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Num=[2500]
Den=[1 25 0]
G=tf(Num,Den)
GLC=feedback(G,1);
2500 step(GLC);
G s =
s(s + 25ሻ
Step Response
1.5
System: GLC
Valores del sistema
Time (seconds): 0.0644
Amplitude: 1.44 sin compensar,
System: GLC
Time (seconds): 0.194
usando el criterio del
Amplitude: 1.09 System: GLC
Time (seconds): 0.325 2%.
Amplitude: 1.02
1
Tss=0.325seg
MP=44%
Amplitude
0.5
Valores deseados
Tss=0.065seg
MP=20%
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Time (seconds)
P
P
Determinamos los polos deseados. Tss=0.065seg
−𝜋∗𝜉 MP=20%
1−𝜉2 1−𝜉 2
• 𝑀𝑝 = 𝑒 = 0.2, 𝑆𝑖 𝑇𝑔 ∝ =
𝜉
−𝜋
𝑒 𝑇𝑔(∝ሻ = 0.2 ∝= 𝑎𝑟𝑐𝑇𝑔(1.952ሻ
−𝜋
𝑙𝑛 𝑒 𝑇𝑔(∝ሻ = 𝑙𝑛 0.2 ∝= 62.87°
−𝜋
= ln(0.2ሻ Cos(∝ሻ = 𝜉
𝑇𝑔(∝ሻ
𝑇𝑔(∝ሻ = 1.952 𝜉 = 0.456
P
Determinamos los polos deseados. Tss=0.065seg
MP=20%
4
• 𝑇𝑠𝑠 = = 0.065, 𝑢𝑠𝑎𝑛𝑑𝑜 𝑒𝑙 𝑐𝑟𝑖𝑡𝑒𝑟𝑖𝑜 𝑑𝑒𝑙 2%
𝜉∗𝜔𝑛
𝜉 = 0.456
4
= 0.065,
𝜉 ∗ 𝜔𝑛
𝑟𝑎𝑑
𝜔𝑛 = 134.953
𝑠𝑒𝑔
P
Determinamos los polos deseados. Tss=0.065seg
MP=20%
• 𝑃𝐷 = −𝜔𝑛 𝜉 ± 𝑗𝜔𝑛 1 − 𝜉 2
𝜉 = 0.456
𝑃𝐷1 = −61.539 + 𝑗120.105
𝑟𝑎𝑑
𝑃𝐷2 = −61.539 − 𝑗120.105 𝜔𝑛 = 134.953
𝑠𝑒𝑔
P
Graficar el lugar de las raíces del sistema sin compensar, con los
polos deseados. 150
Root Locus
deseados, con un
nos sirve.
-150
-70 -60 -50 -40 -30 -20 -10 0 10
Real Axis (seconds -1)
PD
PD
Usando la condición de fase:
2500
G s = 𝜉 = 0.456
s(s + 25ሻ
𝑟𝑎𝑑
• 𝐻𝑎𝑙𝑙𝑎𝑛𝑑𝑜 𝑙𝑜𝑠 𝑝𝑜𝑙𝑜𝑠 𝑑𝑒𝑙 𝑝𝑟𝑜𝑏𝑙𝑒𝑚𝑎: 𝜔𝑛 = 134.953
𝑠𝑒𝑔
𝑃1 = 0
𝑃2 = −25 𝑃𝐷1 = −61.539 + 𝑗120.105
𝑃𝐷2 = −61.539 − 𝑗120.105
PD
Usando la condición de fase: 120.105
C = 180 − arctg
61.539
C = 117.13°
120.105
A = 180 − arctg
36.539
A = 106.92°
PD
Usando la condición de fase:
C = 117.13°
𝑑1 = 120.112 + 61.542
𝑑1 = 134.95
𝑑2 = 120.112 + 36.542
𝑑2 = 125.545
A = 106.92° C = 117.13°
𝑑3 = 120.112 + 124.162
𝑑3 = 172.749
PD
Usando la condición de magnitud: G s =
2500
s(s + 25ሻ
ς 𝑑𝑝𝑑𝑧 𝐾𝑝 ∗ 𝑡𝑑 ∗ 𝑑3 ∗ 2500
=1 =1
𝑑2 ∗ 𝑑1
ς 𝑑𝑝𝑑𝑝
𝐾𝑝 ∗ 0.0054 ∗ 172.749 ∗ 2500
=1
𝑑3 = 172.749
134.95 ∗ 125.545
= 134.95
= 125.545 𝐾𝑝 = 7.265
1
C = 117.13° 𝐺𝑐(𝑠ሻ = 𝐾𝑝 ∗ 𝑡𝑑 +𝑠
