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1- Circuito de armadura
𝑑𝑖𝑎 (𝑡)
𝑉𝑎 (𝑡) = 𝑅𝑎 𝑖𝑎 (𝑡) + 𝐿𝑎 + 𝑒𝑎 (𝑡)
𝑑𝑡
𝑑𝑖𝑓 (𝑡)
𝑉𝑓 (𝑡) = 𝑅𝑓 𝑖𝑓 (𝑡) + 𝐿𝑓
𝑑𝑡
𝑑𝜔𝑚 (𝑡)
𝐽𝑚 = 𝑇𝑚 (𝑡) − 𝑏𝑚 𝜔𝑚 (𝑡)
𝑑𝑡
Y su transformada de Laplace:
Y su transformada de Laplace:
𝑉𝑓 (𝑠)
𝑖𝑓 (𝑠) =
𝑅𝑓 + 𝐿𝑓 𝑠
𝑲𝒕 𝑽𝒇 (𝒔)𝒊𝒂 (𝒔)
𝑱𝒎 𝝎𝒎 (𝒔) = − 𝒃𝒎 𝝎𝒎 (𝒔) Ec.8
𝑹𝒇 +𝑳𝒇 𝒔
𝑲𝒃 𝑽𝒇 (𝒔)𝝎𝒎 (𝒔)
𝑽𝒂 (𝒔) = 𝑳𝒂 𝒔 ∗ 𝒊𝒂 (𝒔) + 𝑹𝒂 𝒊𝒂 (𝒔) + Ec.9
𝑹𝒇 +𝑳𝒇 𝒔
𝐾𝑏 𝑉𝑓 (𝑠)𝜔𝑚 (𝑠)
𝑉𝑎 (𝑠)− 𝑅𝑓 +𝐿𝑓 𝑠
= 𝑖𝑎 (𝑠)
𝐿𝑎 𝑠+𝑅𝑎
2
𝐾𝑡 𝑉𝑓 (𝑠)𝑉𝑎 (𝑠) 𝐾𝑏 𝐾𝑡 [𝑉𝑓 (𝑠)] 𝜔𝑚 (𝑠)
(𝐽𝑚 𝑠 + 𝑏𝑚 )𝜔𝑚 (𝑠) = − 2
(𝐿𝑓 𝑠 + 𝑅𝑓 )(𝐿𝑎 𝑠 + 𝑅𝑎 ) (𝐿𝑓 𝑠 + 𝑅𝑓 ) (𝐿𝑎 𝑠 + 𝑅𝑎 )
𝜔𝑚 (𝑠)
y finalmente debemos conseguir el termino
Va (s)
𝐾𝑡 𝑉𝑓 (𝑠)
𝜔𝑚 (𝑠) (𝐿𝑓 𝑠 + 𝑅𝑓 )(𝐿𝑎 𝑠 + 𝑅𝑎 )
= 𝐻(𝑠) = 2
𝑉𝑎 (𝑠) 𝐾𝑏 𝐾𝑡 [𝑉𝑓 (𝑠)]
(𝐽𝑚 𝑠 + 𝑏𝑚 + 2 )
(𝐿𝑓 𝑠 + 𝑅𝑓 ) (𝐿𝑎 𝑠 + 𝑅𝑎 )
𝐽𝑚 𝐿𝑓 2 𝐿𝑎 𝑠 4 + 2𝐽𝑚 𝑅𝑓 𝐿𝑓 𝐿𝑎 𝑠 3 + 𝐽𝑚 𝐿𝑓 2 𝑅𝑎 𝑠 3 + 2𝐽𝑚 𝑅𝑓 𝐿𝑓 𝑅𝑎 𝑠 2 + 𝐽𝑚 𝑅𝑓 2 𝐿𝑎 𝑠 2 + 𝐽𝑚 𝑅𝑓 2 𝑅𝑎 𝑠
