Académique Documents
Professionnel Documents
Culture Documents
COMPENSACIN DE ATRASO
COMPENSACIN DE ATRASO
1
1
1
1
1
1
1
Pole-Zero Map
4
0.64
0.5
0.38
0.28
0.17
3 0.8
2.5
2
1.5
0.94
Imaginary Axis
1
1
0.5
0.05
0.08 3.5
0.5
0
cero
-1
0.5 polo
1
0.94
1.5
-2
2
2.5
-3 0.8
3
0.64
-4
-4
-3.5
0.5
-3
-2.5
0.38
-2
Real Axis
-1.5
0.28
-1
0.17
-0.5
0.08 3.5
40
lim
1
1
G(s)
Ejemplo 3.1
1.06
1 2
1.06
1
3
2 1.06
O de la forma
1.06
2.3386 0.3307 *0.5864 0.3307 *0.5864
0.8
0.52
0.4
0.26
0.12
1.5
0.9
1
Imaginary Axis
0.5
0.97
-0.5
1.5
0.5
0.97
-1
0.9
-1.5
0.8
-2
-2.5
0.66
-2
0.52
-1.5
0.4
-1
Real Axis
0.26
-0.5
0.12
0
0.5
Amplitude
0.8
0.6
0.4
0.2
10
Time (sec)
12
14
16
18
out
12
Amplitude
10
8
Time (sec)
10
12
14
16
0.8
0.52
0.4
0.26
System: sys
Gain: 0.997
Pole: -0.33 + 0.585i
Damping: 0.491
Overshoot (%): 17
Frequency (rad/sec): 0.671
1.5
0.3307 *0.5864
0.9
1
Imaginary Axis
0.5
0.97
-0.5
0.12
1.5
0.5
0.97
-1
0.9
-1.5
0.8
-2
-2.5
0.66
-2
0.52
-1.5
0.4
-1
Real Axis
0.26
-0.5
0.12
0
0.5
1.06
1.06
lim
1 2
2
0.53 "#$
1
1
5
Por lo tanto
0.53 5
Cero:
Polo:
1
0.005
El compensador en atraso
1
0.05
1
0.005
0.4
0.28
0.2
0.13
0.6
Polo: 0.005
Cero: 0.05
0.5
0.7
0.06 0.6
0.4
0.4
0.3
0.88
0.2
Imaginary Axis
0.2
0.1
0
0.1
-0.2
0.2
0.88
0.3
-0.4
0.4
0.7
0.5
-0.6
0.52
-0.5
-0.45
-0.4
0.4
-0.35
-0.3
0.28
-0.25
Real Axis
-0.2
0.2
-0.15
0.13
-0.1
0.06 0.6
-0.05 0.7 0
Donde 1.06
0.86
0.64
0.5
0.34
0.16
3
2 0.94
Imaginary Axis
1 0.985
6
0
-1 0.985
-2 0.94
-3
0.86
-4
-6
0.76
-5
0.64
-4
-3
0.5
0.34
-2
Real Axis
0.16
-1
0.86
0.64
0.5
0.34
0.16
sns
sc
2 0.94
Imaginary Axis
1 0.985
6
0
-1 0.985
-2 0.94
-3
0.86
-4
-6
0.76
-5
0.64
-4
-3
0.5
0.34
-2
Real Axis
0.16
-1
0.47
0.66
0.44
0.41
0.38
0.355
0.7
0.64
0.331 *581
0.675
0.62 0.5
Imaginary Axis
0.65
0.6
0.58
0.53
System: sys
Gain:0.56
0.988
Pole: -0.331 + 0.581i
Damping: 0.495
0.54 (%): 16.7
Overshoot
Frequency 0.56
(rad/sec): 0.669
0.52
0.5
-0.35
0.625
0.6
System: sys
Gain: 0.96
Pole: -0.312 + 0.548i
Damping: 0.495
Overshoot (%): 16.7
Frequency (rad/sec): 0.63
-0.3
Real Axis
0.575
0.55
-0.25
obteniendo
1 2 0.005
0.05
1.06
$.
IJ.K L
1.0235
De donde
1.0235
0.9693
1.06
1
1.0275 0.0514
1.0360 3.1141 2.0881
1.0379 0.0514
Amplitude
0.8
0.6
0.4
0.2
10
20
30
40
50
Time (sec)
60
70
80
90
snc
sc
30
Amplitude
25
20
15
10
10
15
20
Time (sec)
25
30
35
40
Ejemplo 3.2
10
4
Solucin
Paso 1.