A = 106.92°
𝑡𝑑
𝑡𝑑 = 0.0054
PD
1 𝑡𝑑 = 0.0054
𝐺𝑐(𝑠ሻ = 𝐾𝑝 ∗ 𝑡𝑑 +𝑠
𝑡𝑑 𝐾𝑝 = 7.265
PD
clear all; clc; close all; %Nueva funcion de transferencia
Código: %Función principal GG=series(G,Gc);
num=[2500]; GGlc=feedback(GG,1);
den=[1 25 0]; %Graficando...
G=tf(num,den); %--------Nuevo lugar de raices---
Glc=feedback(G,1); figure (1);
%Controlador plot(p1,'rs');
num1=7.262*[0.0054 1]; hold on;
den1=[1]; plot(p2,'rs');
Gc=tf(num1,den1); hold on;
%Polos deseados rlocus(GG);
p1=-61.539+j*120.105;
p2=-61.539-j*120.105;
PD
Root Locus
200
50
-50
-100
-150
-200
-700 -600 -500 -400 -300 -200 -100 0 100
Real Axis (seconds -1)
PD
Código: clear all; clc; close all;
%Función principal
%Nueva funcion de transferencia
GG=series(G,Gc);
num=[2500]; GGlc=feedback(GG,1);
den=[1 25 0]; %Graficando...
G=tf(num,den); figure (3);
Glc=feedback(G,1); step(Glc);
%Controlador hold on;
num1=7.262*[0.0054 1]; step(GGlc);
den1=[1]; legend('Sistema sin compensar','Sistema
Gc=tf(num1,den1); compensado');
%Polos deseados
p1=-61.539+j*120.105;
p2=-61.539-j*120.105;
PD
Step Response
1.5
Sistema compensado
Sistema sin compensar Valores deseados
Tss=0.065seg
MP=20%
1
sin compensar,
usando el criterio del
2%.
0.5
Tss=0.325seg
MP=44%
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Time (seconds)
PD
Código: clear all; clc; close all;
%Función principal
%Nueva funcion de transferencia
GG=series(G,Gc);
num=[2500]; GGlc=feedback(GG,1);
den=[1 25 0]; %Graficando...
G=tf(num,den); figure (2);
Glc=feedback(G,1); step(GGlc);
%Controlador legend('Sistema compensado');
num1=7.262*[0.0054 1];
den1=[1];
Gc=tf(num1,den1);
%Polos deseados
p1=-61.539+j*120.105;
p2=-61.539-j*120.105;
PD
Step Response
1.4
Valores deseados
System: GGc
1.2 Time (seconds): 0.0195
Amplitude: 1.28
System: GGc
System: GGc
Time (seconds): 0.0749
Tss=0.065seg
Time (seconds): 0.0569 Amplitude: 1.01
1
Amplitude: 0.979 MP=20%
0.8
Amplitude
0.6
Valores del sistema
compensado, usando
el criterio del 2%.
