Control Analogico Fase1

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lmult0 \fs24\cf0\f0\charscalex100 {Etapa 1 Anlisis de la dinmica del sistema}\par\
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\f0\charscalex100 {Presentado por:}\par\pard\li3800\ri0\sl-213\slmult0 \fs18\cf0
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pard\li3800\ri0\sl-373\slmult0 \fs24\cf0\f0\charscalex100 {WILLIAM CAMILO SALCED
O.}\par\pard\li4120\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4120\ri0\sl-320\slmu
lt0 \fs24\cf0\f0\charscalex100 {CODIGO: 1057578237}\par\pard\li4453\ri0\sl-213\s
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ri0\sl-306\slmult0 \fs24\cf0\f0\charscalex100 {Director del curso.}\par\pard\li1
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f0\f0\charscalex100 {Universidad nacional abierta y a distancia (UNAD) Control A
nlogo CEAD}\par\pard\li4826\ri0\sl-333\slmult0 \fs24\cf0\f0\charscalex100 {Sogamo
so}\par\pard\li3613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li3613\ri0\sl-306\slmu
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\slmult0 \fs22\cf0\f0\charscalex100 {En el siguiente trabajo plantearemos un pro
blema realizando una identificacin}\par\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\
f0\charscalex100 {del sistema, el modelo matemtico y su desarrollo, lo representa
remos en }\par\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100 {Matlab
, mostrando el diagrama que ejerce, los tiempos, sus races y dems }\par\pard\li104
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u estabilidad absoluta con el clculo Routh-}\par\pard\li1040\ri0\sl-293\slmult0 \
fs22\cf0\f0\charscalex100 {Hurwitz, tambin se analizara con base en la funcin de t
ransferencia y una }\par\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex1
00 {seal de prueba escaln unitario.}\par\pard\sect\sectd\sbkpage{\shp
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40\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-413\slmult0 \fs24\cf0\f0\
charscalex100 {Una empresa multinacional reconocida dedicada a la fabricacin de }
\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {reproductores DV
D y Blu-Ray mont un punto de fbrica en Colombia,}\par\pard\li1040\ri0\sl-320\slmul
t0 \fs24\cf0\f0\charscalex100 {cumpliendo con los estndares de calidad necesarios
en la produccin}\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {
de dichos electrodomsticos. Sin embargo, desde hace un tiempo se han}\par\pard\li
1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {venido presentando problemas
en el funcionamiento de los motores de }\par\pard\li1040\ri0\sl-320\slmult0 \fs
24\cf0\f0\charscalex100 {corriente continua (DC) usados para implementar el meca

