km +
<latexit sha1_base64="1AQNT4Ouie63tO1CA8svk9ZVtSA=">AAACAHicbVDLSsNAFJ3UV42vqAsXboKlUBFKIoIuiyIIuqhiH9CGMJlM2qEzkzAzEUrIxl9x40IRt36GO//GaZuFVg9cOJxzL/feEySUSOU4X0ZpYXFpeaW8aq6tb2xuWds7bRmnAuEWimksugGUmBKOW4ooiruJwJAFFHeC0cXE7zxgIUnM79U4wR6DA04igqDSkm/tVfthJCDKrn2WZ/Lm6C43L2vy0LcqTt2Zwv5L3IJUQIGmb332wxilDHOFKJSy5zqJ8jIoFEEU52Y/lTiBaAQHuKcphwxLL5s+kNtVrYR2FAtdXNlT9edEBpmUYxboTgbVUM57E/E/r5eq6MzLCE9ShTmaLYpSaqvYnqRhh0RgpOhYE4gE0bfaaAh1HkpnZuoQ3PmX/5L2cd116u7tSaVxXsRRBvvgANSAC05BA1yBJmgBBHLwBF7Aq/FoPBtvxvustWQUM7vgF4yPbxUTlWg=</latexit> <latexit sha1_base64="S9ZMbCF24jATF9JZPCeV0hBqAJc=">AAAB63icbVBNS8NAEJ3Ur1q/qh69LBahXkoigh6LXvRWwX5AG8pmu2mX7m7C7kYooX/BiwdFvPqHvPlv3KQ5aOuDgcd7M8zMC2LOtHHdb6e0tr6xuVXeruzs7u0fVA+POjpKFKFtEvFI9QKsKWeStg0znPZiRbEIOO0G09vM7z5RpVkkH80spr7AY8lCRrDJpPu6Ph9Wa27DzYFWiVeQGhRoDatfg1FEEkGlIRxr3ffc2PgpVoYRTueVQaJpjMkUj2nfUokF1X6a3zpHZ1YZoTBStqRBufp7IsVC65kIbKfAZqKXvUz8z+snJrz2UybjxFBJFovChCMToexxNGKKEsNnlmCimL0VkQlWmBgbT8WG4C2/vEo6Fw3PbXgPl7XmTRFHGU7gFOrgwRU04Q5a0AYCE3iGV3hzhPPivDsfi9aSU8wcwx84nz84e42v</latexit> <latexit sha1_base64="W54sXJwzD7nw7zVF/BR7gokYsLo=">AAAB8XicbVBNS8NAEJ34WetX1aOXxSLUS0lE0GPRi8cK/cI2lM120y7dbMLuRCih/8KLB0W8+m+8+W/ctjlo64OBx3szzMwLEikMuu63s7a+sbm1Xdgp7u7tHxyWjo5bJk41400Wy1h3Amq4FIo3UaDknURzGgWSt4Px3cxvP3FtRKwaOEm4H9GhEqFgFK30aHqNEUdaMRf9UtmtunOQVeLlpAw56v3SV28QszTiCpmkxnQ9N0E/oxoFk3xa7KWGJ5SN6ZB3LVU04sbP5hdPyblVBiSMtS2FZK7+nshoZMwkCmxnRHFklr2Z+J/XTTG88TOhkhS5YotFYSoJxmT2PhkIzRnKiSWUaWFvJWxENWVoQyraELzll1dJ67LquVXv4apcu83jKMApnEEFPLiGGtxDHZrAQMEzvMKbY5wX5935WLSuOfnMCfyB8/kD6fmQZw==</latexit> <latexit sha1_base64="RrCG2uZKqJ2kQYcpTsAkEC8x8+k=">AAAB8HicbVBNS8NAEJ34WetX1aOXxSLUS0lE0GPRi8cK/ZI2lM120i7dTcLuRiihv8KLB0W8+nO8+W/ctjlo64OBx3szzMwLEsG1cd1vZ219Y3Nru7BT3N3bPzgsHR23dJwqhk0Wi1h1AqpR8AibhhuBnUQhlYHAdjC+m/ntJ1Sax1HDTBL0JR1GPOSMGis99hojNLSiL/qlslt15yCrxMtJGXLU+6Wv3iBmqcTIMEG17npuYvyMKsOZwGmxl2pMKBvTIXYtjahE7Wfzg6fk3CoDEsbKVmTIXP09kVGp9UQGtlNSM9LL3kz8z+umJrzxMx4lqcGILRaFqSAmJrPvyYArZEZMLKFMcXsrYSOqKDM2o6INwVt+eZW0LqueW/Uersq12zyOApzCGVTAg2uowT3UoQkMJDzDK7w5ynlx3p2PReuak8+cwB84nz8Sro/q</latexit>
- Js + b