0.4
Tss=0.0569seg
0.2
MP=28%
0
0 0.02 0.04 0.06 0.08 0.1 0.12
Time (seconds)
PI
PI
Usando la condición de fase:
2500
G s = 𝜉 = 0.456
s(s + 25ሻ
𝑟𝑎𝑑
• 𝐻𝑎𝑙𝑙𝑎𝑛𝑑𝑜 𝑙𝑜𝑠 𝑝𝑜𝑙𝑜𝑠 𝑑𝑒𝑙 𝑝𝑟𝑜𝑏𝑙𝑒𝑚𝑎: 𝜔𝑛 = 134.953
𝑠𝑒𝑔
𝑃1 = 0
𝑃2 = −25 𝑃𝐷1 = −61.539 + 𝑗120.105
𝑃𝐷2 = −61.539 − 𝑗120.105
PI
Usando la condición de fase: 120.105
C = 180 − arctg
61.539
C = 117.13°
D = 117.13°
120.105
B = 180 − arctg
36.539
B = 106.92°
PI
Usando la condición de fase: C = 117.13°
D = 117.13°
σ 𝜃𝑍 − σ 𝜃𝑃 = ±180(2𝑘 + 1ሻ, cuando K=0 y -180° B = 106.92°
A−(117.13 + 117.13 + 106.92ሻ = −180
A= 161.18°
PI
Usando la condición de fase:
120.105
𝑇𝑛 18.82° =
𝑎+61.539
𝑎 = 290.864
𝑑4 = 125.545
𝑑2 = 134.95
C = 117.13°
𝑑3 = 134.95
161.18°
A = 106.92°
290.864
PI
Condición de Magnitud:
𝑑1 = 337.93
ς 𝑑𝑝𝑑𝑧 𝑑4 = 125.545
=1
ς 𝑑𝑝𝑑𝑝 𝑑2 = 134.95
337.93 ∗ 𝐾𝑝 ∗ 2500 𝑑3 = 134.95
=1
134.95 ∗ 134.95 ∗ 125.525
𝐾𝑝 = 2.705
PI
𝑠+𝑎
𝐺𝑐(𝑠ሻ = 𝐾𝑝 𝐾𝑝 = 2.705
𝑠
𝑎 = 290.864
PI
Código: %Polos deseados
p1=-61.539+j*120.105;
clear all; clc; close all;
p2=-61.539-j*120.105;
%Función principal
%Nueva funcion de transferencia
num=[2500];
GG=series(G,Gc);
den=[1 25 0];
GGlc=feedback(GG,1);
G=tf(num,den);
%Graficando...
Glc=feedback(G,1);
%--------Nuevo lugar de raices-------------
%Controlador
figure (1);
num1=2.705*[1 -290.864];
plot(p1,'rs');
den1=[1 0];
hold on;
Gc=tf(num1,den1);
plot(p2,'rs');
hold on;
rlocus(GG);
PI
Root Locus
1500
500
-500
-1000
-1500
-150 -100 -50 0 50 100 150 200 250 300 350
Real Axis (seconds -1)
PI
Código: %Polos deseados
p1=-61.539+j*120.105;
clear all; clc; close all;
p2=-61.539-j*120.105;
%Función principal
%Nueva funcion de transferencia
num=[2500];
GG=series(G,Gc);
den=[1 25 0];
GGlc=feedback(GG,1);
G=tf(num,den);
%Graficando...
