Académique Documents
Professionnel Documents
Culture Documents
Institucin:
Facultad:
Mecnica
Escuela:
Ingeniera Automotriz
Carrera:
Ingeniera Automotriz
rea acadmica:
CONTROL AUTOMATICO
Asignatura:
CONTROL AUTOMATICO
CONTROL AUTOMATICO
Ejercicio 1
t<0)
= 15
100 + 20 + 0,5
=0
100 = 20 + 0,5
200 40 =
200 400
=
0
ln(200 400)
40
40 =
200 40
200 40
200 40
200 40
(200 40 ) 40 = 200 40
200 40 40
200
40
40
40
= 5 (5 ) 40
= 5 (20) 40
= 1 + 2 + 3
+
+
2
= 2
TRANSFORMADA DE LA PLACE
132 = 5
+ 30 (1 2 )
0= 6
+ 122 + 30 (1 2 )
132 = 5
+ 30 1 302
0= 6
+ 421 301 )
301 = 6
+ 422
51 = 1
+ 72
132 =
12
5
=
2 2
2
2 2
+ 6
+ 72 + 12 + 422 302
{132} = {
12
} + {132 } + {122 }
132
= 2 2 () + 132 + 122 ()
132
= 2 ()( 2 13 + 12)
2 () =
2 () =
( 2
132
+ 13 + 12)
132
= +
+
( + 12)( + 1) + 12 + 1
+ + = 0
13 + + 12 = 0
12 = 132
=
132
12
= 1
= 12
1
12
11
+
+ 12 + 1
1 { 2 ()} = 1 {
11
1
12
} + 1 {
} 1 {
}
+ 12
+ 1
2 () = 11 + 12 12
< 0)
0 =
50(20)
= 20
50
> 0)
= +
5 = +
(S)
+ 0.01
12
500 = 8.33 +
{500} = 8.33{ } +
500
= 8.33()+() 20
500
+ 20 =V(s) (8.33+s)
() =
500+20
() = +
(8.33+)
+8.33
A+B=20
8.33A=500
A=
500
8.33
= 60.02
B=20-60.02=-40.02
() =
60.02
40.02
+8.33
1 {()} = 1 {
60.02
} - 1 {
40.02
+8.33
El interruptor del circuito mostrado en la figura a permanecido durante mucho tiempo se abre
t=0 encuentre Vc(t) para todo t0.
12 + + 50 = 0
12 = 60
0 = 2
< 0
> 0
12(5)
= 10
6
= + +
12 = 1 + 0.5
1
+
2
{12} = {} + {0,5
} + {2 }
1 ()
1
1
12
= () + 0,5[(() 2)] +
+
2
2
1
10
1
12
+1
= () 1 + +
2
() =
() =
2+
1
2
1
2
(1+ + )
2+
2+2 +1
(
)
2
4
2
+
2
( + 1)
( + 1)2
1 {()} = 1 {{
4
2
} + 1 {
}
2
( + 1)
( + 1)2
() = 4 + 2 2
() = 2 + 2
CONTROL
actuador
planta
sensor
lavado
enjuague
secado
Horno
T deseada
T horno
CPU
Rele
Horno
sensor
Ley de Kirchopt
Vi=Ri+0
1
0 =
() = () + 0 ()
0 () =
()
FRECUENCIA (S)
TIEMPO (t)
0
=
0 =
() =
()0 ()
= +
= +
= ( 1)
=
Impedancia de entrada
=
( + 1)
2
=
+
= +
+ + =
2
+ +
= 2
2
= +
+ + =
2
+ +
= 2
Caso 1
2
= +
L.V.K
= +
+ 2 +
=
2
= +
+ 2
vi
1/c
L
R
F
K
m
b
Caso 2
L.V.K
Flujo
=
= + +
+
+
=
+ +
Ejercicio
+
+
2
= +
2
2 /
=
2
= +
+ 2
2
2
/+ /
+
+
/ ()/
=
L-v-K
= +
= +
= .
(1 2)
=
= .
2
= 2
+ (1 2) + ( + ) 2
2 (1 2)
=
MODELO ELECTROMECANICO
Anlisis elctrico
= +
Anlisis electromecnico
=
Anlisis mecnico
= ( + )
2
= ( + ) 2
2 + +
=
+
2
= .
