Solución Tarea N°2: Ki Ki

Solucin Tarea N2
UdeC - DIE - 2014
Problema
Aplicar el L.G.R. al estudio del control de los estanques interconectados
Parte A
0
1
u
k
d
Al :=
i 0
r
a

Re2 M ( al + l1 z10) 2 M M
2 ki u0
bl :=
ka
R 2 M a + l z
( l 1 10)
e
el :=
0

0
cl := ( 1 0 )
dl := 0
Dx01 kst
Dxs_ref ( s) :=
eDxs_ref ( s) :=
Dxs_ref ( s)
1 + cl s identity( 2 ) Al
b l kc kst
Dx01 kst M Re al s + d a Re al s + kr Re al + 2 M Re al l1 s + 2 d a R e al l1 s + 2 kr
ess kc , s := s eDxs_ref ( s) simplify
2 2
2 2
Dx01 kst kr Re al + 2 kr Re al l1 2 kr Re al z10 + kr Re l1 2 kr Re l1 z10 + kr Re z10 ki u0
M R e al s + d a Re al s + kr Re al + 2 M Re al l1 s + 2 da Re al l1 s + 2 kr Re al l1 2 M Re al s z10 2 da
2
ess kc , 0
fl := 0
kr Re al + 2 kr Re al l1 2 kr Re al z10 + kr Re l1 2 kr Re l1 z10 + kr R e z10 + 2 ka kc ki kst al u 0 + 2 ka kc ki kst l1 u0 ki u 0 2 ka kc
Parmetros y Matrices
Le := 50 10
M := 0.3
ki := 30 10
u0 :=
Tarea N2 - Solucin
Re := 2
R e ki gt M al + l1 x0
ki
gt := 10
kr := 30
l1 := 0.5
al := 0.02
da := 2
x0 := 0.3
ki u0
kr
a1 :=

2 M a + l x 2 M
( l 1 0)
Re
1 de 26
ka := 50
a0 :=
1
kst :=
10
da
M
Sistemas de Control - 543 244
2 ki u 0
bl :=
ka
R 2 M a + l x
( l 1 0)
e
0 1
Al :=
a1 a0
Dx01 := 0.05
kc := 10
Parte B
0

0
cl := ( 1 0 )
dl := 0
fl := 0
UdeC - DIE - 2014
Dx02 := 0.10
Dx01 kst kr Re al + 2 kr Re al l1 2 kr Re al x0 + kr Re l1 2 kr Re l1 x0 + kr Re x0 ki u 0
ess :=
ess = 1.692 10
el :=
kr R e al + 2 kr Re al l1 2 kr R e al x0 + kr Re l1 2 kr R e l1 x0 + kr Re x0 + 2 ka kc ki kst al u0 + 2 ka kc ki kst l1 u 0 ki u0
ess
kst
= 0.017
kc_p := 10
Simulacin Sistema en L.C. con hc (s) = kc .

Acp = Al bl kc kst cl
bcp = b l kc
ccp = cl
Acp( k) := Al bl k kst cl
bcp( k) := b l k
ccp := cl
3.333 + 6.59i
eigenvals Al =
3.333 6.59i
( )
( (
eigenvals Acp kc_p
) (
kc := kc_p
tr1 := 1
tr2 := 6
100
kdx :=
kst
( t) := if ( t = 0 , 1 , ( t) )
3.333 + 12.249i
)) = 3.333 12.249i
CI :=
0

0
Dxs_ref ( t) := Dx01 kst t tr1 + Dx02 Dx01 kst t tr2 0

tf := 4
mf := 2000
m := 1 .. mf
t := 0 ,
tf
mf
x1
+ b k Dx
D( t , x) := Acp( kc)
( t)
x cp( c) s_ref
2
tf
dv( m) := kc Dxs_ref m
kst Za3
m, 3
mf
Tarea N2 - Solucin
.. tf
Za3 := rkfixed CI , 0 , tf , mf , D
du( m) := ka dv( m)
2 de 26
Dxs( m) := Za3
kst
m, 2
dv
de
di, A
10
10
0.2
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0.1
0
0.1
0.2
0.3
20
dx1, cm
10
dx2, cm/s
30
20
10
1000 dxs_ref, 1000 dxs

6
2
10
1
0
Parte C
20
Funciones de Transferencia en L.D.