Glc=feedback(G,1); figure (2);
%Controlador step(GGlc);
num1=2.705*[1 -290.864]; legend('Sistema compensado');
den1=[1 0];
Gc=tf(num1,den1);
PI
25
x 10 Step Response
1
Sistema compensado
0
-1
-2
Sistema inestable
Amplitude
-3
-4
-5
-6
-7
0 0.1 0.2 0.3 0.4 0.5 0.6
Time (seconds)
PID
PID
Usando la condición de fase:
2500
G s = 𝜉 = 0.456
s(s + 25ሻ
𝑟𝑎𝑑
• 𝐻𝑎𝑙𝑙𝑎𝑛𝑑𝑜 𝑙𝑜𝑠 𝑝𝑜𝑙𝑜𝑠 𝑑𝑒𝑙 𝑝𝑟𝑜𝑏𝑙𝑒𝑚𝑎: 𝜔𝑛 = 134.953
𝑠𝑒𝑔
𝑃1 = 0
𝑃2 = −25 𝑃𝐷1 = −61.539 + 𝑗120.105
𝑃𝐷2 = −61.539 − 𝑗120.105
PID
Usando la condición de fase:
σ 𝜃𝑍 − σ 𝜃𝑃 = ±180(2𝑘 + 1ሻ
cuando K=0 y -180°
𝑃 = 134.05°
PID
Usando la condición de Fase:
𝑏 = 𝑥 = 61.539
120.105
𝑇𝑛 45.95° =
𝑎+𝑏
106.92° 117.13°
𝑎 = 𝑦 = 54.648
PID
Usando la condición de Magnitud:
𝑑2 = 125.545
𝑑1 = 134.95
𝑑4 = 120.112 + 116.1872
𝑑4 = 167.11
106.92° 117.13°
𝑑3 = 125.5452 − 36.5392
𝑑3 = 120.11
PID
Usando la condición de Magnitud:
ς 𝑑𝑝𝑑𝑧 𝐾𝑝 ∗ 𝑑4 ∗ 2500
=1 =1 𝑑2 = 125.545
𝑑2 ∗ 𝑑1 ∗ 𝑑3
ς 𝑑𝑝𝑑𝑝
𝑑1 = 134.95
𝐾𝑝 ∗ 167.11 ∗ 2500
=1 𝑑4 = 167.11
125.545 ∗ 134.95 ∗ 120.11
𝑑3 = 120.11
𝐾𝑝 = 4.87
PID
Usando la condición de Magnitud:
𝐾𝑝 = 4.87
𝑏 = 61.539
𝑎 = 54.648
PID
clear all; clc; close all; %Graficando...
Código: %Función principal
num=[2500];
%--------Nuevo lugar de raices-
figure (1);
den=[1 25 0]; plot(p1,'rs');
G=tf(num,den); hold on;
Glc=feedback(G,1); plot(p2,'rs');
%Controlador hold on;
num1=4.87*[1 -54.64]; rlocus(GG);
den1=[1 61.536];
Gc=tf(num1,den1);