= .
=
2
2
= .
= + .
2
2
2
2
= +
= 1.
= .
= .
= .
=
=
2
+ 2
= 2.
ANALOGIA
= .
f-fk-fb= .
f-kx-bx=mx
f=kx-bx+mx
V-F) fuerza voltaje
= +
=
1
+
2 1
+ 2 +
1
= + " +
= + +
1
+
+
1
2 1
+ 2 +
1)
2)
3)
= 2 1 +
=
1 +
2 +
= 1(1 2)
1
1
+ " +
1 =
= 1 1 1 2
1)
1)
= +
2) =
1 +
2 +
2
1
3) =
= .
= .
=
2
2
= .
2
2
= + .
2
2
= +
= 1.
= .
= .
= .
2
+ 2
= 2.
= +
= ( + )
2
2
2
=
( + )
2
FUNCIONES DE TRANFERENCIA
() =
= +
=
() = () + ()
() =
()
()
()
1
()
=
() 1 +
= 1 +
= 2 +
)
1
+
1
1
+
2
() = 1() +
() = 2() +
()
+ ()
1
()
2
() = () 2 +
() =
()2
22 + 1
()2
()2
+
+ ()
() = 1
1(22 + 1)
22 + 1
1(2 + 1)
()
=
() 2(11 + 1) + 1(22 + 1)
= 11 + +
= 22 +
1
1
1 2
2
1
= +
S)
1
2
2
() = 11() +
() = 22() +
() =
() =
1() 2()
1
2
2()
2
() = ()
22() + () =
22() + () +
2() 2 +
1() 2()
1
2
2() 1()
=
2
1
1
1()
+ () =
2
1
() = 11() + 22() + ()
() = 1[12 2 (2 + 1) + 1]() + ()22 + ()
=
2
() 122 + 112 2 + 11 + 22 + 1
t)
= +
= 1
1
+
= 2
2
+
= 1(1 2) = 11 12
= 22
S)
() = 11() +
() = 22() + ()
() = 11() + 12()
() = 22()
2() =
()
2
() = ()
()
(2 + 1) + () = 11()
2
2 + 1 + 2
= 1()
()
21
() = 11() + 22() + ()
() = 1
2 + 1 + 2
() + 22() + ()
21
12
()
=
2
() 2 2 + 1 + 12 + 12 + 21
AMPLIFICADORES OPERACIONALES
1 = + 2
( )
=
+
2
1
2
1
()
()
= ()
2
1
1
()
= ()
2
1
1. 2
()
=
2. + 1
()
IMPEDANCIA
I1=I2
=
1
2
=
2
1
2
()
=
1
()
1 = 1 +
1
1
1 =
11 + 1
1
2 =
2
22 + 1
1
2
2
2
2 =
=
22 + 1
1
2 +
1
1
2
2
()
=
1
()
2
()
22
+1
=
11 + 1
()
1
21
()
=
(22 + 1)(11 + 1)
()
I1=I2
=
2
1
=
2
1
2
()
=
1
()
1 = 1 +
1
1
2 = 2 +
1
2
1 =
11 + 1
1
2 =
22 + 1
2
2
()
=
1
()
22 + 1
()
2
=
11 + 1
()
1
I1=I2
=
1
2
=
2
1
2
()
=
1
()
1
1
1
1
=
1 =
1
1
1 +
1 1
1
1 =
2 =
1
11 + 1
1
+ 2
2
1 + 22
1
2
()
=
1
()
()
=
()
1 + 22
1
1
11 + 1
i1=i2
=
1
1
=
=
() = 2() ()
1
3 +
1
() =
3()
+ ()
= 32
() = 3()2
3() =
() =
()
2
()
+ ()
2
() = ()
1
+ 1
2
()(2)
1 + 2
()(2)
()
1 + 2
() = 2
()
1 2
=
()
1 + 2
1 = 1 +
1 =
2 =
11 + 1
1
23 + 1
3
3 = 2
4 = 2 +
4 = 2 +
4 =
1
1
1
2
1
2
22 + 1
2
I1=I2
