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Respuesta en frecuencia
Contenido
>1
1
1
+
+1
+2
0.5
2
=
=2
=2
= 10
1
1
+
0.4
+1
+
+
0.4
5(0.5)
+
1
+
=
1
+
+2
=2
+ 0.4
-2 dB
2
System: sys
Real: 2
Imag: -3.2e-013
Frequency (rad/sec): 1e+013
2 dB
Imaginary Axis
-4 dB
1 4 dB-6 dB
6 dB
10-10
dB dB
System: sys
Real: 10
Imag: 0
Frequency (rad/sec): 0
0
-1
-2
-3
-4
0
6
Real Axis
10
12
14
+1
2
= 10
+1
0.4
Magnitude (dB)
20
System: sys
Frequency (rad/sec): 0.4
Magnitude (dB): 17.1
15
System: sys
Frequency (rad/sec): 2
Magnitude (dB): 8.88
10
5
0
Phase (deg)
-30
System: sys
Frequency (rad/sec): 0.4
Phase (deg): -33.6
System: sys
Frequency (rad/sec): 2
Phase (deg): -33.6
-60
-2
10
-1
10
10
Frequency (rad/sec)
10
10
>1
( = )
=
1
+ 1
+
3. Para evitar los efectos nocivos del atraso de fase producido por el
compensador, el cero y el polo del compensador de atraso deben
ubicarse mucho ms abajo que la nueva frecuencia de cruce de
ganancia.
El cero del compensador de atraso se ubica entre una octava y
una dcada por debajo de la nueva frecuencia de cruce de
ganancia.
Ejemplo 6.1
Magnitude (dB)
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
Respuesta en el tiempo
Step Response
1.4
escalon
sys G
1.2
Amplitude
0.8
0.6
0.4
0.2
10
15
Time (sec)
20
25
Respuesta rampa
Step Response
20
18
rampa
sys G
16
14
12
Amplitude
10
8
6
4
2
0
10
Time (sec)
12
14
16
18
20
Compensado
= 32.6
40
10
= 5
= 9.54
= 1
1. La red de compensacin que utilizaremos es de atraso, de la
forma:
1
+
+ 1
+ 1
>1
=
=
=
1
+ 1
+ 1
+
Donde:
=
Donde
+ 1 (0.5 + 1)
De donde
= = 5
=5
1
=5
1
+ 1 (0.5 + 1)
Magnitude (dB)
50
sys G1
0
-50
-100
-150
-90
Margen de fase
= 13
-135
Phase (deg)
-180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
Bode Diagram
50
Magnitude (dB)
System: sys
Frequency (rad/sec): 0.46
Magnitude (dB): 19.6
-50
-100
-150
-90
= 0.46 /
Phase (deg)
-135
System: sys
Frequency (rad/sec): 0.46
Phase (deg): -128
-180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
1
= = 0.115
= 8.70
= 0.46 /
Magnitude (dB)
50
= 19.6 dB
System: sys
Frequency (rad/sec): 0.46
Magnitude (dB): 19.6
-50
-100
-150
-90
= 9.54
-135
Phase (deg)
= 19.6
System: sys
Frequency (rad/sec): 0.46
Phase (deg): -128
-180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
1
1
1
=
=
= 0.0122 /
9.54(8.70) 82.1280
1
1
+ 0.0122
+
+
82.128
5
= =
= 0.53
9.44
1
1
+
8.70
= 0.53
=
1
1
+
+
82.1280
Magnitude (dB)
10
5
sys C
0
-5
-10
0
Phase (deg)
-30
-60
-4
10
-3
10
-2
10
-1
10
Frequency (rad/sec)
10
10