<latexit sha1_base64="JJ3GU8VmgX8K65Lw6HP26FEvMzE=">AAACFnicbZBPS8MwGMbT+W/Of1WPXoJjIAxKK4J6EMbmweME6wZbGWmWbWFJW5JULKXfwotfxYsHFa/izW9ju1bQzRdCfjzP+5K8jxswKpVpfmmlpeWV1bXyemVjc2t7R9/du5V+KDCxsc980XWRJIx6xFZUMdINBEHcZaTjTluZ37kjQlLfu1FRQByOxh4dUYxUKg10ow5rsAn7AXfjMMnvKIEXsJXzfQLr8PLHrwz0qmmYs4KLYBVQBUW1B/pnf+jjkBNPYYak7FlmoJwYCUUxI0mlH0oSIDxFY9JL0UOcSCee7ZXAWqoM4cgX6fEUnKm/J2LEpYy4m3ZypCZy3svE/7xeqEZnTky9IFTEw/lDo5BB5cMsJDikgmDFohQQFjT9K8QTJBBWaZRZCNb8yotgHxvnhnV9Um00izTK4AAcgiNggVPQAFegDWyAwQN4Ai/gVXvUnrU37T1vLWnFzD74U9rHN3xenT0=</latexit>
<latexit
<latexit sha1_base64="JJ3GU8VmgX8K65Lw6HP26FEvMzE=">AAACFnicbZBPS8MwGMbT+W/Of1WPXoJjIAxKK4J6EMbmweME6wZbGWmWbWFJW5JULKXfwotfxYsHFa/izW9ju1bQzRdCfjzP+5K8jxswKpVpfmmlpeWV1bXyemVjc2t7R9/du5V+KDCxsc980XWRJIx6xFZUMdINBEHcZaTjTluZ37kjQlLfu1FRQByOxh4dUYxUKg10ow5rsAn7AXfjMMnvKIEXsJXzfQLr8PLHrwz0qmmYs4KLYBVQBUW1B/pnf+jjkBNPYYak7FlmoJwYCUUxI0mlH0oSIDxFY9JL0UOcSCee7ZXAWqoM4cgX6fEUnKm/J2LEpYy4m3ZypCZy3svE/7xeqEZnTky9IFTEw/lDo5BB5cMsJDikgmDFohQQFjT9K8QTJBBWaZRZCNb8yotgHxvnhnV9Um00izTK4AAcgiNggVPQAFegDWyAwQN4Ai/gVXvUnrU37T1vLWnFzD74U9rHN3xenT0=</latexit>
<latexit
Ls + R s
<latexit sha1_base64="GlSmSZqxC+oykK47SRqcyi73uXA=">AAAB6nicbVA9SwNBEJ2LXzF+RS1tFoNgFe5E0DJoI9hENCaQHGFvM5cs2d07dveEEPITbCwUsfUX2flv3CRXaOKDgcd7M8zMi1LBjfX9b6+wsrq2vlHcLG1t7+zulfcPHk2SaYYNlohEtyJqUHCFDcutwFaqkcpIYDMaXk/95hNqwxP1YEcphpL2FY85o9ZJ97dd2S1X/Ko/A1kmQU4qkKPeLX91egnLJCrLBDWmHfipDcdUW84ETkqdzGBK2ZD2se2oohJNOJ6dOiEnTumRONGulCUz9ffEmEpjRjJynZLagVn0puJ/Xjuz8WU45irNLCo2XxRngtiETP8mPa6RWTFyhDLN3a2EDaimzLp0Si6EYPHlZfJ4Vg38anB3Xqld5XEU4QiO4RQCuIAa3EAdGsCgD8/wCm+e8F68d+9j3lrw8plD+APv8wciEo2v</latexit>
<latexit sha1_base64="AVQn/UbsRfdeXWpnRr/RMmk9kuw=">AAAB83icbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0GPRi8cKthaaUDabTbt0swm7E6GE/g0vHhTx6p/x5r9x2+agrQ8GHu/NMDMvzKQw6LrfTmVtfWNzq7pd29nd2z+oHx51TZprxjsslanuhdRwKRTvoEDJe5nmNAklfwzHtzP/8YlrI1L1gJOMBwkdKhELRtFKvh/FmrLCmxZmOqg33KY7B1klXkkaUKI9qH/5UcryhCtkkhrT99wMg4JqFEzyac3PDc8oG9Mh71uqaMJNUMxvnpIzq0QkTrUthWSu/p4oaGLMJAltZ0JxZJa9mfif188xvg4KobIcuWKLRXEuCaZkFgCJhOYM5cQSyrSwtxI2ojYFtDHVbAje8surpHvR9Nymd3/ZaN2UcVThBE7hHDy4ghbcQRs6wCCDZ3iFNyd3Xpx352PRWnHKmWP4A+fzB1zgkeI=</latexit>
<latexit
<latexit sha1_base64="3y3LVvxxboNoCLIkcfToEqwcMik=">AAAB+HicbVBNS8NAEJ3Ur1o/GvXoZbEIglASKeix6EU8VbAf0Iay2WzapZtN2N0INeSXePGgiFd/ijf/jds2B219MPB4b4aZeX7CmdKO822V1tY3NrfK25Wd3b39qn1w2FFxKgltk5jHsudjRTkTtK2Z5rSXSIojn9OuP7mZ+d1HKhWLxYOeJtSL8EiwkBGsjTS0q4MglJhkbp7dqXM/H9o1p+7MgVaJW5AaFGgN7a9BEJM0okITjpXqu06ivQxLzQineWWQKppgMsEj2jdU4IgqL5sfnqNTowQojKUpodFc/T2R4UipaeSbzgjrsVr2ZuJ/Xj/V4ZWXMZGkmgqyWBSmHOkYzVJAAZOUaD41BBPJzK2IjLEJQpusKiYEd/nlVdK5qLtO3b1v1JrXRRxlOIYTOAMXLqEJt9CCNhBI4Rle4c16sl6sd+tj0Vqyipkj+APr8weYSZMI</latexit>