()4
3 + 4
() () () ()
=
4
1
() 4
(2 1) = 1()
3 + 4
() 2
4(2 1)
= 1()
3 + 4
() 2(3 4) 4(2 + 1)
=
()
1(3 + 4)
() 2(3 4) 4(2 + 1)
=
1(3 + 4)
()
1 14 24
()
=
() 1 (3 + 4)
1. 4 =
1. 3 =
(11 + 1)(22 + 1)
12 2
(33 + 1). 2
3
3 + 4 = 2 +
3 + 4 =
22 + 1
2
222 + 1
2
1
1
1
=
=
11
+
1
11 + 1
1
1
1
()
=
() 11 + 1
3
2 2
2(2 + 1)
2
3(222 + 2)(11 + 1)
() 11 + 1
DIAGRAMA DE BLOQUES
En el tiempo
frecuencia
= +
() = () + ()
() =
() =
()()
()
()
=
=
+
()
+
(t)
(s)
= + +
= +
= [ ]
=
=
+ +
+
+
TIEMPO
FRECUENCIA
= +
= +
=
= +
= +
()
()
( + )
=
(
( + ) + ()
+
( + )
= +
=
=
=
() = () + () + ()
= () = ()
= ()
= ()
() =
() () ()
( + )( + )
=
=
( + )( + ) +
+
( + )( + )
(t)
= +
(s)
() = () + () + ()
2
= 2
= 1
= 2
= ( + )
m= M+m
2
2
= ( + ) 2
= 1
= 2
( + ) +
=
=
( + ) + +
+
( + ) +
( + )[( + ) + + ]
=
+
( + )[( + ) + + ]
=
( + )[( + ) + + ] +
= +
() = () + ()
() =
() ()
() = () + ()
() =
() =
()
()
()
(
[ + ) + ]
=
+
+
(
[ + ) + ]
=
[ ( + ) + ] + +
()
( + ) +
=
() +
( + ) +
()
=
()
( + )
+
( + )
+
( + )
()
( + )
=
() ( + ) + ( + )
()
=
()
( + )
( + ) + ( + )
( + )
+
( + ) + ( + )
=
+ ( + )
+
+ ( + )
( + )
+
[ + ( + )]
+
=
[ + ( + )] + ( + )
[ + ( + )] + ( + )
=
+
+
[ + ( + )] + ( + )
+
=
[ + ( + )] + ( + ) + +
= ()
= + +
= +
Ejemplo:
Donde:
Td= trayectorias directas
c=cofactor
= 1 (1 + 2 + 3 + ) + (1 2) + ( . . . )
1 = 1 2 3
1 = 1
2 = 1 2 1
3 = 2 3 2
= 1 (1 + 2 + 3)
()
=
()
()
1 2 3
=
() + 1 2 3 + 1 2 1 + 2 3 2
1 = 1 2 4
2 = 1 3 4
1 = 1
2 = 1
1 = 1 2 4
2 = 1 2 2
3 = 1 4
4 = 1 3 4
2 3 = 1 2 2 1 4
() +
=
()
()
1 2 4 + 1 3 4
=
() + 1 2 4 + 1 2 2 + 1 4 + 1 3 4 + 1 2 2 1 4
1 = 1 2 3
2 = 1 4
1 = 1
2 = 1
1 = 1 2 3
2 = 1 2 1
3 = 2 3 2
4 = 1 4
() +
=
()
()
1 2 3 + 1 4
=
() + 1 2 3 + 1 2 1 + 2 3 2 + 1 4
1 = 1 2
2 = 1 3
1 = 1
2 = 1
1 = 1 2 1
2 = 2 2
3 = 1 2 3 2 1
() +
=
()
()
1 2 + 1 3
=
() + 1 2 1 + 2 2 + 1 2 3 2 1
1 = 1 2 3 4 5 6
1 = 1
3 = 1 2 3 4 8
3 = 1
2 = 1 2 7 6
2 = 1 + 1 = 1 + 4 4
1 = 4 4
1 4 = 4 4 2 7 2
3 = 2 3 4 5 2