%Polos deseados
p1=-61.539+j*120.105;
p2=-61.539-j*120.105;
%Nueva funcion de transferencia
GG=series(G,Gc);
GGlc=feedback(GG,1);
PID
Root Locus
500
400
𝑃𝐷1 = −61.539 + 𝑗120.105
300
200
100
-100
-200
-300
-400
-500
-80 -60 -40 -20 0 20 40 60
Real Axis (seconds -1)
PID
clear all; clc; close all; figure (2);
Código: %Función principal
num=[2500];
step(GGlc);
legend('Sistema compensado');
den=[1 25 0];
G=tf(num,den);
Glc=feedback(G,1);
%Controlador
num1=4.87*[1 -54.64];
den1=[1 61.536];
Gc=tf(num1,den1);
%Polos deseados
p1=-61.539+j*120.105;
p2=-61.539-j*120.105;
%Nueva funcion de transferencia
GG=series(G,Gc);
GGlc=feedback(GG,1);
PID
24
x 10 Step Response
1
Sistema compensado
0
-1
-2
Amplitude
-3
-4
-5
-6
-7
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Time (seconds)
PI
𝟏 𝟏
𝐆 𝐬 = 𝟏𝟎𝟎 ∗ 𝒔 ∗ 𝒔
+𝟏
𝟏 𝟐𝟓
Bode en Matlab
COMPENSADOR EN ADELANTO BASADO EN
FRECUENCIA
(𝑻𝒔 + 𝟏ሻ (𝒔 + 𝟏/𝑻ሻ
𝐆𝐜 𝐬 = 𝒌𝑪 𝜶 = 𝒌𝑪
(𝜶𝑻𝒔 + 𝟏ሻ (𝒔 + 𝟏/𝜶𝑻ሻ 𝟏−𝜶
𝒔𝒆𝒏∅𝒎 =
SI QUEREMOS: Kv=20 𝟏+𝜶
𝟏
𝐾𝑣 = 𝑙𝑖𝑚𝑠→0 = 𝑠 ∗ 𝐺𝑐 𝑠 ∗ 𝐺 𝑠 = 20 𝒘𝒏 =
𝜶∗𝑻
𝑻𝒔 + 𝟏 𝟐𝟓𝟎𝟎
𝐾𝑣 = 𝑙𝑖𝑚𝑠→0 = 𝑠 ∗ 𝒌𝑪 𝜶 ∗ = 𝟐𝟎
𝜶𝑻𝒔 + 𝟏 𝒔 𝒔 + 𝟐𝟓
𝒌𝑪 𝜶 = 𝟎. 𝟐
CON: 𝒌𝑪 𝜶 = 𝟎. 𝟐
𝑴𝑮 = ∞
𝑲𝒗 = 𝟐𝟎
𝟏−𝜶
𝒔𝒆𝒏∅𝒎 =
𝟏+𝜶
𝟏
𝒘𝒏 =
𝜶∗𝑻
∅𝒎 = 𝟐𝟖° − 𝟓𝟔. 𝟑° + 𝟓
∅𝒎 = 𝟐𝟑. 𝟑°
𝟏−𝜶 𝟏−𝜶
𝒔𝒆𝒏∅𝒎 = 𝒔𝒆𝒏(𝟐𝟑. 𝟑°ሻ =
𝟏+𝜶 𝟏+𝜶
𝜶 = 0.433
𝟏
𝒘𝒏 = 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑 = −20𝑙𝑜𝑔
1
= −20𝑙𝑜𝑔
1
= −3.635 dB
𝜶∗𝑻 𝜶 0.433
𝜶 = 0.433