y
2
𝑏𝑚 (𝑅𝑓 + 𝐿𝑓 𝑠) (𝐿𝑎 𝑠 + 𝑅𝑎 )
𝑏𝑚 𝐿𝑓 2 𝐿𝑎 𝑠 3 + 2𝑏𝑚 𝑅𝑓 𝐿𝑓 𝐿𝑎 𝑠 2 + 𝑏𝑚 𝐿𝑓 2 𝑅𝑎 𝑠 2 + 2𝑏𝑚 𝑅𝑓 𝐿𝑓 𝑅𝑎 𝑠 + 𝑏𝑚 𝑅𝑓 2 𝐿𝑎 𝑠 + 𝑏𝑚 𝑅𝑓 2 𝑅𝑎
Agrupando tenemos:
𝑇𝑒𝑟𝑚𝑖𝑛𝑜𝑠 𝑎 𝑙𝑎 4𝑡𝑎: 𝑠 4 𝐽𝑚 𝐿𝑓 2 𝐿𝑎
2
𝑇𝑒𝑟𝑚𝑖𝑛𝑜𝑠 𝑖𝑛𝑑𝑒𝑝𝑒𝑛𝑑𝑖𝑒𝑛𝑡𝑒𝑠: 𝑏𝑚 𝑅𝑓 2 𝑅𝑎 + 𝐾𝑏 𝐾𝑡 [𝑉𝑓 (𝑠)]
∅
𝒆𝒂 (𝒔) = 𝑲𝒃 𝑲 ∗ 𝝎𝒎 (𝒔) = 𝑲𝒆 ∅𝝎𝒎 (𝒔) 1.d
𝒇
𝑲 𝒎 𝑲 𝒆 ∅𝟐 𝑲𝒎 ∅𝑽𝒂 (𝒔)
[𝑱𝒎 𝒔 + 𝒃𝒎 + ]𝝎𝒎 (𝒔) =
𝑳 𝒂 𝒔 + 𝑹𝒂 𝑳 𝒂 𝒔 + 𝑹𝒂
𝑲𝒎 ∅
𝝎𝒎 (𝒔) 𝑳 𝒂 𝒔 + 𝑹𝒂
𝑯(𝒔) = =
𝑽𝒂 (𝒔) 𝑲 𝑲 ∅𝟐
𝑱𝒎 𝒔 + 𝒃𝒎 + 𝑳 𝒎𝒔 +𝒆 𝑹
𝒂 𝒂
𝝎𝒎 (𝒔) 𝑲𝒎 ∅
𝑯(𝒔) = =
𝑽𝒂 (𝒔) 𝑱𝒎 𝒔[(𝑳𝒂 𝒔 + 𝑹𝒂 )] + 𝒃𝒎 [(𝑳𝒂 𝒔 + 𝑹𝒂 )] + 𝑲𝒎 𝑲𝒆 ∅𝟐
𝝎𝒎 (𝒔) 𝑲𝒎 ∅
𝑯(𝒔) = =
𝑽𝒂 (𝒔) (𝑳𝒂 𝒔 + 𝑹𝒂 )(𝑱𝒎 𝒔 + 𝒃𝒎 ) + 𝑲𝒎 𝑲𝒆 ∅𝟐
En el denominador tenemos:
𝑱𝒎 𝒔(𝑳𝒂 𝒔 + 𝑹𝒂 ) = 𝑱𝒎 𝑳𝒂 𝒔𝟐 + 𝑱𝒎 𝑹𝒂 𝒔
𝒃𝒎 (𝑳𝒂 𝒔 + 𝑹𝒂 ) = 𝒃𝒎 𝑳𝒂 𝒔 + 𝒃𝒎 𝑹𝒂
𝑇𝑒𝑟𝑚𝑖𝑛𝑜𝑠 𝑖𝑛𝑑𝑒𝑝𝑒𝑛𝑑𝑖𝑒𝑛𝑡𝑒𝑠: 𝑏𝑚 𝑅𝑎 + 𝐾𝑚 𝐾𝑒 ∗ ∅2
𝝎𝒎 (𝒔) 𝑲𝒎 ∅
𝑯(𝒔) = = 𝟐
𝑽𝒂 (𝒔) 𝒔 𝑱𝒎 𝑳𝒂 + 𝒔(𝑱𝒎 𝑹𝒂 + 𝒃𝒎 𝑳𝒂 ) + 𝒃𝒎 𝑹𝒂 + 𝑲𝒎 𝑲𝒆 ∅𝟐