<latexit sha1_base64="FyOCPXkcC+4cuJ2wh+syu3x5A74=">AAAB+HicbVBNS8NAEJ3Ur1o/GvXoZbEIglASEfRY9OLBQxX7AW0om82mXbrZhN2NUEN+iRcPinj1p3jz37htc9DWBwOP92aYmecnnCntON9WaWV1bX2jvFnZ2t7Zrdp7+20Vp5LQFol5LLs+VpQzQVuaaU67iaQ48jnt+OPrqd95pFKxWDzoSUK9CA8FCxnB2kgDu9oPQolJ5ubZrTq9zwd2zak7M6Bl4hakBgWaA/urH8QkjajQhGOleq6TaC/DUjPCaV7pp4ommIzxkPYMFTiiystmh+fo2CgBCmNpSmg0U39PZDhSahL5pjPCeqQWvan4n9dLdXjpZUwkqaaCzBeFKUc6RtMUUMAkJZpPDMFEMnMrIiNsgtAmq4oJwV18eZm0z+quU3fvzmuNqyKOMhzCEZyACxfQgBtoQgsIpPAMr/BmPVkv1rv1MW8tWcXMAfyB9fkDgwmS+g==</latexit>
Kc
<latexit sha1_base64="ZswOmzl6AUw37jWNG6ug8uAUOcM=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0lEqMeiF8FLRfsBbSib7aRdutmE3Y1QQn+CFw+KePUXefPfuG1z0NYHA4/3ZpiZFySCa+O6305hbX1jc6u4XdrZ3ds/KB8etXScKoZNFotYdQKqUXCJTcONwE6ikEaBwHYwvpn57SdUmsfy0UwS9CM6lDzkjBorPdz1Wb9ccavuHGSVeDmpQI5Gv/zVG8QsjVAaJqjWXc9NjJ9RZTgTOC31Uo0JZWM6xK6lkkao/Wx+6pScWWVAwljZkobM1d8TGY20nkSB7YyoGellbyb+53VTE175GZdJalCyxaIwFcTEZPY3GXCFzIiJJZQpbm8lbEQVZcamU7IheMsvr5LWRdVzq979ZaV+ncdRhBM4hXPwoAZ1uIUGNIHBEJ7hFd4c4bw4787HorXg5DPH8AfO5w8S6o2l</latexit>
!57
Contínua
• Outra representação que podemos realizar é a de espaço
de estados 8
< di
L + Ri = e(t) Kc ✓˙
dt
:J ✓¨ + b✓˙ = K i ⌧
m l
<latexit sha1_base64="6iD82ctkd241NwilzmH1Ex1E7Go=">AAACWHicbVFdS+QwFE2rrmNXd0f3cV/CDgsu4tAugr4Ig74sqw+67KgwGUqa3s4E07Qkt8JQ+icFH/Sv+GJm7INfFwLnnnM/kpOkVNJiGN57/tLyyqfVzlrweX3jy9fu5taFLSojYCgKVZirhFtQUsMQJSq4Kg3wPFFwmVwfz/XLGzBWFvo/zkoY53yiZSYFR0fF3YIlMJG6Fm6GbYJTytLMcFGnsqlTbHb+yUPYxl+7J7FgaYEMp4CcMhb8ZanLaUvs0ISyF/khPYlzucuQV7EKGOi03RB3e2E/XAR9D6IW9EgbZ3H31s0VVQ4aheLWjqKwxHHNDUqhoAlYZaHk4ppPYOSg5jnYcb0wpqE/HZPSrDDuaKQL9mVHzXNrZ3niKnOOU/tWm5MfaaMKs4NxLXVZIWjxvCirFMWCzl2mqTQgUM0c4MJId1cqptwZi+4vAmdC9PbJ78HF734U9qPzvd7gqLWjQ76TH2SbRGSfDMgfckaGRJA78ugteyveg0/8VX/tudT32p5v5FX4W0+RhbKY</latexit>
Resolvem-se as equações
para as derivadas
da corrente e velocidade
8
> di R K c 1
< = i ✓˙ + e(t)
dt L L L
> b K m 1
:✓¨ = ✓˙ + i ⌧l
J J J
