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DINAMICA DE SISTEMAS
EJRCICIOS
DOC.JOSE G.ALVAREZ LEAL
CORREA VILLA RICARDO HELAMN
09050317
MECATRONICA
PROBLEMA 1
M= 200
B= 25
K= 25
Substituyendo queda:
()
1
=
=
() 200 2 + 25 + 25
ceros =
polos =
-0.0625 + 0.3480i
-0.0625 - 0.3480i
gan =
0.0050
B=
1
0
C=
0 0.0050
D=
0
Transfer function:
1
------------------200 s^2 + 25 s + 25
impulse(sys)
Transfer function:
1
------------------200 s^2 + 25 s + 25
step(sys)
D=
-0.0625 + 0.3480i
0
0
-0.0625 - 0.3480i
Problema 2
M= 200
K1=40
K2= 50
Substituyendo queda:
()
1
=
=
() 200 2 + (40 + 50)
ceros =
Empty matrix: 0-by-1
polos =
0 + 0.6708i
0 - 0.6708i
gan =
0.0050
B=
1
0
C=
0 0.0050
D=
0
>> [V,D]=eig(A)
V=
0 + 0.5571i
0 - 0.5571i
0.8305
0.8305
D=
0 + 0.6708i
0
0
0 - 0.6708i
Problema 3
I= 1
C=100
K= 50
Substituyendo queda:
()
1
=
=
() 2 + 100 + 50
ceros =
polos =
-99.4975
-0.5025
gan =
1
B=
1
0
C=
0
D=
0
>> sys=tf(num,den)
Transfer function:
1
---------------s^2 + 100 s + 50
>> impulse(sys)
>> sys=tf(num,den)
Transfer function:
1
---------------s^2 + 100 s + 50
>> step(sys)
ans =
-99.4975
-0.5025
>> [V,D]=eig(A)
V=
-0.9999 0.4490
0.0100 -0.8935
D=
-99.4975
0
0 -0.5025
>> bode(num,den)
Problema 4
M= 200
B= 25
K= 25
Substituyendo queda:
0()
25 + 25
=
=
1() 200 2 + 25 + 25
ceros =
-1
polos =
-0.0625 + 0.3480i
-0.0625 - 0.3480i
gan =
0.1250
B=
1
0
C=
0.1250 0.1250
D=
0
>> sys=tf(num,den)
Transfer function:
25 s + 25
------------------200 s^2 + 25 s + 25
>> impulse(sys)
>> sys=tf(num,den)
Transfer function:
25 s + 25
------------------200 s^2 + 25 s + 25
>> step(sys)
D=
-0.0625 + 0.3480i
0
0
-0.0625 - 0.3480i
>> bode(num,den)
Problema 5
M=1 kg
C=4
K=68
D=
D=
-2.0000 + 8.0000i
0
0
-2.0000 - 8.0000i
Problema 6
R= 100
L= 25
C= 0.5
Substituyendo queda:
()
1
=
=
()
0.5 25 ^2 +
100
0.5 + 1
ceros =
Empty matrix: 0-by-1
polos =
-3.9799
-0.0201
gan =
0.0800
B=
1
0
C=
0 0.0800
D=
>> sys=tf(num,den)
Transfer function:
1
------------------12.5 s^2 + 50 s + 1
>> impulse(sys)
>> sys=tf(num,den)
Transfer function:
1
------------------12.5 s^2 + 50 s + 1
>> step(sys)
ans =
-3.9799
-0.0201
>> [V,D]=eig(A)
V=
-0.9699 0.0201
0.2437 -0.9998
D=
-3.9799
0
0 -0.0201
>> bode(num,den)
Problema 7
C1=0.005 farads
C2=0.002 farads
R1=100 h
R2=500 h
D=
-2.7808
0
0
-0.7192
Problema 8
MODELACIN MATEMTICA
Suspensin de un automvil
f(t)
Fuerza de
entrada
z(t)
k
M= 200
K=25
B=25
Desplazamiento,
bsalida del sistema
F ma
dz(t )
d 2 z (t )
f (t ) kz (t ) b
m
dt
dt 2
dz(t )
d 2 z (t )
f (t ) kz (t ) b
m
dt
dt 2
Aplicando la transformada de Laplace a cada trmino
(considerando condiciones iniciales igual a cero)
F ( s ) kZ ( s ) bsZ ( s ) ms2 Z ( s )