5 4 = 8 1 2 7 2
2 = 5 6 1
4 = 2 7 2
1 7 = 4 4 1 2 7 6 3
5 = 8 1
6 = 1 2 3 4 5 6 3
7 = 1 2 7 6 3
8 = 1 2 3 4 8 3
()
1 2 3 4 5 6 + 1 2 7 6 + (1 + 4 4 ) + 1 2 3 4 8
=
() + 4 4 + 5 6 1 + 2 3 4 5 2 + 2 7 2 + 8 1 + 1 2 3 4 5 6 3
1 2 7 6 3 + 1 2 3 4 8 3 + 4 4 2 7 2 + 4 4 1 2 7 6 3 + 8 1 2 7 2
1 = 1 2 3
1 = 1
1 = 1 2 3 1
2 = 1 2 3
3 = 2 3 2
()
=
() ( + + )
()
1 2 3
=
() + 1 2 3 1 + 1 2 3 + 2 3 2
1 = 1 2 3 4 5
1 = 1
3 = 1 2 7
3 = 1 2 = 1 + 4 1
2 = 1 4 5 6
1 = 2 3 4 5 2
2 = 4 1
3 = 4 5 6 2
2 = 1
2 4 = 4 1 2 7 2
= 1 (1 + 2 + 3 + 4) + (24)
() + +
=
()
() 1 2 3 4 5 + 1 4 5 6 + (1 2 7 )(1 + 4 1 )
=
() + 2 3 4 5 2 + 4 1 + 4 5 6 2 + 2 7 2
Otro mtodo
Trayectorias
1 = 1 2 3 4 5
2 = 1 4 5 6
3 = 1 2 7
Lazos
2 = 4 1
1 = 2 3 4 5 2
4 = 2 7 2
3 = 4 5 6 2
() 1 2 3 4 5 + 1 4 5 6 + (1 2 7 )(1 + 4 1 )
=
() + 2 3 4 5 2 + 4 1 + 4 5 6 2 + 2 7 2
Caractersticas de un sistema retroalimentados
Estabilidad
2 + 3 + 2 = 0
( + 2)( + 1) = 0
= 2
= 1
El sistema es estable
2 + 2 = 0
( + 2)( 1) = 0
= 2
= 1
El sistema es inestable
Ejemplo
()
( + )( + )
=
=
() +
( + )( + ) +
( + )( + )
()
() + + +
S1= -2.6717
S2= -0.1642 + 1.0469i
S3= -0.1642 - 1.0469i
+ + + =
()
( + )( + )
=
=
() +
( + )( + ) +
( + )( + )
()
() + + +
S1= -3.0867
S2= 0.0434 + 1.5053i
S3= 0.0434 - 1.5053i
+ + + =
B
K
m
5Nseg/m
8N/m
0,5kg
+ + =
= 2
+ +
2
= +
2
() = () + () + 2 ()
() = ()( + + 2 )
1
()
=
() ( + + 2 )
1
()
=
() (0,5 2 + 5 + 8)
1
()
= 2
() ( + 10 + 16)
2 + 10 + 16 = 0
+ 8)( + 2) = 0
1 = 8
2 = 2
1
=
2
+ + 1
2 +
2 + + 1 = 0
1
+
=0
=>
2 + 2 + 2 = 0
2 + 2 + 2 = 0
2 + 2 + 1 = 0
2 =
1 2
2
=
2
2
Oscilante = 0
Sub amortiguado
0 < < 1
Crticamente amortiguado = 1
Sobre amortiguado = 1
= 0
0 < < 1
= 1
> 1
SISTEMA
0 + 1 1 + . 1 +
C(s)
R(s)
0 + 1 1 + . +1 +
jw
P(s) = 0 + 1 1 + . +1 + = 0
Polos:
1
1
2
2
5
0
1 =
2 =
1 2 0 3
1
1 4 0 5
1
1=
2 =
1 3 1 2
1
1 5 1 (0)
1
2 = 5
Verificar cul de las los siguientes sistemas es estable o inestable dado su polinomio
caracterstico.
