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MARCOS
(Universidad del Per, Decana de Amrica)
ESCUELA ACADMICO DE INGENIERA
ELCTRICA
LABORATORIO DE CONTROL II
INFORMACIN GENERAL:
Estudiante:
13190210
semestre: 2016- 2
CIUDAD UNIVERSITARIA
I. Tema: VARIABLES DE ESTADO.
: Resistencia de Armadura ()
dia (t )
u a (t ) Ra ia (t ) La eb (t )
dt
eb (t ) k b (t )
d (t )
(t )
dt
T k a ia
d (t ) d 2 (t )
T J
dt dt 2
Valores
u a (t ) 220V
Ra 2
La 0.5H
J 1kg.m
k a 0.5
k b 0.5
II. Diagrama de bloques
Eb ( s) k bW ( s)....( 2)
W ( s ) s ( s )...(3)
T k a I a (s)....(4)
T s (s) Js 2 (s)....(5)
Resolviendo
k a I a ( s ) s ( s ) Js 2 ( s ).
U ( s ) Eb ( s )
k a a ( s Js 2 ) ( s ).
Ra La s
k aU a ( s ) k a k b s
s Js 2 ( s ).
R a La s R a La s
( s) ka
U a ( s) JLa s 3 JRa s 2 La s 2 Ra s k a k b s
Finalmente se obtiene la Funcin de Transferencia
()
=
() 3 + ( + ) 2 + ( + )
() 0.5
=
() 0.5 3 + 2.5 2 + 2.25
1
( s) 0.5 1 s3
U a ( s) 0.5s 3 2.5s 2 2.25s s 3 5s 2 4.5s 5 4.5
1 2
s s
x1 (t ) ; x2 (t ) ; x3 ia (t )
x1 (t ) (t )
x1 (t ) (t ) (t ) x2 (t )
x1 (t ) 0 x1 (t ) x2 (t ) 0 x3 (t ) 0ua (t )
T k a ia (t ) T (t ) J (t )
k a x3 (t ) x 2 (t ) J x 2 (t )
ka
x2 (t ) 0 x1 (t ) x2 (t ) x3 (t ) 0u a (t )
J J
u a (t ) Ra ia (t ) La ia (t ) k b (t )
u a (t ) Ra x3 (t ) La x3 (t ) k b x 2 (t )
kb R 1
x3 (t ) 0 x1 (t ) x2 (t ) a x3 (t ) u a (t )
La La La
(t ) x1 (t )
(t ) x1 (t ) 0 x2 (t ) 0 x3 (t ) 0u a (t )
Obtenemos el sistema
x1 (t ) 0 x1 (t ) x 2 (t ) 0 x3 (t ) 0u a (t )
ka
x2 (t ) 0 x1 (t ) x2 (t ) x3 (t ) 0u a (t )
J J
kb R 1
x3 (t ) 0 x1 (t ) x2 (t ) a x3 (t ) u a (t )
La La La
(t ) x1 (t ) 0 x2 (t ) 0 x3 (t ) 0u a (t )
1
x 2 (t ) 0 x1 (t ) x 2 (t ) x3 (t ) 0u a (t )
2
x3 (t ) 0 x1 (t ) x 2 (t ) 4 x3 (t ) 2u a (t )
(t ) x1 (t ) 0 x2 (t ) 0 x3 (t ) 0u a (t )
Para SIMU1
Aplicamos, adems
>> [A,B]=linmod('SIMU1') %Recuperar la ft de SIMU1
>> [a,b,c,d]=tf2ss(A,B)
a=
-5.0000 -4.5000 0
1.0000 0 0
0 1.0000 0
b=
1
0
0
c=
[]
d=
[]
Para SIMU2
Aplicamos, adems
>> [A,B]=linmod('SIMU1') %Recuperar la ft de SIMU1
>> [a,b,c,d]=tf2ss(A,B)
a=
-5.0000 -4.5000 0
1.0000 0 0
0 1.0000 0
b=
1
0
0
c=
[]
d=
[]
VI. Conclusiones