nismo que }\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {hace
girar los discos pticos en los reproductores, ya que giran a }\par\pard\li1040\ri
0\sl-333\slmult0 \fs24\cf0\f0\charscalex100 {velocidades diferentes a las establ
ecidas por la empresa para el correcto}\par\pard\li1040\ri0\sl-320\slmult0 \fs24
\cf0\f0\charscalex100 {funcionamiento de los reproductores o cambian constanteme
nte de }\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {velocida
d.}\par\pard\li4040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4040\ri0\sl-213\slmu
lt0 \fs18\cf0\par\pard\li4040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4040\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li4040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
4040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4040\ri0\sl-213\slmult0 \fs18\cf0\p
ar\pard\li4040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4040\ri0\sl-213\slmult0 \
fs18\cf0\par\pard\li4040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4040\ri0\sl-213
\slmult0 \fs18\cf0\par\pard\li4040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4040\
ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4040\ri0\sl-213\slmult0 \fs18\cf0\par\pa
rd\li4040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4040\ri0\sl-466\slmult0 \fs24\
cf0\f0\charscalex100 {Diagrama del motor DC}\par\pard\li1040\ri0\sl-213\slmult0
3\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-400\slmult0 \fs24\cf0\f0\charscalex10
0 {Para corregir este problema, la empresa ha decidido incorporar mdulos }\par\pa
rd\li1040\ri0\sl-333\slmult0 \fs24\cf0\f0\charscalex100 {controladores en las ta
rjetas principales de los reproductores. Por tal }\par\pard\li1040\ri0\sl-320\sl
mult0 \fs24\cf0\f0\charscalex100 {razn, ha decidido contratar a un grupo de estud
iantes de Ingeniera }\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex1
00 {Electrnica de la Universidad Nacional Abierta y a Distancia para que }\par\pa
rd\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {disee un prototipo de co
ntrolador que permita mantener el motor DC }\par\pard\li1040\ri0\sl-320\slmult0
\fs24\cf0\f0\charscalex100 {girando a una velocidad constante para que la lectur
a del disco ptico }\par\pard\li1040\ri0\sl-320\slmult0 \fs22\cf0\f0\charscalex100
{sea ptima. Se debe garantizar igualmente un funcionamiento aceptable}\par\pard\
li1040\ri0\sl-333\slmult0 \fs24\cf0\f0\charscalex100 {del controlador ante pertu
rbaciones que se puedan presentar por fallas }\par\pard\li1040\ri0\sl-320\slmult
0 \fs24\cf0\f0\charscalex100 {elctricas o seales parsitas en el sistema.}\par\pard\
\fs24\cf0\f0\charscalex100 {La empresa solicita al grupo de estudiantes que se
entregue la funcin }\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex10
0 {de transferencia del controlador, con las respectivas simulaciones que }\par\
pard\sect\sectd\sbkpage
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3\margtsxn666\margbsxn373\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li10
40\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li1040\ri0\sl-386\slmult0 \fs24\cf0\f0\charscalex100 {demuestren que dicho
controlador cumple con los parmetros del diseo}\par\pard\li1040\ri0\sl-320\slmult
0 \fs24\cf0\f0\charscalex100 {propuesto, adems del proceso de diseo detallado desc
riptiva y}\par\pard\li1040\ri0\sl-333\slmult0 \fs24\cf0\f0\charscalex100 {matemti
camente.}\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-30
6\slmult0 \fs24\cf0\f0\charscalex100 { La funcin de transferencia del motor, segn
su hoja tcnica, se }\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex10
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slmult0 \fs24\cf0\f0\charscalex100\i {s}\i0 { }\fs24\cf0\f1\charscalex100 {+}\pa
r\pard\sect\sectd\sbknone\pgwsxn12240\pghsxn15840\marglsxn666\margrsxn133\pard\l
i5693\ri0\sl-266\slmult0 \*\tx6253\fs24\cf0\f0\charscalex100 {24}\tab \fs24\cf0\
f0\charscalex100 {40}\par\pard\li1040\ri0\sl-440\slmult0 \fs24\cf0\f0\charscalex
100 {Como requisitos de diseo se necesita que la velocidad del motor una }\par\pa
rd\li1040\ri0\sl-333\slmult0 \fs24\cf0\f0\charscalex100 {vez implementado el con
trolador no difiera en ms del 10% del valor }\par\pard\li1040\ri0\sl-320\slmult0
\fs24\cf0\f0\charscalex100 {requerido; adems, el motor debe estabilizarse en mximo
2 segundos y}\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {de
bido a que velocidades altas del eje del motor pueden daarlo, se }\par\pard\li104
0\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {requiere un sobrepaso mximo del
16%. Adems, por las caractersticas }\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\
f0\charscalex100 {del reproductor, se necesita que el sistema en lazo cerrado te
nga un}\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {coeficien
te de amortiguamiento (\uc1\u950X) de 0.7 a una frecuencia (\uc1\u969Xn) de 4 }\
par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {rad/seg.}\par\par
f0\f0\charscalex100 {Para resolver el problema, se ha dividido ste en tres etapa
s:}\par\pard\li1106\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1106\ri0\sl-213\slmu
lt0 \fs18\cf0\par\pard\li1106\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1106\ri0\s
l-373\slmult0 \fs22\cf0\f1\charscalex100 {\uc1\u8226X}\fs22\cf0\f0\charscalex100
{ En la etapa 1, se deber analizar la dinmica del sistema, determinar su }\par\pa
rd\li1040\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100 {estabilidad absoluta, g
raficar y analizar el lugar geomtrico de las races y}\par\pard\li1040\ri0\sl-293\s
lmult0 \fs22\cf0\f0\charscalex100 {determinar controlabilidad y observabilidad.}
\fs22\cf0\f1\charscalex100 {\uc1\u8226X}\fs22\cf0\f0\charscalex100 { En la etap
a 2, se deber analizar la respuesta en frecuencia del sistema,}\par\pard\li1040\r
i0\sl-306\slmult0 \fs22\cf0\f0\charscalex100 {disear un compensador por lgr y un
controlador PID que permitan que el }\par\pard\li1040\ri0\sl-293\slmult0 \fs22\c
f0\f0\charscalex100 {sistema cumpla con las especificaciones requeridas y simula