1
0
l( s) := kst cl s identity( 2 )
a11 a00
a00 := a0
bl
a11 := a1
10.660035817780521715
2
s + a00 s + a11
l( s) :=
10.660035817780521715
2
s + a00 s + a11
10.660035817780521715
2
6.6666666666666666667 s + s + 54.545454545454545455
Polos y ceros en L.D.

polos :
Tarea N2 - Solucin
pol := eigenvals Acp( 0)
3.333 + 6.59i
3.333 6.59i
pol =
3 de 26
ceros :
cer := l( s)
solve , s
float , 10
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Funciones de Transferencia en L.C.
hx( s , k) := ccp s identity( 2) Acp( k)
collect
b cp( k)
1.066e6 k
s
float , 4
106600.0 k + 66667.0 s + 10000.0 s + 545450.0
hx 0 , kc = 6.615
Polos y ceros en L.C. para kc calculado.
Parte D
3.333 + 12.249i
3.333 12.249i
( ( ))
polos :
pol := eigenvals Acp kc
ceros :
cer := h x s , kc
pol =
solve , s
float , 10
kb := 5
Valor de kc para tener un sistema de primer orden.
( ( ))
( ( ))
( )
eigenvals Acp kb 2 = 10 eigenvals Acp kb 1
Given
kcred := Find kb
( ( ))
= 0.1
eigenvals( Acp( kcred) ) 2
eigenvals Acp kcred 1
kcred = 4.772
Polos y ceros en L.C. para kc 1er orden.
Parte E
( (
))
polos :
pol := eigenvals Acp kcred
ceros :
cer := h x s , kcred
0.606
6.061
pol =
solve , s
float , 10
El LGR del sistema

Se grafican los valores propios de A r; es decir, el L.G.R.
Tarea N2 - Solucin
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m := 12
M := 2
c := 5 M
mm := 1 .. 2 d := m , m + 0.01 .. M
( ( ))
remax := 10
( d)
P( d) := eigenvals Acp 10
( (
r1( m) := P log kc m
immin := 020 immax := 020
N( d ) := eigenvals Acp 10
UdeC - DIE - 2014
))
r2( m) := P log kcred m
20
Im( P( d) mm )
remin := 020
10
Im( P( c) mm )
Im( P( m) mm )
Im( N( d) mm )
Im( r1( mm) )

Im( r2( mm) )
10
20
20
10
10
Re( P( d) mm ) , Re( P( c) mm ) , Re( P( m) mm ) , Re( N( d) mm ) , Re( r1( mm) ) , Re( r2( mm) )
Parte F
Lugares de Despegue con sus respectivas ganancias kd y races en L.C. para estos casos
sd :=
d 1

ds l( s)
solve , s
3.333333333
float , 10
1
kc_d1 :=
l sd
kc_d1 = 4.075
( )
3.333 + 9.132i 10 8
eigenvals( Acp( kc_d1) ) =
8
3.333 9.132i 10
( (
))
r1( m) := P log kc_d1 m
Tarea N2 - Solucin
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20
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10
Im( P( d) mm )
Im( P( c) mm )
Im( P( m) mm )
Im( N( d) mm )
Im( r1( mm) )

10
20
20
10
10
Re( P( d) mm ) , Re( P( c) mm ) , Re( P( m) mm ) , Re( N( d) mm ) , Re( r1( mm) )
Parte G
Ganancias Crticas kc_in y races en L.C. para estos casos
pol_car( kk) := identity( 2) Acp( kk)
kc_in1 := pol_car( kk)