La FT de lazo abierto
10
10
4 4
10
4
10
1
4 10
1
4
10
2 *2.45 2 *2.45
0.74
1 0.98
Imaginary Axis
0.46
0.32
0.16
System: sys
Gain: 1
Pole: -2 + 2.45i
Damping: 0.632
Overshoot (%): 7.7
Frequency (rad/sec): 3.16
2 0.93
5
0
0.6
-1 0.98
-2 0.93
0.84
-3
-5
-4.5
0.74
-4
-3.5
-3
0.6
-2.5
-2
Real Axis
0.46
0.32
0.16
-1.5
-1
-0.5
0.5
1.2
Amplitude
0.8
0.6
escalon
sys c
0.4
0.2
0.5
1.5
Time (sec)
2.5
14
rampa
sys c
12
Amplitude
10
8
Time (sec)
10
12
14
16
0.74
Imaginary Axis
1 0.98
2 *2.45
0.46
0.32
0.16
System: sys
Gain: 1
Pole: -2 + 2.45i
Damping: 0.632
Overshoot (%): 7.7
Frequency (rad/sec): 3.16
2 0.93
5
0
0.6
-1 0.98
-2 0.93
0.84
-3
-5
-4.5
0.74
-4
-3.5
-3
0.6
-2.5
-2
Real Axis
0.46
0.32
0.16
-1.5
-1
-0.5
0.5
2.5 "#$
1
1
50
Por lo tanto
2.5 50
Cero:
Polo:
1
0.005
El compensador en atraso
1
0.1
1
0.005
Cero: 0.1
Polo: 0.005
0.44
0.32
0.23
0.15
0.07
0.74
1.5
1
Imaginary Axis
1 0.92
0.5
0
0.5
-1 0.92
1
1.5
-2
2.5
0.74
0.58
-3
-2.5
-2
0.44
-1.5
0.32
-1
Real Axis
0.23
0.15
-0.5
0.07
2.5
30
Donde 10
0.7
0.56
0.42
0.28
0.14
0.28
0.14
0.91
2
Imaginary Axis
0.975
5
0
-1
0.975
-2
0.91
0.82
-3
-5
-4.5
-4
0.7
-3.5
-3
0.56
-2.5
Real Axis
-2
0.42
-1.5
-1
-0.5
Imaginary Axis
0.42
0.28
0.14
0.28
0.14
sys c
0.975
5
0
-1
0.56
sys nc
0.7
0.975
-2
0.91
0.82
-3
-5
-4.5
-4
0.7
-3.5
-3
0.56
-2.5
Real Axis
-2
0.42
-1.5
-1
-0.5
0.535
0.62
System: sys
Gain: 0.999
Pole: -2 + 2.45i
Damping: 0.633
2.6
Overshoot (%): 7.68
0.655 Frequency (rad/sec): 3.16
Imaginary Axis
0.565
3.2
2.4
System: sys
Gain: 0.995
Pole: -1.95 + 2.4i
Damping: 0.631
Overshoot (%): 7.78
Frequency (rad/sec): 3.09
0.685
2.2
0.72
2
2.8
2.6
0.75
sys nc
sys c
1.95 *2.4
1.8
-2.15
-2.1
-2.05
-2
-1.95
Real Axis
-1.9
-1.85
-1.8
-1.75
obteniendo
4 0.005
0.1
10.19
$
J
. K
De donde
10.19
1.019
10
10
1
10.19 1.019
4.005
10.21 1.019
1.2
Amplitude
0.8
sys nc
0.6
sys c
0.4
0.2
10
15
Time (sec)
20
25
14
rampa
12
sys nc
sys c
Amplitude
10
8
Time (sec)
10
12
14
16
Respuesta rampa
Step Response
12.5
12
rampa
11.5
sys nc
sys c
Amplitude
11
10.5
10
9.5
9
8.5
8
7.5
5
Time (sec)
10
11
12
Ejemplo 3.3
5 15
Solucin
Paso 1.