<latexit sha1_base64="3rzxht/AaI8TkMDmknbwB8E4oh8=">AAACpHicbVFdb9MwFHXC1yhfBR55MVSgoWlVgpDYy6RpPIBgDx3QbVJdIse5aa05TmTfTKqs/DL+BW/8G5zOgrJxJUvH55z74eu8UdJikvyK4hs3b92+s3V3cO/+g4ePho+fnNi6NQKmola1Ocu5BSU1TFGigrPGAK9yBaf5+fteP70AY2Wtv+GqgXnFF1qWUnD0VDb8wXJYSO2Er2G7AStKw4UrZOcK7Og+3aWB+tK5o07S3XD9nImeYEWNDJeAnO4EJe152MbXlDFfzxtocGxUyzv3qaNsQ9yhfypXa1H+dac9wZC3mRow0EWYNhuOknGyDnodpAGMSIhJNvzpO4q2Ao1CcWtnadLg3HGDUijwr28tNFyc8wXMPNS8Ajt36yV39KVnClrWxh+NdM1uZjheWbuqcu+sOC7tVa0n/6fNWiz35k7qpkXQ4rJR2SqKNe1/jBbSgEC18oALI/2sVCy53wv6fx34JaRXn3wdnLwZp8k4PX47OjgM69giz8gLsk1S8o4ckI9kQqZERM+jD9EkOo5fxUfx13h6aY2jkPOU/BPx9989lM9D</latexit>
!58
Contínua
8 2 3
> di R K c 1 ✓ 
< = i ✓˙ + e(t) e(t)
dt L L L Onde 4 ˙ 5
x = ✓ ,u =
> ¨ b ˙ Km 1 ⌧l (t)
:✓ = ✓+ i ⌧l i
J J J <latexit sha1_base64="ZZEeITGZjwsFRIvD/YoBES7858s=">AAACbnicbVFNSwMxEM2uX3X9qgoeFDFYhApSdkXQS0H04lHBqtAtJZtO29BsdklmxbL06B/05m/w4k8wrQta60DgzZt5k8lLlEph0PffHXdufmFxqbTsrayurW+UN7ceTJJpDg2eyEQ/RcyAFAoaKFDCU6qBxZGEx2hwPa4/PoM2IlH3OEyhFbOeEl3BGVqqXX4N0ziiL3UvjKAnVB7FDLV4GXmUhtgHZDQMx7iT4BQhvBBU56f9xJsMymidzk6CKh4Xc5BlbWnTaXm7XPFr/iToLAgKUCFF3LbLb3YjnsWgkEtmTDPwU2zlTKPgEkZemBlIGR+wHjQtVCwG08ondo3okWU6tJtoexTSCftbkbPYmGEc2U67X9/8rY3J/2rNDLsXrVyoNENQ/PuibiYpJnTsPe0IDRzl0ALGtbC7Ut5nmnG0P+RZE4K/T54FD6e1wK8Fd2eVy6vCjhLZI4ekSgJyTi7JDbklDcLJh7Pp7Dp7zqe74+67B9+trlNotslUuNUvDm63bQ==</latexit>
(
Especificar os coeficientes x = Ax
ẋ x + Buu
das matrizes para o espaço de estados
y = Cx x + Duu
2 3 2 3
2 ˙3 0 1 0 2 3 0 0
✓ 6 7 ✓ 
6 ✓¨ 7 60 b K m 7 4 ˙5 6 06 1 7 e(t)
4 5=6 7 ✓ + 7
di 4 J J 5 4 J 5 ⌧l (t)
Kc R i 1
dt 0 0
L L L <latexit sha1_base64="qSUwhGhBpwlv4b4I2k9Uj5y6Yqg=">AAADe3ichVJbi9QwFM60XtZ6m10fBQkO6ngbUlnRF2HRF3F9WMXZXZgOJU3TmbBpWpJTcSj9Ef413/wnvgimnS470y54IHC+71zyncOJcikMEPJ74LhXrl67vnPDu3nr9p27w929Y5MVmvEpy2SmTyNquBSKT0GA5Ke55jSNJD+Jzj7U8ZPvXBuRqW+wyvk8pQslEsEoWCrcHfwMIr4QqoxSClr8qDyMgzgDHMCSA8VB0BB9JtGUlbGoyhgq7AVcxRct3nn9pgQ/xr59ZN2ghi/bLlFVfqosbuFhmDZEL+8wZFX5udpgvta48/kl82wJ70wiOuXPew3IuepNLf65xAvcKCP/VcPH8LTVArQIpYXbNeFwRCakMdx3/NYZodaOwuEvOxUrUq6ASWrMzCc5zEuqQTDJrYbC8JyyM7rgM+sqmnIzL5vbqfAjy8Q4ybR9CnDDblaUNDVmlUY20+pbmm6sJi+LzQpI3s5LofICuGLrj5JCYshwfYg4FpozkCvrUKaF1YrZktpdgj1Xzy7B747cd45fTXwy8b/sjw7et+vYQffRQzRGPnqDDtBHdISmiA3+OA+cJ87Y+euO3Gfui3WqM2hr7qEtc1//AzIpEWE=</latexit>
!59
Contínua
• Também é possível separar os subsistemas elétrico e
mecânico
• É conveniente caso consideremos um subsistema me-