1) P(s) = 3 + 6 2 + 11 + 6
3
11
6
1 : 10 2 : 0
0 3 : 6
Si es estable
2) P(s) = 3 + 4 2 + + 16
1 =
(6)(11)6
6
66 6
1 =
6
1 = 10
2 =
(6)(0)1
3 =
(10)(6)6(0)
2 = 0
3 = 6
10
(4)(1)1(16)
1 = 3
16
16
1 =
2 =
4(0)1(0)
2 = 0
3 =
(3)(16)4(0)
3
3 = 16
P(s) = 4 + 2 3 + 3 2 + 4 + 5 = 0
1 =
Sistema Inestable
2(3) 1(4)
=1
2
2 =
3 =
4 =
2(5)1(0)
2
1(4)2(5)
1
=5
= 6
(6)51(0)
6
=5
En el sistema mostrado en la fig. Determinar el rango de los valores que debe tomar el
valor de k para garantizar la estabilidad del sistema.
( 2
+ + 1)( + 2)
()
( 2 + + 1)( + 2)
=
=
2
( + + 1)( + 2) +
() 1 +
( 2 + + 1)( + 2)
( 2 + + 1)( + 2) +
R(s) =
= ( 3 + 2 + )( + 2) +
= 4 + 3 + 2 + 2 3 + 2 2 + 2 +
= 4 + 3 3 + 3 2 + 2 +
4
2 1 =
1 3 =
7
3
29
0 5 =
i.
ii.
2 =
1 =
7
3
2 =
3 = 2
3 = 0
4 = 0
5 =
2 > 0
7
> 0 [ 0; + ]
9
2 > 0
9
> 2
7
<
R (s)
0<k<
14
9
14
K(s+2)
(s+3)( 2 + 2 + 2)
C (s)
14
9
()
()
(+2)
(+3)(2 +2+2)
(+2)
1+
(+3)(2 +2+2)
= (+3)(2
() = ( + 3)( 2 + 2 + 2) + ( + 2)
(+2)
+2+2)+(+2)
= 3 + 2 2 + 2 + 3 2 + 6 + 6 + + 2
= 3 + 5 2 + (8 + ) + (2 + 6)
3
2
(8+k)
(6+2k)
34+3
6+2k
34+3
5
>0
6+2k> 0
34 + 3 > 0
3k=-34
K=
2k=-6
k=-3
34
3
< <
4 + 3 + 2 + 2 + = 0
4
2
0
2-k
k
2-k> 0
-k> 2
k< 2
sistema estable
k> 0; ]0; [
3 + 2 2 + 5 + 2 = 0
1
1
3
2
2
2
1
0
2
> 0
5 + 4 + 2 3 + 2 2 + 3 + 15 = 0
5
1
2
inestable
4
1
2
3
-12
2+12
> 0
12
2 + 12
=2+
= 2 + = +
0
0
lim
15 2 24 144
144
=
= 12
12
2 + 12
lim
15
0
2+12
sistema
15
15 2 24144
5 + 2 4 + 2 3 + 4 2 + 11 + 10 = 0
5
1
2
inestable
4
2
4
3
412
10
sistema
10
0
> 0
10
10 2 +2472
11
412
12
4 12
=4
=
0
0
lim
10 2 + 24 72
72
=
=6
12
4 12
lim
P(s)
4 + 2 3 + 7 2 + 4 + 10 = 0
10
2
0
10
10
0
10
P(s)= 5 2 + 10
[() ]
= 10
5 2 + 10 = 0
2 =
10
5
2 = 2
= 2
5 + 2 4 + 24 3 + 48 2 25 50 = 0
5
P(s)
24
24 50
48
96
1 112,7
0 50
5
[ ()]
50
= 8 3 + 96
Inestable
2 5 + 12 4 + 3 + 6 2 + 3 + 18 = 0
1
12
18
() = 2 4 + 48 2 50
25
48 12
P(s)= 12 4 + 6 2 + 18
[ () ]
18
1 276 0
0 18
= 48 3 + 12
Inestable
( + 1)( + 2)
C(s)
( + 1)( + 2)
= 3
+ 3 2 + 2 +
1+
( + 1)( + 2)
3 + 3 2 + 2 + = 0
3
6
3
>0
K>0
k > 0: [0;+ ]
0<k<6
6
3
6-k >0
-k > -6
K<6
0
Estable
R(s)
10
( 1)(2 + 3)
C(s)
10
10
( 1)(2 + 3)
= 3
2
10
2 + 3 + 10
1+
( 1)(2 + 3)
2 3 + 2 3 + 10 = 0
3
2
1 23
0
10
0
10
Inestable
LUGAR GEOMTRICO
Nos permite observar cual es el comportamiento
( + 7)
G(s)=
(+7)
() = 1
(+7)
( + 7) = 0
S1=0
S2=-7
()
( + 7)
=
=
() 1 +
( + 7) +
( + 7)
2 + 7 + = 0
1,2 =
K
1
5
10
20
37.25
48.25
76.25
93.25
112.25
Ecuacion caracteristica
7 72 4
2
-0.10
-0.80
-2
-3.5+2.8j
-3.5+5j
-3.5+6j
-3.5+8j
-3.5+9j
-3.5+10j
-6.89
-6.19
-5
-3.5-2.8j
-3.5-2.8j
-3.5-2.8j
-3.5-2.8j
-3.5-2.8j
-3.5-2.8j
()() = 1
|()()| = |1| = 1
K 0,1,2,3 .
