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SISTEMA MASA-RESORTE-AMORTIGUADOR
ECUACIONES
d2 x dx
F= ma m + ks =0 f=
dt 2 dt
ECUACION DIFERENCIAL
d2 x dx
m 2
+ + kx =f(t)
dt dt
2
d x d( x 1 - x 2 )
m 1 2 1 + 1 + k 1 x1 =f(t)
dt dt
d 2 x2 d( x 2 - x 1 ) dx
m 2 2 + 1 + 2 2 + k2 x 2 =0
dt dt dt
TRANSFORMADA DE LA PLACE
1 s
x 1 ( s ) =F ( s ) 2
+ x2(s )= 1 2
m 1 s + 1 s+ k 1 m 1 s + 1 s+ k1
1 s
x 2 ( s) = x 1 ( s )
m 2 s 2 + 1 s+ 2 s+ k2
DIAGRAMA DE BLOQUES
F(s) x1 ( s) x2 ( s)
1 s 1 s
2 2
(m 1 s + 1 s+ k1 )(m 2 s + 1 s+ 2 s+ k 2 ) m 2 s2 + 1 s+ 2 s+ k 2
2. SISTEMA MECANICO DE ROTACION
ECUACION DIFERENCIAL
d2 d
J 2
+ +k =T(t)
dt dt
1 - 2 )=T(t)
2
d d( 1 - 2 )
J 1 2 1 + 1 + k1
dt dt
2 - 3 )=0
d( 2 - 3 )
2 - 1 ) + 2 + k2
dt
d2 2 d( 2 - 1 )
J 2 2 + 1 + k1
dt dt
3 - 2 ) + k 3 3 =0
2
d d( 3 - 2 )
J 3 2 3 + 2 + k2
dt dt
TRANSFORMADA DE LA PLACE
1 1 s + k 1
1 ( s ) =T ( s ) 2
+ 2 ( s ) = 2
J 1 s + 1 s+ k 1 J 1 s + 1 s+ k 1
1s + k1 2 s+ k 2
2 ( s ) = 1 ( s ) 2
+ 3 ( s ) = 2
J 2 s + 1 s + 2 s+ k 1 +k 2 J2 s + 1 s + 2 s+ k 1 +k 2
2s + k2
3 ( s ) = 2 ( s ) 2
J 3 s + 2 s+ k 2+ k 3
DIAGRAMA DE BLOQUES
T(s) 1 ( s ) 2 ( s )
3 ( s )
1 1 s 2 s + k 2
2 2
(J 1 s +1 s+ k 1 ) J 2 s + 1 s+ 2 s+ k 1+ k 2 2
J 3 s +2 s+ k 2 +k 3
3. SISTEMA DE MEZCLA
ECUACIONES
dq 1 3q1 q2
+ =
dt 50 50
dq 2 7q2 3q 1 q 3
+ = +
dt 100 50 100
dq 3 q 3 q2
+ =
dt 20 20
4. SISTEMA MECANICO DE ROTACION ACOPLADO CON ENGRANES
ECUACIONES
N 2 2 N 2 T2
= = \} engranes V0 = Vcc \} potencimetro
N 1 1 N 1 T1 max
ECUACION DIFERENCIAL
[ ( )] [ ( ) ]
J1 +
N 1 2 d2 1
J
N2 2 dt 2
+ 1 +
N 1 2 d 1
N2
2
dt
=T
2 2
( )(
N1
N2
J2
d 1
dt
2
+ 2
dt )
d 1
=T
TRANSFORMADA DE LAPLACE
2
N1
1 ( s ) =T ( s )
( ) N2
\} engrane s
J 2 s 2 2 s
V o ( s ) = 1 ( s ) kp \} potenciometro
DIAGRAMA DE BLOQUES
T(s) 1 ( s ) Vo(s )
2
N1
( ) N2 KP
J 2 s2 2 s
5. SISTEMA TERMICO
ECUACIONES
T
R=
qp
ECUACION DIFERENCIAL
dT 1 1
C + T= q in + Th
dt R R
dT 1 1 1
+ T= q in + Th
dt RC C RC
TRANSFORMADA DE LAPLACE
1 1
10 15 25 45
T (s )= +
s 1 s 1
s+ s+
45 45
DIAGRAMA DE BLOQUES
q in ( s ) T (s )
10 25
15 45
+
1 1
s(s+ ) s(s+ )
45 45
6. SISTEMA DE DOS TANQUES NO INTERACTUANTES
ECUACION DIFERENCIAL
dh 1
A + H=Q
dt R
d h1 1
A1 + h = U1
dt R1 1
d h2 1 1
A2 + h 2 = U2 + h 1
dt R2 R1
TRANSFORMADA DE LAPLACE
1
A1
H1 ( s ) = U1 ( s )
1
s+
A1 R1
1 1
A2 A2 R2
H2 ( s ) = U2 ( s ) + H1 ( s )
1 1
s+ s+
A2 R 2 A2R2
DIAGRAMA DE BLOQUES
U1 ( s ) U2 ( s ) H2 ( s )
1 1
A1 A22 R2
1
s+
A1R1 (s+ 1A R )(s+ 1A R )
2 2 2 2