cânico mais complexo, por exemplo. A relação com o
sistema elétrico se dá pela velocidade angular do rotor
• Neste caso, para nosso caso temos

8 Subsistema Entradas Saídas
> di R K c 1
< = i ✓˙ + e(t)
dt L L L Elétrico
Tensão
Corrente
> b K m 1 Vel. angular
:✓¨ = ✓˙ + i ⌧l Corrente Posição e vel.
J J J
Mecânico
Torque (carga) angulares
!60
Contínua
8 Subsistema Entradas Saídas
> di R K c 1
< = i ✓˙ + e(t)
dt L L L Elétrico
Tensão
Corrente
> b K m 1 Vel. angular
:✓¨ = ✓˙ + i ⌧l
J J J Corrente Posição e vel.
Mecânico
Torque (carga) angulares
• Espaço de estados 1: subsistema elétrico

   
di R ⇥⇤ 1 Kc e(t)
= i +
<latexit sha1_base64="JUDZ3TeuAePs3qUYV2bmscuQnkU=">AAAC43ichVLPa9RAFJ5ErW207apHL4OL0lK6JEVoL0LRi6CHKm5b2CzbyeRld+hkEmZexCXk6sWDIl77T3nzX/HkZDf0R1LwQeDje9/3zZs3iXIpDPr+H8e9c/feyv3VNe/Bw/WNzd6jx8cmKzSHIc9kpk8jZkAKBUMUKOE018DSSMJJdP6m7p98Bm1Epj7hPIdxyqZKJIIztNSk9zeMYCpUGaUMtfhSeZSGcaIZL2NRlTFW1AtBxVf9V17Hsds4Plbl+6ol78aLlmKno2nigjqOvriMfzfhS+a/R8AWbtMwXNwlQxriDJC1XJ436fX9gb8o2gVBA/qkqaNJ77eN40UKCrlkxowCP8dxyTQKLsEOUhjIGT9nUxhZqFgKZlwu3qiizy0T0yTT9lNIF+x1R8lSY+ZpZJV2xJlp92rytt6owORgXAqVFwiKLw9KCkkxo/WD01ho4CjnFjCuhZ2V8hmzC0X7W9RLCNpX7oLjvUHgD4IPL/uHr5t1rJKn5BnZIgHZJ4fkLTkiQ8KdM+er89354YL7zf3p/lpKXafxPCE3yr34B5Th5/E=</latexit>
sha1_base64="mgtyaBlKCnDh8yN/olB/4mOn02A=">AAAC2HichVLPa9RAFJ5E+8NY69ZrL4NLpaV0Sby0l0LBi9AeqrjbwmZZJ5OX3aGTSZh5EZeQqxcPFfEv89Z/pScnu0FtIvhg4ON7733v10S5FAZ9/85xHz1eW9/YfOI93Xq2/by3szUyWaE5DHkmM30dMQNSKBiiQAnXuQaWRhKuops3tf/qE2gjMvUBFzlMUjZTIhGcoaWmvfswgplQZZQy1OJz5VEaxolmvIxFVcZYUS8EFf/xn3qdjKMm431VXlSt8K68aEUcdmIauaCWo69+y59P+Yr5bwnYxwMahstZMqQhzgFZK8vzpr2+P/CXRrsgaECfNHY57f20crxIQSGXzJhx4Oc4KZlGwSXYRgoDOeM3bAZjCxVLwUzK5Y0qumeZmCaZtk8hXbJ/Z5QsNWaRRjbStjg3bV9N/ss3LjA5mZRC5QWC4qtCSSEpZrQ+OI2FBo5yYQHjWtheKZ8zu1C036JeQtAeuQtGrweBPwje+WST7JKXZJ8E5JickbfkkgwJdz46X5xb55sL7lf3+2pdrtPs7QV5YO6PX5DF5qI=</latexit>
sha1_base64="XvrcnI2o9mLGVuLTBNnZ2XYS1To=">AAAC43ichVLPa9RAFJ7EH23Talc9ehlcWirikvTSXoSiF0EPq7jdwmZZJ5OX3aGTSZh5EZeQqxcPinj1n+rNf8WTk93QalLog8DH977vmzdvEuVSGPT934576/aduxubW972zr37u70HD09NVmgOI57JTJ9FzIAUCkYoUMJZroGlkYRxdP6q7o8/gTYiUx9wmcM0ZXMlEsEZWmrW+xNGMBeqjFKGWnyuPErDONGMl7Goyhgr6oWg4qv+C6/jeN443lfl26ol78aLluJZR9PEBXUc3b+MfzPja+bGI+AAn9IwXN0lQxriApC1XJ436/X9gb8q2gVBA/qkqeGsd2HjeJGCQi6ZMZPAz3FaMo2CS7CDFAZyxs/ZHCYWKpaCmZarN6ronmVimmTafgrpiv3XUbLUmGUaWaUdcWHavZq8rjcpMDmelkLlBYLi64OSQlLMaP3gNBYaOMqlBYxrYWelfMHsQtH+FvUSgvaVu+D0cBD4g+Cd3z952axjkzwmT8gBCcgROSGvyZCMCHc+Ol+cb853F9yv7g/351rqOo3nEfmv3F9/AZOh5+0=</latexit>
dt L L L ✓˙
• Espaço de estados
 " 2:# subsistema
" mecânico
#
✓˙ 0 1 ✓ 0 0  i(t)
= b ˙✓ + K m 1
✓¨ 0 ⌧l (t)
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J !61
J J
Contínua
Exercício de simulação computacional:
Implementar computacionalmente através do Simulink o modelo de motor •