1
( (
eigenvals Acp kc_in1
( (
coeffs ,
float , 10
10.66003582 kk + 54.54545455
6.666666667
1.0
solve , kk
5.116817192
float , 10
) ) = 8.549 10
6.667
kc_in1 = 5.117
10
))
r1( m) := P log kc_in1 m
Tarea N2 - Solucin
6 de 26
20
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Im( P( d) mm )
10
Im( P( c) mm )
Im( P( m) mm )
Im( N( d) mm )
Im( r1( mm) )

10
20
20
10
10
Re( P( d) mm ) , Re( P( c) mm ) , Re( P( m) mm ) , Re( N( d) mm ) , Re( r1( mm) )
Parte H
(i) El sistema es estable para kc mayor que
kc_in1 = 5.117
(ii) El sistema es estable y oscila para kc mayor que

(iii) El sistema es de 1er orden para kc menor que
Parte I.C
y menor que
kc_d1 = 4.075
infinito
y menor que
kcred = 4.772
y mayor que
infinito
kc_in1 = 5.117
Sistema en L.C. con hc (s) = kc /s.
( )
Aci kc := augment stack Al , kc kst cl , stack b l , 0
))
( )
bci kc := stack b l 0 , kc
eci := stack el , 0
cci := augment cl , 0
kc := 15
Funciones de Transferencia en L.D.
0
l( s) := kst cl s identity( 2 )
a111 a000
1
Tarea N2 - Solucin
bl
expand
10.66003582
float , 10
3
2
s + a000 s + a111 s
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a000 := a0
a111 := a1
l( s) :=
10.66003582
3
10.66003582
s + a000 s + a111 s
54.545454545454545455 s + 6.6666666666666666667 s + s UdeC - DIE - 2014
Polos y ceros en L.D.
polos :
pol := eigenvals Aci( 0 )
ceros :
cer := l( s)
3.333 + 6.59i
pol = 3.333 6.59i
solve , s
float , 10
hDx( s , k) := cci s identity( 3 ) Aci( k)
) 1 bci(k)
expand
float , 4
1.066e6 k
2
106600.0 k + 545450.0 s + 66667.0 s + 10000.0 s
hDx 0 , kc = 10
Parte I.D
1.497 + 6.427i
pol = 1.497 6.427i
3.672
( ( ))
polos :
pol := eigenvals Aci kc
ceros :
cer := h Dx s , kc
solve , s
float , 10
kb := 0.1
Valor de kc para tener un sistema de primer orden.

Given
( ( )) )
( ( )) )
Re eigenvals Aci kb 3 = 0.1 Re eigenvals Aci kb 2
( )
kcred := Find kb
kcred = 1.564
Polos y ceros en L.C. para kc 1er orden.

polos :
Tarea N2 - Solucin
( (
))
pol := eigenvals Aci kcred
3.175 + 6.515i
pol = 3.175 6.515i
0.317
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cer := h Dx s , kc
ceros :
Parte I.E
solve , s
float , 10
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El LGR del sistema

m := 2
M := 3
c := 5 M
mm := 1 .. 3 d := m , m + 0.01 .. M
( ( ))
remin := 015
( d)
P( d) := eigenvals Aci 10
( (
r1( m) := P log kc m
remax := 05
N( d ) := eigenvals Aci 10
))
r2( m) := P log kcred m
20
Im( P( d) mm )
immin := 020 immax := 020
10
Im( P( c) mm )
Im( P( m) mm )
Im( N( d) mm )
Im( r1( mm) )

Im( r2( mm) )
10
20
15
Parte I.F
10
no hay
Parte I.G
Tarea N2 - Solucin
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pol_car( kk) := identity( 3) Aci( kk)
kc_in1 := pol_car( kk)