Magnitude (dB)
100
sys G
sys C
50
0
-50
-100
-150
0
Phase (deg)
-90
-180
-270
-4
10
-3
10
-2
10
-1
10
Frequency (rad/sec)
10
10
10
1
1
=
1 + 1 (0.5 + 1)
+
+ 0.1149
1
= 0.53
+ 0.0122 + 1 (0.5 + 1)
+
0.53 + 0.0609
0.5 + 1.5061 + 1.0183 + 0.0122
Magnitude (dB)
100
sys C
sys CG
50
0
-50
-100
-150
0
Phase (deg)
-90
-180
-270
-4
10
-3
10
-2
10
-1
10
Frequency (rad/sec)
10
10
10
)(
1
=
( )0.5 + 1.5 + + 1
Respuesta escaln
Step Response
1.4
1.2
Amplitude
0.8
sys G
0.6
sys CG
0.4
0.2
10
15
Time (sec)
20
25
30
Respuesta rampa
Step Response
30
rampa
25
sys G
sys CG
20
Amplitude
15
10
10
15
Time (sec)
20
25
30
Ejemplo 6.2
Solucin
La funcin de transferencia en lazo abierto del sistema
1
=
+1
La funcin de transferencia en lazo cerrado del sistema:
)(
1
=
= +1 =
1
( )1 +
+2
1+
+1
Magnitude (dB)
100
50
-50
-180
-225
Phase (deg)
-270
-315
-360
-1
10
10
Frequency (rad/sec)
10
Respuesta en el tiempo
Step Response
1
0.9
escalon
0.8
sys G
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
50
100
150
Time (sec)
200
250
Respuesta rampa
Step Response
30
rampa
25
sys G
20
Amplitude
15
10
10
15
Time (sec)
20
25
30
Compensado
= 0
=
=
50
10
= 4
>1
1
+
1
+
1
+
Donde:
=
Donde
1
= =
+1
1
= lim = lim
=4
+1
Dado que es un sistema de tipo cero, aadimos un integrador
Donde
lim ( = )1
+1
=
1
)(
+ 1
1
=
+ 1
1
= lim = lim
==4
+1
4 1
4
=
= =
+ 1 ( + 1)
4 1
4
=
=
+ 1 +
sys G
sys C1
100
sys C1G
50
0
-50
-90
Margen de fase
= 90
= 1.8
-180
Phase (deg)
-270
-360
-450
-1
10
10
Frequency (rad/sec)
10
1
1
= =
= 5.56
0.18
150
Magnitude (dB)
4
= + 1
1
4
= + 1
+1
Bode Diagram
Gm = -106 dB (at 1 rad/sec) , Pm = -1.91 deg (at 5 rad/sec)
sys C2
100
sys G2
50
0
24 + 4
=
+
-50
180
0
Margen de fase
Phase (deg)
-180
System: untitled1
Frequency (rad/sec): 4.99
Phase (deg): -542
-360
-540
= 1.91
-720
-2
= 5
10
-1
10
10
Frequency (rad/sec)
10
4 6 + 1 0.2 + 1
1
4.8 + 24.8 + 4
=
=
+1
+
Magnitude (dB)
4 6 + 1 0.2 + 1
1
=
+1
400
4.8 + 24.8 + 4
300
=
+
200
Bode Diagram
Gm = Inf , Pm = 50 deg (at 6.29 rad/sec)
sys G2
sys C3
sys C3G2
100
0
Margen de fase
-100
180
= 50
= 6.29
0
Phase (deg)
-180
System: untitled1
Frequency (rad/sec): 6.28
Phase (deg): -490
-360
-540
-720
-3
10
-2
10
-1
10
10
Frequency (rad/sec)
10
10
1
4 6 + 1 0.2 + 1
+ 1
)(
4.8 + 24.8 + 4
=
=
( )1 +
+ 4.8 + 25.8 + 4
Respuesta escaln
Step Response
1.6
escalon
1.4
sys G
sys CG
1.2
1
Amplitude
0.8
0.6
0.4
0.2
5
Time (sec)
10
Respuesta rampa
Step Response
30
rampa
25
sys G
sys CG
20
Amplitude
15
10
10
15
Time (sec)
20
25
30
Ejemplo 6.3