CC obtido nas representações: (i) diagrama de blocos, (ii) espaço de
estados (completo) e (ii) espaço de estados (subsistemas). Utilizar os
parâmetros:
R = 1 ⌦, L = 0.5 H, J = 50 kg.m2 , b = 25 N.m.s, Km = 2 N.m/A, Kc = 5 V.s/rad
<latexit sha1_base64="pFEoq2Di9qcVVAg9odWL8LMZD1Q=">AAACVnicbVFdT9swFHUCDCj7yOCRF4tqEg9RSCrQ9hIJthfEELBpLUhNVznubbFqJ5F9M62K8ifhBX7KXqa5H0J87EqWzj3nXF37OC2kMBiG9467tLzyanVtvbHx+s3bd977zY7JS82hzXOZ66uUGZAigzYKlHBVaGAqlXCZjr9M9ctfoI3Isx84KaCn2CgTQ8EZWqrvqe9xlPjJuYIR80/jMDiwHcJvrI5r/yQ+CBOfzvvxKFD1z5afxq0Hz1mgAlP7X/sqbj3i9o6mHI8ffJ3A7Gk2qPteMwzCWdGXIFqAJlnURd+7SQY5LxVkyCUzphuFBfYqplFwCXUjKQ0UjI/ZCLoWZkyB6VWzWGr6wTIDOsy1PRnSGft4omLKmIlKrVMxvDbPtSn5P61b4vBTrxJZUSJkfL5oWEqKOZ1mTAdCA0c5sYBxLexdKb9mmnG0P9GwIUTPn/wSdFpBFAbRt/3m4edFHGtkm+yQXRKRj+SQHJML0iac3JI/jussOXfOX3fFXZ1bXWcxs0WelOv9A0T9sDg=</latexit>
• Use como entrada um degrau de 10 V em 5 s, filtrado com uma constante