1
kc_in2 := 35
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solve , kk
0.0
float , 10
kc_in1 = 0
( (
)) )
Re eigenvals Aci kc_in2 2 = 0
Given
kc_in := kc_in1 kc_in2
10.66003582 kk
coeffs ,
54.54545455
float , 10 6.666666667
1.0
kc_in2 := Find kc_in2
)T
3.333 + 6.59i
eigenvals( Aci( kc_in1) ) = 3.333 6.59i
7.385i
eigenvals( Aci( kc_in2) ) = 7.385i
6.667
r1( mm) := P log kc_in1 + 10
r2( mm) := P log kc_in2 mm
mm
( (
20
Im( P( d) mm )
kc_in2 = 34.112
))
10
Im( P( c) mm )
Im( P( m) mm )
Im( N( d) mm )
Im( r1( mm) )

Im( r2( mm) )
10
20
15
Tarea N2 - Solucin
10
10 de 26
Parte I.H
kc_in1 = 0
kc_d1 = 4.075
Parte J.C
kc_in2 = 34.112
y menor que
kcred = 1.564
(iii) El sistema es de 1er orden para kc menor que
kc_in2 = 34.112
y menor que
y mayor que
kc_in1 = 0
Tm := 0.2
Ecuaciones de Estado Discretas Equivalentes.
exp( eigenvals( Al) 1 t)
c( t) := eigenvecs Al
( )
eigenvecs A 1
( l)
exp( eigenvals( Al) 2 t)
Ad := Re c Tm
0.38 0.075
Ad =
4.114 0.123
T
m
bd := Re
(c(Tm ) bl)1 d
T
m
c Tm b l d
( ( ))
cd := cl
( (
) )
1.212
8.041
bd =
cd = ( 1 0 )
kc := 3
Funciones de Transferencia en L.D. incluyendo retardo, hc (z) = kc , incluyendo retardo
Adr := augment stack Ad , cd 0 , stack b d , 0
))
Adpr( k) := Adr bdr cdr k kst
bdpr( k) := b dr k
l( z) := kst cdr z identity( 3 ) Adr
b dr
bdr := stack b d 0 , 1
factor
parfrac
float , 15
Tarea N2 - Solucin
UdeC - DIE - 2014
cdr := augment cd , 0
cdpr := cdr
0.286675303889725
z
1.0 ( 0.286675303889725 z 0.194807402333588 )

2
0.256729770337996 z + z + 0.263597138115727
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0.128 + 0.497i
pol = 0.128 0.497i
( )
polos :
pol := eigenvals Adr
ceros :
cer := l( z)
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solve , z
0.6234404359
float , 10
hDx( z , k) := cdpr z identity( 3 ) Adpr( k)
b dpr( k)
factor
float , 5
10.0 250457.0 k + 1.0 z + 2.0 z + 5.0 z + 401734.0 k z

2
250457.0 k + 873664.0 z + 850902.0 z + 3.3144e6 z + 401734.0 k z
hDx 1 , kc = 3.696
polos :
ceros :
Parte J.E
( ))
pol := eigenvals Adpr kc
cer := h Dx z , kc
0.273 + 0.843i
pol = 0.273 0.843i
0.289
0.6234387551
0.5117193775 + 490.9588335i
float , 10
0.5117193775 490.9588335i
solve , z
El LGR del sistema

cir( ) := e

m := 7
M := 4
c := 10 M
mm := 1 .. 3 d := m , m + 0.005 .. M
remin := 1.2
remax := 1.2
Tarea N2 - Solucin
( d)
P( d) := eigenvals Adpr 10
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:= 0 ,
immin := 1.2
50
.. 2
immax := 1.2
N( d ) := eigenvals Adpr 10
UdeC - DIE - 2014

1
Im( P( d) mm )
Im( P( c) ) mm
Im( P( m) mm )
Im( N( d) mm )
( ( ( )) )
Im P log kc mm
Im( cir( ) )
( ( ( )) )
Re( P( d) mm ) , Re( P( c) mm ) , Re( P( m) mm ) , Re( N( d) mm ) , Re P log kc mm , Re( cir( ) )
Parte J.F
Tarea N2 - Solucin
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1
d
sd :=
dz l ( z )
1
kc_d1 :=
l sd
3
0.1153144389 0.2567234743i
0.1153144389 + 0.2567234743i
float , 10
1.037424646
solve , z
kc_d1 = 33.207
2.332
8
eigenvals( Adpr( kc_d1) ) = 1.037 + 1.351i 10
8
1.037 1.351i 10
( (
))
UdeC - DIE - 2014