F ( s ) Z ( s ) ms2 bs k
Z (s)
1
F ( s ) ms2 bs k
Substituyendo queda:
()
1
=
=
() 200 2 + 25 + 25
ceros =
polos =
-0.0625 + 0.3480i
-0.0625 - 0.3480i
gan =
0.0050
B=
1
0
C=
0 0.0050
D=
>> sys=tf(num,den)
Transfer function:
1
------------------200 s^2 + 25 s + 25
>> impulse(sys)
>> sys=tf(num,den)
Transfer function:
1
------------------200 s^2 + 25 s + 25
>> step(sys)
>> [V,D]=eig(A)
V=
-0.0589 + 0.3281i -0.0589 - 0.3281i
0.9428
0.9428
D=
-0.0625 + 0.3480i
0
0
-0.0625 - 0.3480i
>> bode(num,den)
Problema 9
Flujo que entra Flujo que sale =
Acumulamiento
Nivel en un tanque
qi(t)
Flujo de
entrada
h(t)
A
(rea del
tanque)
R
(resistencia
de la vlvula)
R= 50
A=150
qo(t)
Flujo de
salida
dh (t )
qi (t ) qo (t ) A
dt
h(t )
R
qo (t )
1
dh (t )
qi (t ) h(t ) A
R
dt
1
dh(t )
qi (t ) h(t ) A
R
dt
Aplicando la transformada de Laplace
1
Qi ( s) H ( s ) AsH ( s )
R
1
Qi ( s) H ( s )( As )
R
H ( s)
1
R
Qi ( s ) As 1
ARs 1
R
Substituyendo queda:
()
50
=
=
() 7500 + 1
ceros =
polos =
-1.3333e-004
gan =
0.0067
B=
1
C=
0.0067
D=
0
>> sys=tf(num,den)
Transfer function:
50
---------7500 s + 1
>> impulse(sys)
>> sys=tf(num,den)
Transfer function:
50
---------7500 s + 1
>> step(sys)
D=
-1.3333e-004
>> bode(num,den)
Problema 10
K1=100
M1= 50
B=25
K12=75
M2=50
Substituyendo queda:
()
50 + 25 + 75
=
=
() 50 4 + 2500^3 + 10000 2 + 5000 + 3900
ceros =
-0.2500 + 1.1990i
-0.2500 - 1.1990i
polos =
-45.6677
-3.8921
-0.2201 + 0.6248i
-0.2201 - 0.6248i
gan =
1
>> [A,B,C,D]=tf2ss(num,den)
A=
-50
1
0
0
B=
1
0
0
0
C=
0 1.0000 0.5000 1.5000
D=
0
>> sys=tf(num,den)
Transfer function:
50 s^2 + 25 s + 75
--------------------------------------------50 s^4 + 2500 s^3 + 10000 s^2 + 5000 s + 3900
>> impulse(sys)
>> sys=tf(num,den)
Transfer function:
50 s^2 + 25 s + 75
--------------------------------------------50 s^4 + 2500 s^3 + 10000 s^2 + 5000 s + 3900
>> step(sys)
0.9664
-0.2483
0.0638
-0.0164
D=
-45.6677
0
0
0
0
-3.8921
0
0
0
0
0
0
-0.2201 + 0.6248i
0
0
-0.2201 - 0.6248i
>> bode(num,den)
Problema 11
b= 10
M= 100
K= 10
Substituyendo queda:
ceros =
-1
polos =
-0.0500 + 0.3122i
-0.0500 - 0.3122i
gan =
0.1000
B=
1
0
C=
0.1000 0.1000
D=
0
D=
-0.0500 + 0.3122i
0
0
-0.0500 - 0.3122i
Problema 12
Aplicando Laplace:
ceros =
-2
polos =
-1.3253 + 1.3644i
-1.3253 - 1.3644i
0.5753 + 1.0252i
0.5753 - 1.0252i
gan =
0.5000
0 0.5000 1.0000
100 s + 200
-----------------------------------------200 s^4 + 300 s^3 + 390 s^2 - 100 s + 1000
step(sys1)
-0.1324 + 0.6027i
0.3920 + 0.3491i
0.4222 - 0.1454i
0.0679 - 0.3737i
-0.1324 - 0.6027i
0.3920 - 0.3491i
0.4222 + 0.1454i
0.0679 + 0.3737i
D=
-1.3253 + 1.3644i
0
0
0
0
-1.3253 - 1.3644i
0
0
0
0
0.5753 + 1.0252i
0
0
0
0
0.5753 - 1.0252i
