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a
Preparao
Controle de Velocidade do Motor CC com Controle em Cascata de
Corrente
1. Determine os modelos de estado contnuo e discreto do controlador PI.
o i
p o p i i i o p i i i
i
i o i o p i o i o p i
o i
o i o p i
V k
k Vs sk V k V v k v k v
V s
A(p)z u ; y B(p)z
z v v v ; v k z k z v k v k v
v [1]v
Modelo Contnuo
v [k ]v [k ]v
+ + +
+ +
'
+
& &
& & &
&
( ) ( ) ( )
( )
( ) ( ) ( )
o o i
j 2 3
Ah
j 0
2 3
i j 1
j 0
o o i
v (t h) Fv (t) Hv (t)
Ah Ah Ah
F e I Ah F I F 1
j! 2! 3!
Ah Ah Ah
A h
H B I B H IBh H 1 1 h H h
j 1 ! 2! 3! 4!
v (t h) v (t) hv (t) Modelo Disc reto
+ +
+ + +
1
1
+ + + 1
1
+
1
]
]
+ +
1 1
+
1 1
' ] ]
&
&
( ) ( ) ( )
( )
( ) ( ) ( )
a a a
j 2 3
Ah
j 0
2 3
2 3
v v
2 3
v v v v
2 3
i j 1
j 0
v
v (t h) Fv (t) Hv *(t)
Ah Ah Ah
F e I Ah ...
j! 2! 3!
1 1
h h
T T
1 h h h
F I h F 1
T 2! 3! T2T 6T
Ah Ah Ah
A h
H B I ... B
j 1 ! 2! 3! 4!
1
h
T
H I
2!
+ +
+ + + +
_ _
_
, ,
+ + + +
,
1
1
+ + + + 1
1
+
1
]
]
_
,
+ +
2 3
2 3 4
v v
2 3 4
v v v v v
2 3 2 3 4
a a a 2 3 2 3 4
v v v v v v v
1 1
h h
T T
1 h h h h
h H
3! 4! T T2T 6T 24T
h h h h h h h
v (t h) 1 v (t) v * (t) Modelo Discreto
T T 2T 6T 2T 6T 24T
1
_ _
1
_
1 , ,
+ +
1
,
1
1
]
_ _
+ + + +
, ,