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INTRODUCCION
DATOS PREVIOS
21.8
GP ( s ) =
s + 28.9 s + 21.5
2
nc=[21.8];
dc=[1 28.9 21.5];
[A,B,C,D]=tf2ss(nc,dc);
sysc=ss(A,B,C,D)
step(sysc)
title('Respuesta en Lazo Abierto - Tiempo Continuo')
−28.9 −21.5
A=
1 0
1
B=
0
C = [ 0 21.8]
D=0
M=ctrb(A,B)
1 −28.9
M =
0 1
Mp=0.05;ts=2;
e=sqrt(((log(Mp))^2)/(pi^2+(log(Mp))^2));
Wn=3/(ts*e);
p2o=[1 e*Wn Wn^2]
pdc=roots(p2o)
pc1=pdc(1);
pc2=pdc(2);
pc3=5*real(pc1);
p3o=poly([pc1 pc2 pc3])
⇒ G ( s) = GP ( s )* GC ( s )
1.05 K P TT
i d s + Ti s + 1
2
G(s) = ×
s + 1.0333s + 0.0333
2
Ti s
1.05 K P ( TT
i d s + Ti s + 1)
2
G(s) =
Ti s 3 + 1.0333Ti s2 + 0.0333Ti s
1.05 K d s 2 + 1.05K P s + 1.05 Ki
G(s) =
s 3 + 1.0333s2 + 0.0333s
Entonces, para la función en Lazo Cerrado:
Y (s) G ( s)
GLC ( s) = =
R( s ) 1 + G ( s)
1.05 K d s 2 + 1.05K P s + 1.05 Ki
⇒ G ( s) = 3
s + 1.0333s2 + 0.0333s + 1.05K d s2 + 1.05 K P s + 1.05Ki
1.05K d s 2 + 1.05K P s + 1.05Ki
⇒ G ( s) =
s 3 + (1.0333 + 1.05 K d ) s2 + (0.0333 + 1.05KP ) s + 1.05Ki