de tempo unitária, e simule por 100 s, com um step de carga de 10 N.m
em 30 s. Analise as saídas (corrente, posição e velocidade angulares).
• Aplique uma onda quadrada com amplitude 5 V e frequência de 0.05 Hz

para uma carga constante de 10 N.m.
Compare a resposta para Kc = 5 V.s/rad e Kc = 10 V.s/rad . Utilize
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bibliotecas do Simulink para implementar os modelos.
!62
Exercício Computacional
• Seja o servomecanismo hidráulico de atuação
eletromecânica ilustrado abaixo constituído por: (i) um
motor de corrente contínua, (ii) uma válvula carretel e (iii)
um atuador hidráulico
!63
• Foquemos na modelagem do conjunto motor CC e
carretel, descrito abaixo
• Criar o modelo do sistema acima, considerando:
• Entrada: tensão no circuito [e(t)]
• Saída: posição do carretel [x2(t)]
!64
• Faça:
• Obtenha uma representação matemática do sistema de

sua preferência;
• Implemente o modelo utilizando o Simulink;
• Simule o sistema a uma entrada e(t) = 10sin(2*pi*t) por

10s
• Interprete as variáveis de estado do sistema. Elas se

comportam como esperado?
!65
• Use os seguintes parâmetros:
• Rigidez do elo: k = 1.5e2 N/m
• Momento de inércia do pinhão: 1e-1 kg.m²
!66
Leitura recomendada
Livro Close, cap. 6
Livro Guru & Hiziroglu, cap. 6 (motores)
Livro Kluever, cap. 3
Livro Palm, cap. 6
!67
Referências para
construção deste material
Close, C. M., Frederick, D. K., Newell, J. C. "Modeling and Analysis
of Dynamic Systems", 3rd Edition, John Wiley & Sons, New York,
USA, 2013.
Guru, B. S., Hiziroglu, H. R. “Electric machinery and transformers”,

vol. 726, Oxford University Press, New York, USA, 2001.
Kluever, C.A., “Dynamic Systems: Modeling, Simulation, and