rlos para verificar }\par\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex
100 {los resultados.}\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li10
40\ri0\sl-306\slmult0 \fs22\cf0\f1\charscalex100 {\uc1\u8226X}\fs22\cf0\f0\chars
calex100 { En la etapa 3 (prueba final), se elaborar un documento de presentacin }
\par\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100 {donde se resuma
todo el proceso y se muestren los resultados obtenidos. De }\par\pard\li1040\ri0
\sl-293\slmult0 \fs22\cf0\f0\charscalex100 {igual forma, se deber elaborar un cua
dro comparativo entre los dos }\par\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\f0\
charscalex100 {controladores diseados en la etapa 2 indicando ventajas y desventa
jas. El }\par\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100 {grupo d
eber concluir con argumentos, cul de los dos controladores es ms }\par\pard\li1040\
ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100 {ptimo para implementar en los repr
oductores.}\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li10
40\ri0\sl-346\slmult0 \fs22\cf0\f0\charscalex100 {Adems, se propone una actividad
inicial de reconocimiento del curso que }\par\pard\li1040\ri0\sl-293\slmult0 \f
s22\cf0\f0\charscalex100 {permita al estudiante identificar claramente los conte
nidos, propsitos y}\par\pard\sect\sectd\sbknone\pgwsxn12240\pghsxn15840\marglsxn6
66\margrsxn133\pard\sect\sectd\sbkpage\pgwsxn12240\pghsxn15840\marglsxn666\margr
sxn133\margtsxn666\margbsxn440\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li1040\ri0\sl-360\slmult0 \fs22\cf0\f0\charscalex100 {competencias a
desarrollar en el periodo acadmico. Tambin se deber }\par\pard\li1040\ri0\sl-293\sl
mult0 \fs22\cf0\f0\charscalex100 {responder un cuestionario evaluativo de los te
mas del curso.}\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li1040\ri0\sl-373\slmult0 \fs24\cf0\f0\charscalex100 {Visualizacin personal del p
roblema del problema:}\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1
r\pard\li1040\ri0\sl-413\slmult0 \fs24\cf0\f0\charscalex100 { La finalidad del p
roblema consiste en la elaboracin de una tarjeta }\par\pard\li1040\ri0\sl-320\slm
ult0 \fs24\cf0\f0\charscalex100 {controladora para un motor dc, la cual sea alim
entada por una seal }\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex1
00 {anloga que proviene de sistema de control externo.}\par\pard\li1040\ri0\sl-21
0 { La tarjeta deber recibir la seal anloga, procesarla dar la salida }\par\pard\li
1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {controladora del motor dc.}\
par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-306\slmult0
\fs24\cf0\f0\charscalex100 { Determinaremos los conceptos o trminos que conocen y
los que se }\par\pard\li1040\ri0\sl-333\slmult0 \fs24\cf0\f0\charscalex100 {des
conocen.}\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-21
\ri0\sl-400\slmult0 \fs24\cf0\f0\charscalex100 {Listado de conceptos, trminos y/o
aspectos que conocen:}\par\pard\li1120\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
1120\ri0\sl-333\slmult0 \fs24\cf0\f1\charscalex100 {}\fs24\cf0\f0\charscalex100 {
Sistemas dinmicos}\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\
ri0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\charscalex100 { Sist
emas de control }\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\r
i0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\charscalex100 { Estad
o transitorio }\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0
\sl-306\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\charscalex100 { Estado
estacionario }\fs22\cf0\f1\charscalex100 {}\par\pard\li1040\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100 { Funcin de
trasferencia }\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0
\sl-306\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\charscalex100 { Transfo
rmada de Laplace (s) }\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1
Respuesta en frecuencia}\par\pard\li1106\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i1106\ri0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\charscalex100
{ Seales de prueba: (rampa, escaln unitario, Impulso, parablica) }\par\pard\li1040\

ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-320\slmult0 \fs22\cf0\f1\cha
rscalex100 {}\fs22\cf0\f0\charscalex100 { Ecuacin caracterstica (denominador del po
linomio de la funcin de }\par\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\f0\charsca
lex100 {transferencia). }\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li1040\ri0\sl-306\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\charscalex100
{ Modelamiento matemtico }\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li1040\ri0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\charscalex10
0 { Diagrama de bloques}\par\pard\li1106\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i1106\ri0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\charscalex100
{ Sistemas enlazo abierto y cerrado }\par\pard\sect\sectd\sbkpage\pgwsxn12240\pg
hsxn15840\marglsxn666\margrsxn133\margtsxn666\margbsxn666\pard\li1040\ri0\sl-213
ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-386\slmult0 \fs22\cf0\f1\cha
rscalex100 {}\fs22\cf0\f0\charscalex100 { Dinmica de un sistema (Leer conceptos).}
\fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\charscalex100 { Sistemas de primer y s
egundo orden}\par\pard\li1106\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1106\ri0\s
l-320\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\charscalex100 { Actuadore
s, comparadores, planta, perturbacin, error, sensor, }\par\pard\li1040\ri0\sl-293
\slmult0 \fs22\cf0\f0\charscalex100 {realimentacin}\par\pard\li1106\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li1106\ri0\sl-306\slmult0 \fs22\cf0\f1\charscalex100 {}\
fs22\cf0\f0\charscalex100 { LGR.}\par\pard\li1106\ri0\sl-213\slmult0 \fs18\cf0\p
ar\pard\li1106\ri0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\chars
calex100 { Criterio de Routh-Hurwitzz (se debe reforzar conocimiento}\par\pard\l
i1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\
f0\charscalex100 { Listado de aquello que se desconoce: }\par\pard\li1040\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-306\slmult0 \fs22\cf0\f1\charscale
x100 {}\fs22\cf0\f0\charscalex100 { Respuesta en el tiempo C(t )= Ctr + Css (t )
(fortalecer conceptos)}\par\pard\li1106\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
Dinmica de un sistema (fortalecer conceptos) }\par\pard\li1040\ri0\sl-213\slmult
0 \fs18\cf0\par\pard\li1040\ri0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22
\cf0\f0\charscalex100 { Criterios de estabilidad }\fs22\cf0\f1\charscalex100 {}\f
s22\cf0\f0\charscalex100 { Sistemas de primer y segundo orden}\par\pard\li1106\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li1106\ri0\sl-320\slmult0 \fs22\cf0\f1\char
scalex100 {}\fs22\cf0\f0\charscalex100 { LGR (ampliar conocimiento)}\par\pard\li1
040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-320\slmult0 \fs22\cf0\f1
\charscalex100 {}\fs22\cf0\f0\charscalex100 { Matlab (ampliar conceptos e impleme
ntacin de funciones y anlisis de }\par\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\f0
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0\ri0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {}\fs22\cf0\f0\charscalex100 { Si
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l sistema y estabilidad absoluta usando el criterio de }\par\pard\li1040\ri0\sl320\slmult0 \fs24\cf0\f0\charscalex100 {Routh-Hurwitz Segn especificaciones tcnica
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alex100 {todo el proceso, donde se analiz a fondo el sistema. Primero analizamos}
\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {los resultados d
e la dinmica del sistema, identificando los siguientes }\par\pard\li1040\ri0\sl-3
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sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-400\slmult0 \fs24\cf0\f0\charsca
lex100 {El orden del sistema es de segundo orden, ya que son aquellos que }\par\
pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {responden a una ecua
cin diferencial lineal de segundo orden.}\par\pard\li2600\ri0\sl-213\slmult0 \fs1
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ctd\sbknone\pgwsxn12240\pghsxn15840\marglsxn666\margrsxn133\cols3\colno1\colw465
3\colsr-0\colno2\colw2826\colsr-0\colno3\colw3960\pard\li1040\ri0\sl-213\slmult0
06\slmult0 \fs24\cf0\f0\charscalex100 { Dnde: }\fs24\cf0\f0\charscalex100 {\uc1\u
55349X}\fs24\cf0\f0\charscalex100 { = 2}\par\column\pard\li0\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-306\slmu
lt0 \fs24\cf0\f0\charscalex100 {\uc1\u55349X}\fs24\cf0\f0\charscalex100 { = 24}\
par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li0\ri0\sl-306\slmult0 \fs24\cf0\f0\charscalex100 {\uc1\u553
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lmult0 \fs18\cf0\par\pard\li40\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li40\ri0\sl
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lt0 \fs18\cf0\par\pard\li1386\ri0\sl-680\slmult0 \fs46\cf0\f1\charscalex100 {\uc
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rscalex100 {472}\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri
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calex100 {Determinamos la estabilidad absoluta del sistema usando el criterio de