1
kc_d2 :=
l sd
3
kc_d2 = 33.207
1
kc_d3 :=
l sd
3
kc_d3 = 33.207
2.332
2.332
8
8
eigenvals( Adpr( kc_d2) ) = 1.037 + 1.351i 10 eigenvals
(Adpr(kc_d3)) = 1.037 + 1.351i 10
8
8
1.037 1.351i 10
1.037 1.351i 10
( (
))
( (
))
0
1
Im( P( d) mm )
Im( P( c) mm )
Im( P( m) mm )
Im( N( d) mm )
Im( cir( ) )
Im( r1( mm) )

Im( r2( mm) )
Im( r3( mm) )
Tarea N2 - Solucin
14 de 26
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Re( P( d) mm ) , Re( P( c) mm ) , Re( P( m) mm ) , Re( N ( d) mm ) , Re( cir( ) ) , Re( r1( mm) ) , Re( r2( mm) ) , Re( r3( mm) )
Parte J.G
kj := 1
Given
( ))
eigenvals Adpr kj 1 = 1
( )
kc_in1 := Find kj
kc_in1 = 5.117
eigenvals( Adpr( kc_in1) ) = 0.372 + 0.499i
0.372 0.499i
kc_in2 = 4.438
0.296 + 0.955i
eigenvals( Adpr( kc_in2) ) = 0.296 0.955i
0.335
kc_in3 = 29.061
2.196
eigenvals( Adpr( kc_in3) ) = 0.97 + 0.244i
0.97 0.244i
kc_in4 = 33.309
2.335
eigenvals( Adpr( kc_in4) ) = 1.078
))
eigenvals Adpr kc_in1 1 = 1
kj := 6
Given
( ))
( )
kc_in2 := Find kj
))
kj := 30 Given
( ))
( )
kc_in3 := Find kj
))
kj := 33.3Given
( ))
( )
kc_in4 := Find kj
))
( (
))
Tarea N2 - Solucin
( (
))
15 de 26
( (
))
( (
))
UdeC - DIE - 2014
1
Im( P( d) mm )
Im( P( c) mm )
Im( P( m) mm )
Im( N( d) mm )
Im( r1( mm) )
0
0
Im( r2( mm) )
Im( cir( ) )
Im( r3( mm) )
Im( r4( mm) )
1
1
Re( P( d) mm ) , Re( P( c) mm ) , Re( P( m) mm ) , Re( N ( d) mm ) , Re( r1( mm) ) , Re( r2( mm) ) , Re( cir ( ) ) , Re( r3( mm) ) , Re( r4( mm) )
Parte J.H
kc_in1 = 5.117
Parte K.C
kc_in1 = 5.117
kc_in2 = 4.438
y menor que
kc_in2 = 4.438
Funciones de Transferencia en L.D. incluyendo retardo, hc (z) = kc /(z-1), incluyendo retardo.
Adr := augment stack Ad , cd 0 , stack b d , 0

Tarea N2 - Solucin
y menor que
))
bdr := stack b d 0 , 1
16 de 26
cdr := augment cd , 0
Modelo con retardo
kc := 2
AdI := augment stack Adr , cdr 0 , stack b dr , 1
))
bdI := stack b dr 0 , 1
cdI := augment cdr , 0
Modelo con integrador
UdeC - DIE - 2014