Control”, John Wiley & Sons, 2015.
Ogata, K. “Modern control engineering”, 4th ed., Prentice hall, 2002.
Palm III, W., “System Dynamics”, McGraw Hill, 3rd Ed., New York,
NY, 2014.
!68

MSD23-2 - Aula 12 - Elementos Elétricos e Eletromecânicos

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MSD23-2 - Aula 12 - Elementos Elétricos e Eletromecânicos

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Parte 2b: Modelagem de Sistemas

Pontifícia Universidade Católica do Rio de Janeiro

Prof. Dr. Helon Vicente Hultmann Ayala

Sistemas Elétricos e Eletromecânicos

- Variáveis, Elementos, Interconexões, Obtenção do

e , tensão em volts [V]

i , corrente em amperes [A]

q , carga em coulombs [C]

• As tensões acima se relacionam através de

• Passivos: não são capazes de gerar energia, apenas a

• Resistores, capacitores e indutores

• Ativos: inserem energia e servem como entradas do

• Fontes de corrente ou tensão

• O resistor e suas variáveis são representados como:

onde C é a capacitância em farads [F]

• Derivando a equação acima, temos

• O capacitor e suas variáveis são descritos como:

!9 (CLOSE, FREDERICK, NEWELL, 2002)

• A expressão da corrente em função da tensão pode ser

!10 (CLOSE, FREDERICK, NEWELL, 2002)

!11 (CLOSE, FREDERICK, NEWELL, 2002)

• Fonte de corrente: causa o fluxo

!12 (CLOSE, FREDERICK, NEWELL, 2002)

• Lei de Kirchhoﬀ das Tensões

• Lei de Kirchhoﬀ das Correntes

!14 (CLOSE, FREDERICK, NEWELL, 2002)

• Assume-se por definição que correntes saindo do nó são

!15 (CLOSE, FREDERICK, NEWELL, 2002)

!17 (CLOSE, FREDERICK, NEWELL, 2002)

!18 (CLOSE, FREDERICK, NEWELL, 2002)

Cm⇥n Matriz de saída

variáveis de estado as variáveis relacionadas a dissipação

• A escolha das tensões nos capacitores e correntes nos

!21 (CLOSE, FREDERICK, NEWELL, 2002)

pois na 1a equação teremos uma equação que é função do estado.

!22 (CLOSE, FREDERICK, NEWELL, 2002)

• Para preservar eC no equacionamento, não usamos eA e

!23 (CLOSE, FREDERICK, NEWELL, 2002)

82 3 " #" # " #

82 3 " #" # " #

!25 (CLOSE, FREDERICK, NEWELL, 2002)

82 3 " #" # " #

!26 (CLOSE, FREDERICK, NEWELL, 2002)

e a função de transferência (com o MATLAB) que

!28 (CLOSE, FREDERICK, NEWELL, 2002)

• É possível obter modelos de sistemas elétricos

• Relação linear de tensão/corrente nos elementos

• Condições iniciais nulas

onde E(s) e I(s) são as transformadas de Laplace da

• Para os elementos resistência, indutor e capacitor

• Para ver isto, basta somar as definições das impedâncias para

Ei Z2 Eo Ei 1/Zt = 1/Z1 + 1/Z2 + 1/Z3 Eo

• Podemos descrever seu equacionamento:

• O que nos leva a uma função de transferência:

Agora obteremos o mesmo resultado pelo método da

• Usando a definição de impedância complexa temos

que é o mesmo resultado obtido anteriormente com a Lei

• Atuadores eletromecânicos são utilizados para

• Exemplos frequentes: motores elétricos e solenóides

• Sensores também são exemplos de sistemas

• Três relações básicas entre corrente elétrica e magnetismo

1.A existência de uma corrente gera um campo magnético

2.Um fio condutor com corrente em um campo magnético tem

• Simule o sistema a uma entrada e(t) = 10sin(2pit) por