}\par\pard\li1040\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100 {Routh-Hurwitz:
}\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1040\ri0\sl-320\slmul
t0 \fs24\cf0\f0\charscalex100 {Segn la tabla de Routh para un sistema de segundo
orden:}\par\pard\li1080\ri0\sl-520\slmult0 \fs26\cf0\f0\charscalex100\i {S}\i0 {
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0\charscalex100 {1}\par\column\pard\li493\ri0\sl-120\slmult0 \fs16\cf0\f0\charsc
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cf0\f1\charscalex100 {\uc1\u8722X}{ }\fs24\cf0\f0\charscalex100 {0}\fs24\cf0\f0\
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\par\column\pard\li0\ri0\sl-160\slmult0 \fs24\cf0\f0\charscalex100\i {a}\i0 {\su
b \fs14\cf0\f0\charscalex100 {1}}\fs14\cf0\f0\charscalex100 {0}\par\pard\li280\r
i0\sl-306\slmult0 \fs24\cf0\f0\charscalex100\i {a}\i0 {\sub \fs14\cf0\f0\charsca
lex100 {1}}\par\column\pard\li0\ri0\sl-160\slmult0 \fs14\cf0\f0\charscalex100 {2
}\par\column\pard\li0\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100\i {b}\i0 {\s
ub \fs14\cf0\f0\charscalex100 {1}}\fs24\cf0\f1\charscalex100 {=}{ }\fs24\cf0\f0\
charscalex100 {40}\par\pard\sect\sectd\sbknone\pgwsxn12240\pghsxn15840\marglsxn6
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00 {Concluimos que para que un sistema sea estable, se solicita que:}\par\pard\l
f0\charscalex100 {a. Que no haya cambio de signo en la primera columna de la tab
la de Routh. }\par\pard\li1426\ri0\sl-266\slmult0 \fs22\cf0\f0\charscalex100 {Cu
mple satisfactoriamente }\par\pard\li1066\ri0\sl-253\slmult0 \fs22\cf0\f0\charsc
alex100 {b. Se cumple la Condicin necesaria a2, a1, a0 > 0.}\par\pard\li1426\ri0\
sl-253\slmult0 \fs22\cf0\f0\charscalex100 {Cumple satisfactoriamente}\par\pard\l
f0\charscalex100 {c. Se cumple la condicin suficiente que dice que los coeficient
es de la }\par\pard\li1426\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100 {primer
a columna del algoritmo sean positivos (+).}\par\pard\li1426\ri0\sl-266\slmult0
\fs22\cf0\f0\charscalex100 {Cumple satisfactoriamente.}\par\pard\li1040\ri0\sl-2
00 { El sistema es Estable, nuestro sistema cumple con todas las condiciones }\p
ar\pard\li1040\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100 {necesarias y sufic
ientes.}\par\pard\li1426\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1426\ri0\sl-213
ri0\sl-400\slmult0 \fs24\cf0\f0\charscalex100 {5}\fs24\cf0\f0\charscalex100\b \i
{. determinar la controlabilidad del sistema de forma manual }\b0 \i0 \par\pard
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argrsxn133\pard\sect\sectd\sbkpage{\shp
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Control Analogico Fase1

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Control Analogico Fase1

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{\rtf\ansi\deff0\ansicpg1252

24\cf0\f0\charscalex100 {corriente continua (DC) usados para implementar el meca

f0\f0\charscalex100 {sistema cumpla con las especificaciones requeridas y simula

{ Seales de prueba: (rampa, escaln unitario, Impulso, parablica) }\par\pard\li1040\

calex100 {determinar controlabilidad y observabilidad.}\par\pard\li1040\ri0\sl-2

{\sp{\sn lineType}{\sv 0}}

{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}

{\sp{\sn geoBottom}{\sv 0}}

{\sp{\sn fFlipV}{\sv 0}}

calex100 {Determinamos la estabilidad absoluta del sistema usando el criterio de

\absh15840\absw12240{\sp{\sn shapeType}{\sv 75}}

66\slmult0 \*\tx1960\fs24\cf0\f0\charscalex100 {1}\tab \fs24\cf0\f0\charscalex10

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