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑 = −3.635 dB 𝒘𝒏 = 𝟐𝟐. 𝟓
𝟏 𝟏
𝒘𝒏 = 2𝟐. 𝟓 =
𝜶∗𝑻 𝟎. 𝟒𝟑𝟑 ∗ 𝑻
𝑻 = 𝟎. 𝟎𝟔𝟕𝟓
𝒌𝑪 𝜶 = 𝟎. 𝟐 𝟐
𝒌𝑪 = = 𝟎. 𝟒𝟔𝟐
𝟎. 𝟒𝟑𝟑
COMPENSADOR DE ADELANTO
𝟐𝟓𝟎𝟎
PLANTA→ 𝐆 𝐬 = =
𝒔(𝒔+𝟐𝟓ሻ
𝟐𝟓𝟎𝟎
𝒔𝟐 +𝟐𝟓𝒔 (𝑻𝒔+𝟏ሻ (𝒔+𝟏/𝑻ሻ
COMPENSADOR → 𝐆𝐜 𝐬 = 𝒌𝑪 𝜶 = 𝒌𝑪
(𝜶𝑻𝒔+𝟏ሻ (𝒔+𝟏/𝜶𝑻ሻ
𝐆𝐜 𝐬
(𝟎. 𝟎𝟔𝟕𝟓𝒔 + 𝟏ሻ
= 𝟎. 𝟒𝟔𝟐
(𝟎. 𝟎𝟐𝟗𝒔 + 𝟏ሻ
𝐾𝑣 = 𝑙𝑖𝑚𝑠→0 = 𝑠 ∗ 𝐺(𝑠ሻ
2500
𝐾𝑣 = 𝑙𝑖𝑚𝑠→0 = 𝑠 ∗
𝑠(𝑠 + 25ሻ
𝐾𝑣 = 100
1 1
𝑒𝑠𝑠 = = = 0.01
𝐾𝑣 100
COMPENSADOR DE ATRÁSO
NO HAY ZERO
𝟐𝟓𝟎𝟎 𝟐𝟓𝟎𝟎
PLANTA→ 𝐆 𝐬 = = POLOS EN 0 Y -25
𝒔(𝒔+𝟐𝟓ሻ 𝒔𝟐 +𝟐𝟓𝒔
(𝑻𝒔 + 𝟏ሻ
𝐂𝐎𝐌𝐏𝐄𝐍𝐒𝐀𝐃𝐎𝐑 𝐄𝐍 → 𝐆𝐜 𝐬 = 𝒌𝑪 𝜷 ZERO EN –1/T
(𝜷𝑻𝒔 + 𝟏ሻ
POLO EN -1/𝜷𝑻
𝟐𝟓𝟎𝟎 𝟐𝟓𝟎𝟎
PLANTA→ 𝐆 𝐬 = =
𝒔(𝒔+𝟐𝟓ሻ 𝒔𝟐 +𝟐𝟓𝒔
23.33
(𝑻𝒔 + 𝟏ሻ
valor1
𝐆𝐜 𝐬 = 𝒌𝑪 𝜷
valor
117.13
(𝜷𝑻𝒔 + 𝟏ሻ
9.62°
-1/T
-1/𝜷𝑻
HALLANDO DISTANCIAS:
22 + 3.92 =4.38
COMPENSADOR DE ATRAZO
POLOS DOMINANTES:
𝟏/𝑻=0.05 ………. T=2 CUMPLE
𝐒𝟏, 𝟐 = −𝟏𝟐. 𝟓 ± 𝑱𝟒𝟖. 𝟒𝟏
𝜷>𝟏
1/ 𝜷𝑻 = 𝟎. 𝟎𝟓 ……….. 𝜷 = 𝟏𝟎
COMPENSADOR DE ATRAZO
𝐆𝐜 𝐬
(𝑻𝒔 + 𝟏ሻ
= 𝒌𝑪 𝜷
(𝜷𝑻𝒔 + 𝟏ሻ valor1
3.9
valor = 𝟏. 𝟓𝟐 + 𝟑. 𝟗𝟐 = 𝟒. 𝟏𝟖 valor
3.9
valor1 = 𝟏. 𝟗𝟓𝟐 + 𝟑. 𝟗𝟐 = -2 x1 -0.05
𝟒. 𝟑𝟔 -2 x -0.5
(𝑻𝒔 + 𝟏ሻ
𝐆𝐜 𝐬 = 𝒌𝑪 𝜷
(𝜷𝑻𝒔 + 𝟏ሻ
*CONDICION DE ARGUMENTO:
𝑘𝑝 ∗ 𝐺𝑐 𝑠 ∗ 𝐺(𝑆ሻ = 1
ς 𝑑𝑝
𝑘𝑝 =
2500 ∗ ς 𝑑𝑧
23.33 ∗ 4.36 ∗ 4.38
𝑘𝑝 =
2500 ∗ 4.18
𝒌𝒑 = 𝟎. 𝟎𝟒𝟐𝟔
𝟐𝟓𝟎𝟎 𝟐𝟓𝟎𝟎
PLANTA→ 𝐆 𝐬 = =
𝒔(𝒔+𝟐𝟓ሻ 𝒔𝟐 +𝟐𝟓𝒔
(𝒔 + 𝟏/𝑻ሻ
𝐆𝐜 𝐬 = 𝒌𝑪
𝒔 + 𝟏/𝜷𝑻
(𝒔 + 𝟎. 𝟓ሻ
𝐆𝐜 𝐬 = 𝟎. 𝟎𝟒𝟐𝟔
(𝒔 + 𝟎. 𝟎𝟓ሻ
CON COMPESADOR DE ATRAZO
𝐾𝑣 = 𝑙𝑖𝑚𝑠→0 = 𝑠 ∗ 𝐺𝑐 𝑠 ∗ 𝐺(𝑠ሻ
0.5
𝐾𝑣 = 𝑙𝑖𝑚𝑠→0 = 0.0426 ∗ ∗ 100
0.05
𝐾𝑣 = 42.6
1 1
𝑒𝑠𝑠 = = = 0.0235
𝐾𝑣 42.6