Adr2( k) := AdI bdI cdI k kst
bdr2( k) := b dI k
l( z) := kst cdI z identity( 4 ) AdI
factor
b dI
parfrac
float , 10
polos :
ceros :
cdr2 := cdI
0.09124131387 z 0.2188583516
2
0.2567297704 z + z + 0.2635971381
0.2866753039
z
0.19543399 z 0.19543399
2
2.0 z + z + 1.0
0.128 + 0.497i
0.128 0.497i
pol := eigenvals( AdI)
pol =
0.6234404358
solve , z
cer := l( z)
63563.15004
float , 10
63563.72486
hDx( z , k) := cdr2 z identity( 4 ) Adr2( k)
b dr2( k)
factor
float , 5
10.0 100183.0 k + 10.0 z + 160694.0 k z

2
)
4
100183.0 k + 349466.0 z + 689826.0 z + 1.6661e6 z + 1.3257e6 z + 160694.0 k z
hDx 1 , kc = 10.001
polos :
ceros :
Tarea N2 - Solucin
( ))
pol := eigenvals Adr2 kc
cer := h Dx z , kc
0.158 + 0.395i
0.158 0.395i
pol =
0.786 + 0.466i
0.786 0.466i
179.5838867
178.9604396
float , 10
0.6234471208
solve , z
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Parte K.E
El LGR del sistema

cir( ) := e

m := 8
M := 8
c := 10 M
remin := 1.2
mm := 1 .. 4 d := m , m + 0.005 .. M
remax := 1.2
:= 0 ,
immin := 1.2
( d)
P( d) := eigenvals Adr2 10
50
.. 2
immax := 1.2
N( d ) := eigenvals Adr2 10
0
1
Im( P( d) mm )
Im( P( c) )
mm
Im( P( m) mm )
Im( N( d) mm )
( ( ( )) )
Im P log kc mm
Im( cir( ) )
1
Tarea N2 - Solucin
Re( P( d)
) , Re( P( c) ) , Re( P( m) ) , Re( N( d) ) , Re( P(18logde( k26) ) ) , Re( cir( ) )
( ( ( )) )
Re( P( d) mm ) , Re( P( c) mm ) , Re( P( m) mm ) , Re( N( d) mm ) , Re P log kc mm , Re( cir( ) )
UdeC - DIE - 2014
Parte K.F
110095.0513
0.6404165327
d 1 solve , z 0.1557980778 0.2572918268i

sd :=
dz l( z) float , 10 0.1557980778 + 0.2572918268i
0.9454467557
110095.1551
1
kc_d1 :=
l sd
2
1
kc_d2 :=
l sd
5
kc_d1 = 0.766
kc_d2 = 65.985
0.012 + 0.375i
0.012 0.375i
eigenvals( Adr2( kc_d1) ) =
0.64
0.64
1.574 + 1.761i
1.574 1.761i
eigenvals( Adr2( kc_d2) ) =

6
0.945 + 2.115i 10
0.945 2.115i 10 6
( (
))
( (
))

Tarea N2 - Solucin
( (
))
( (
))

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0
1
Im( P( d) mm )
Im( P( c) mm )
Im( P( m) mm )
Im( N( d) mm )
Im( cir( ) )
Im( r1( mm) )
Im( r2( mm) )

Im( r3( mm) )
Im( r4( mm) )
Re( P( d) mm ) , Re( P( c) mm ) , Re( P( m) mm ) , Re( N( d) mm ) , Re( cir ( ) ) , Re( r1( mm) ) , Re( r2( mm) ) , Re( r3( mm) ) , Re( r4( mm) )
Parte K.G
Tarea N2 - Solucin
20 de 26
kj := 30
Given
( ))
( )
kc_in1 := Find kj
eigenvals Adr2 kj 1 = 1
kc_in1 = 2.729
0.834 + 0.552i
0.834 0.552i
UdeC - DIE - 2014
eigenvals( Adr2( kc_in1) ) =
0.206 + 0.405i
0.206 0.405i
kc_in2 = 7.365
1.551
0.032 + 0.999i
0.032 0.999i
0.359
kc_in3 = 7.365
1.551
0.032 + 0.999i
0.032 0.999i
0.359
kc_in4 = 66.619
1.577 + 1.767i
1.577 1.767i
1
0.898
))
eigenvals Adr2 kc_in1 2 = 1
kj := 1
Given
( ))
( )
kc_in2 := Find kj
))
kj := 0.01 Given
( ))
( )
kc_in3 := Find kj
))
kj := 100 Given
( ))
( )
kc_in4 := Find kj
))
( (
))
Tarea N2 - Solucin
( (
))
( (
))
21 de 26
( (
))
UdeC - DIE - 2014