La FT de lazo abierto
5 15
0.66
0.78
0.5
0.34
0.18
10 0.87
0.94
Imaginary Axis
5
0.985
0
16
14
12
10
0.985
-5
0.94
-10 0.87
-15
0.78
0.66
-15
0.5
-10
0.34
-5
0.18
0
Real Axis
10
15
Root Locus
15
0.66
0.78
0.5
0.34
0.18
System: sys
Gain: 413
Pole: -1.47 + 4.69i
Damping: 0.299
Overshoot (%): 37.3
Frequency (rad/sec): 4.91
1.47 *4.69
10 0.87
De la condicin de magnitud
1
PQ
Imaginary Axis
5 15
0.94
5
0.985
0
16
14
12
10
0.985
-5
0.94
413.14
-10 0.87
-15
0.78
0.66
-15
0.5
-10
0.34
-5
0.18
0
Real Axis
10
15
413.14
lim
5.50
5 15
3
0.54
5.50
3
< 0.1
30
La FT de lazo abierto
413.14
413.14
5 15 20
75
Lazo cerrado
413.14
1
20
75 413.14
Amplitude
0.8
0.6
0.4
0.2
0.5
1.5
Time (sec)
2.5
3.5
out
Amplitude
6
5
4
3
2
1
0
5
Time (sec)
10
0.66
0.78
0.5
0.34
0.18
System: sys
Gain: 413
Pole: -1.47 + 4.69i
Damping: 0.299
Overshoot (%): 37.3
Frequency (rad/sec): 4.91
1.49 *4.69
10 0.87
0.94
Imaginary Axis
5
0.985
0
16
14
12
10
0.985
-5
0.94
-10 0.87
-15
0.78
0.66
-15
0.5
-10
0.34
-5
0.18
0
Real Axis
10
15
413.14
413.14
lim
5 15
75
5.50 "#$
30 (dato)
Sistema compensado
lim lim
30
Por lo tanto
5.50 30
Elegimos 6
1
1
1
0.12
Polo:
RS
0.02
El compensador en atraso
1
0.12
1
0.02
5
0.32
0.16
0.115
0.07
0.035
4
Cero: 0.12
Polo: 0.02
0.48
3
3
2
Imaginary Axis
0.23
2
0.75
1
1
0
-1
-2
1
0.75
2
-3
3
0.48
-4
4
0.32
-5
-2
-1.8
-1.6
0.23
-1.4
-1.2
0.16
-1
Real Axis
-0.8
0.115
-0.6
0.07
-0.4
0.035
-0.2
50
Donde 413.14
0.7
0.56
0.38
0.2
0.89
sys c
20
0.95
10
Imaginary Axis
0.988
40
30
20
10
0.988
-10
0.95
-20
0.89
0.81
-30
-50
-40
0.7
-30
0.56
-20
0.38
-10
Real Axis
0.2
0
10
20
0.7
0.56
0.38
0.2
0.89
20
sys nc
0.95
sys c
10
Imaginary Axis
0.988
40
30
20
10
0.988
-10
0.95
-20
0.89
0.81
-30
-50
-40
0.7
-30
0.56
-20
0.38
-10
Real Axis
0.2
0
10
20
0.54
Root Locus
System: sys
0.32
Gain: 412
Pole: -1.47 + 4.68i
Damping: 0.3
Overshoot (%): 37.2
Frequency (rad/sec): 4.91
Imaginary Axis
0.12
5.5
5
4.5
4.5
1.47 *4.69
0.22
System: sys
Gain: 405
Pole: -1.45 + 4.61i
Damping: 0.3
Overshoot (%): 37.3
Frequency (rad/sec): 4.83
4 0.64
3.5
2.5
2.5
0.83
1.45 *4.61
3.5
3 0.74
-3
-2.5
-2
-1.5
Real Axis
-1
-0.5
0.12
413.14
0.02 5 15
obteniendo
0.02 5 15
0.12
De donde
404.86
0.98
413.14
404.86
T$. KIJ .U
1
404.88 48.56
20.02 75.40
406.38 48.56
1.2
Amplitude
0.8
0.6
escalon
sys nc
sys c
0.4
0.2
6
Time (sec)
10
12
sys nc
sys c
Amplitude
6
5
4
3
2
1
0
5
Time (sec)
10
Respuesta rampa
Step Response
rampa
sys nc
9.5
sys c
Amplitude
8.5
7.5
8.5
9
Time (sec)
9.5
Ejemplo 3.4