1 + 2 = 180
=1
1 2
112.25
=1
10.59 10.59
2 = tan1
10
= 70.7
3.5
1) Polos y ceros
( + 1)( + 2)
()= 1
()() =
( + 1)( + 2)
() =
( + 1)( + 2) = 0
1 =0
2) Numero de ramas
= # #
= 3 0
= 3
3) Ubicacin de centroide
0 =
(0 1 2) 0
0 =
3
0 = 1
4) Angulo de ramas
180 (2(0) + 1)
0 =
= 60
3
180 (2(1) + 1)
1 =
= 180
3
180 (2(2) + 1)
2 =
= 300
3
5) Punto de quiebre
()
=
() ( + 1)( + 2) +
()
= 3
() + 3 2 + 2 +
3 + 3 2 + 2 + = 0
= 3 3 2 2
= 3 2 6 2
2
2 + + = 0
3
2
2 + 2 + 1 = + 1
3
1
( + 1)2 =
3
S+1 =
1
3
1 = 0.42
2 = 1.57
6) Corte (jw)
1) Polos y ceros
( + 4)( 2 + 8 + 32)
2
( + 4)( + 8 + 32)
()() =
1 =0
2 =-4
3 = 4 + 4
4 = 4 4
2) Numero de ramas
= # #
= 4 0
= 4
3) Ubicacin de centroide
0 =
(0 4 4 4) 0
0 =
4
0 = 3
4) Angulo de ramas
180 (2(0) + 1)
0 =
= 45
4
180 (2(1) + 1)
1 =
= 135
4
180 (2(2) + 1)
2 =
= 225
4
180 (2(3) + 1)
3 =
= 315
4
5) Punto de quiebre
()
=1+
=0
2
()
( + 4)( + 8 + 32)
= 4 3 36 2 128 128
3 9 2 32 32
1 =-1.58
2 =-3.71+2.55j
3 = 3.71 + 2.55
6) Corte (jw)
4 + 12 3 + 64 2 + 128 + = 0
7) Real
4 -64 2 + = 0
K= 64 2 4
K=568.88
imaginario
12 3 + 128 = 0
12 3 = 128
=
128
12
1 = 3.26
2 = 3.26
1) Polos y ceros
( + 1)
( + 2)( + 3)
zeros
( + 2)( + 3)
( + 1)
1 =0
1 =-1
2 =-2
3 = 3
()() =
2) Numero de ramas
= # #
= 3 0
= 2
3) Ubicacin de centroide
0 =
(0 2 3) (1)
0 =
2
0 = 2
4) Angulo de ramas
180 (2(0) + 1)
0 =
= 90
2
180 (2(1) + 1)
1 =
= 270
2
5) Punto de quiebre
()
( + 1)
=1+
=0
()
( + 2)( + 3)
( + 2)( + 3) + ( + 1)
=
( + 2)( + 3)
( + 2)( + 3) + ( + 1) = 0
( + 1)( 3 5 2 + 6) ( 3 5 2 + 6)( + 1)
=
=0
( + 1)2
= ( + 1)(3 2 + 10 + 6) ( 3 5 2 + 6) = 0
K= 3 + 4 2 + 5 + 3 = 0
1 =-2.46
2 =-0.76+0.79j
3 = 0.76 0.79j