20ª Lista de Exercícios – Projeto de controladores PID analíticos

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Disciplina: IM 144 Prof. Dr. Janito Vaqueiro Ferreira

2
20ª Lista de Exercícios – Projeto de controladores PID analíticos
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LISTA 20

QUESTÃO 1
clear all; close all; clc
kp=1.33;
np=[10*kp 30*kp];
dp=[1 3 2 0];
P=tf(np,dp);
T=feedback(P,1);
figure(1),step(T)
PSS=0.25*83.7
zeta=(log(100/PSS))/(sqrt((pi^2)+(log(100/PSS)^2)))
kd=0.396;
nkd=[10*kd 30*kd+10*kp 30*kp];
dkd=[1 3 2 0];
Pkd=tf(nkd,dkd);
Tkd=feedback(Pkd,1);
figure(2),step(Tkd)

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Disciplina: IM 144 Prof. Dr. Janito Vaqueiro Ferreira

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20ª Lista de Exercícios – Projeto de controladores PID analíticos
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QUESTÃO 2:
clear all; close all; clc
wn=1;
zeta=0.707;
ki=2;
sd=(-zeta*wn)+j*(wn*sqrt(1-zeta^2));
np=[10];
dp=[1 2 0];
P=tf(np,dp);
resp=freqresp(P,sd);
mp=abs(resp);
fip=angle(resp);
mk=1/mp;
fik=-pi-fip;
sigmad=real(sd);
omegad=imag(sd);
a=((sigmad^2)-(omegad^2));
b=sigmad;
c=2*omegad*sigmad;
d=omegad;
alfa=(sigmad*mk*cos(fik))-(omegad*mk*sin(fik));
beta=(omegad*mk*cos(fik))+(sigmad*mk*sin(fik));
kp=((a*beta)-(c*alfa)+(c*ki))/((a*d)-(b*c))
kd=-((b*beta)-(d*alfa)+(d*ki))/((a*d)-(b*c))
nk=[kd kp ki];
dk=[1 0];
K=tf(nk,dk);
rlocus(P*K)

kp =

2.9280

kd =

1.9414

____________________________________________________________________________

Disciplina: IM 144 Prof. Dr. Janito Vaqueiro Ferreira

4
20ª Lista de Exercícios – Projeto de controladores PID analíticos
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QUESTÃO 4
clear all; close all; clc
wcg=10;
MF=100*0.5;
ki=0;
np=[1];
dp=[100 0 0];
P=tf(np,dp);
resp=freqresp(P,j*wcg);
mp=abs(resp);
fip=angle(resp);
mk=1/mp;
fik=-pi+(MF*pi/180)-fip;
kp=mk*cos(fik)
kd=((mk*sin(fik))+(ki/wcg))/wcg
nk=[kd kp ki];
dk=[1 0];
K=tf(nk,dk);
L=K*P
figure(1),margin(L)
T=feedback(L,1)

kp = 6.4279e+003

kd = 766.0444

Função de Transferência:

766 s^2 + 6428 s

--------------------------
100 s^3 + 766 s^2 + 6428 s

MG=inf.; MF=50 graus

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Disciplina: IM 144 Prof. Dr. Janito Vaqueiro Ferreira

5
20ª Lista de Exercícios – Projeto de controladores PID analíticos
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QUESTÃO 5
clear all; close all; clc
wn=1.414;
zeta=0.707;
sd=(-zeta*wn)+j*(wn*sqrt(1-zeta^2));
np=[5.0119];
dp=[1 0 0];
P=tf(np,dp);
resp=freqresp(P,sd);
mp=abs(resp);
fip=angle(resp);
mk=1/mp;
fik=-pi-fip;
sigmad=real(sd);
wd=imag(sd);
a=((sigmad^2)-(wd^2));
b=sigmad;
c=2*sigmad*wd;
d=wd;
alfa=(sigmad*mk*cos(fik))-(wd*mk*sin(fik));
beta=(wd*mk*cos(fik))+(sigmad*mk*sin(fik));
ki=7;
kp=((a*beta)-(c*alfa)+(c*ki))/((a*d)-(b*c))
kd=-((b*beta)-(d*alfa)+(d*ki))/((a*d)-(b*c))
nk=[kd kp ki];
dk=[1 0];
K=tf(nk,dk);
T=feedback(K*P,1)
figure(1),step(T)
PSS=8.1;
zetas=(log(100/PSS))/(sqrt((pi^2)+(log(100/PSS)^2)))
wds=2*pi/(2*(2.226-0.299));
wns=wds/sqrt(1-zetas^2);
tau=1/(wn*zetas)

kp = 7.3991

kd = 3.9001

Função de Transferência:
19.54 s^2 + 37.07 s + 35.07
---------------------------------
s^3 + 19.54 s^2 + 37.07 s + 35.07

zetas = 0.6247

tau = 1.1321
Variou ki de 0 a 25. ki=7 foi o que melhor satisfez
os requisitos do problema
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Disciplina: IM 144 Prof. Dr. Janito Vaqueiro Ferreira