Problema 13
K1 = 100
K2 = 150
B2 = 200
M= 1000
D=
-7.7417
0
0
-0.2583
Problema 14
C1=0.005 farads
C2=0.002 farads
R1=100 h
R2=500 h
D=
-7.7417
0
0
-0.2583
Problema 15
R= 100
L= 25
C= 0.5
Substituyendo queda:
()
1
=
=
()
100 25 ^2 + 100
+1
0.5
ceros =
Empty matrix: 0-by-1
polos =
-0.0746
-0.0054
gan =
4.0000e-004
B=
1
0
C=
1.0e-003 *
0 0.4000
D=
0
>> sys=tf(num,den)
Transfer function:
1
-------------------2500 s^2 + 200 s + 1
>> impulse(sys)
>> sys=tf(num,den)
Transfer function:
1
-------------------2500 s^2 + 200 s + 1
>> step(sys)
D=
-0.0746
0
0 -0.0054
>> bode(num,den)
Problema 16
Substituyendo queda:
A=
-8.4824 -12.0270
1.0000
0
B=
1
0
C=
-2.2925 -3.2505
D=
1.2703
D=
-6.6827
0
0
-1.7997
Problema 17
B1= 200
B2= 150
K1= 125
K2= 200
>> syms s
>> num=[200 125]
num =
200 125
>> den=[350 325]
den =
350 325
>> sys= tf(num,den)
Transfer function:
200 s + 125
----------350 s + 325
>> roots (num)
ans =
-0.6250
>> roots (den)
ans =
-0.9286
>> PzMap(num,den)
>> [A B C D]=tf2ss(num,den)
A=
-0.9286
B=
1
C=
-0.1735
D=
0.5714
>> impulse(sys)
>> step(sys)
>> [frec,amort]=damp(den)
frec =
0.9286
amort =
1
>> t=[0:0.1:3];
>> [x,y]=step(num,den,t)
VALORES:
>> lambda=eig(A)
lambda =
-0.9286
>> lambda=eig(B)
lambda =
1
>> lambda=eig(C)
lambda =
-0.1735
>> lambda=eig(D)
lambda =
0.5714
VECTORES:
>> [S,D]=eig(A)
S=
1
D=
-0.9286
CANONICAS:
>> [num,den]=ss2tf(A,B,C,D)
num =
-0.9286
-1.0357
den =
1.0000
0.9286
>> [A,B,C,D]=canon(A,B,C,D,'companion')
A =
-0.9286
B =
1
C =
-0.1735
D =
-0.9286
>> [A,B,C,D]=canon(A,B,C,D,'modal')
A =
-0.9286
B =
1
C =
-0.1735
D =
-0.9286
>> margin(A,B,C,D)
>> [Gm,Pm,Wcg,Wcp]=margin(num,den)
Gm =
1.0769
Pm =
-5.1470
Wcg =
Inf
Wcp =
1.2361
>> w=0:0.1:100;
>> bode(num,den,w)
Problema 18
Substituyendo queda:
D=
-0.2500 + 1.5612i
0
0
-0.2500 - 1.5612i
Problema 19
Substituyendo queda:
I() =
1
1^2+
100 100
+
20
0.5
ceros =
polos =
-2.5000 +13.9194i
-2.5000 -13.9194i
gan =
1
-5 -200
1 0
B=
1
0
C=
0
D=
>> sys=tf(num,den)
Transfer function:
1
--------------s^2 + 5 s + 200
>> impulse(sys)
>> sys=tf(num,den)
Transfer function:
1
--------------s^2 + 5 s + 200
>> step(sys)
D=
-2.5000 +13.9194i
0
0
-2.5000 -13.9194i
>> bode(num,den)
Problema 20
M= 200
K= 25
Substituyendo queda:
X(s)=
1
200
200
2 + 25
>> syms s
>> num=[0.005];
>> den=[1 0 8];
>> [ceros,polos,gan] = tf2zp (num,den)
ceros =
Empty matrix: 0-by-1
polos =
0 + 2.8284i
0 - 2.8284i
gan =
0.0050
B=
1
0
C=
0 0.0050
D=
0
>> sys=tf(num,den)
Transfer function:
0.005
------s^2 + 8
>> impulse(sys)
>> sys=tf(num,den)
Transfer function:
0.005
------s^2 + 8
>> step(sys)
>> [V,D]=eig(A)
V=
0.9428
0.9428
0 - 0.3333i
0 + 0.3333i
D=
0 + 2.8284i
0
0
0 - 2.8284i
>> bode(num,den)