1
Im( P( d) mm )
Im( P( c) mm )
Im( P( m) mm )
Im( N( d) mm )
Im( r1( mm) )
0
0
Im( r2( mm) )
Im( cir( ) )
Im( r3( mm) )
Im( r4( mm) )
Re( P( d) mm ) , Re( P( c) mm ) , Re( P( m) mm ) , Re( N ( d) mm ) , Re( r1( mm) ) , Re( r2( mm) ) , Re( cir ( ) ) , Re( r3( mm) ) , Re( r4( mm) )
Parte K.H
Tarea N2 - Solucin
y menor que
kc_in1 = 2.729
y menor que
22 de 26
kc_in1 = 2.729
UdeC - DIE - 2014
2 2
r R e al l1 2 M R e al s z10 2 d a R e al s z10 2 kr Re al z10 + M Re l1 s + d a Re l1 s + kr R e l1 2 M R e l1 s z10 2 d a Re l1 s z10 2 kr Re l1 z10 + M R e s

2
2 2
2 2
Re al s z10 2 kr Re al z10 + M Re l1 s + d a Re l1 s + kr Re l1 2 M Re l1 s z10 2 d a Re l1 s z10 2 kr Re l1 z10 + M Re s z10 + d a R e s z10 + kr Re z10
c ki kst u 0 z10
Tarea N2 - Solucin
23 de 26
UdeC - DIE - 2014
2 ka kc ki kst u 0 x0
Tarea N2 - Solucin
24 de 26
UdeC - DIE - 2014
Tarea N2 - Solucin
25 de 26
UdeC - DIE - 2014
s z10 + da Re s z10 + kr Re z10 ki u 0

2
+ 2 ka kc ki kst al u0 + 2 ka kc ki kst l1 u 0 ki u0 2 ka kc ki kst u 0 z10
Tarea N2 - Solucin
26 de 26

Solución Tarea N°2: Ki Ki

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UdeC - DIE - 2014

Aplicar el L.G.R. al estudio del control de los estanques interconectados

ess kc , s := s eDxs_ref ( s) simplify

Dx01 kst kr Re al + 2 kr Re al l1 2 kr Re al z10 + kr Re l1 2 kr Re l1 z10 + kr Re z10 ki u0

kr Re al + 2 kr Re al l1 2 kr Re al z10 + kr Re l1 2 kr Re l1 z10 + kr R e z10 + 2 ka kc ki kst al u 0 + 2 ka kc ki kst l1 u0 ki u 0 2 ka kc

Sistemas de Control - 543 244

UdeC - DIE - 2014

Simulacin Sistema en L.C. con hc (s) = kc .

eigenvals Acp kc_p

Dxs_ref ( t) := Dx01 kst t tr1 + Dx02 Dx01 kst t tr2 0

Sistemas de Control - 543 244

UdeC - DIE - 2014

1000 dxs_ref, 1000 dxs

Funciones de Transferencia en L.D.

Polos y ceros en L.D.

pol := eigenvals Acp( 0)

Sistemas de Control - 543 244

UdeC - DIE - 2014

Funciones de Transferencia en L.C.

hx( s , k) := ccp s identity( 2) Acp( k)

106600.0 k + 66667.0 s + 10000.0 s + 545450.0

Polos y ceros en L.C. para kc calculado.

pol := eigenvals Acp kc

Valor de kc para tener un sistema de primer orden.

eigenvals Acp kb 2 = 10 eigenvals Acp kb 1

Polos y ceros en L.C. para kc 1er orden.

pol := eigenvals Acp kcred

El LGR del sistema

Sistemas de Control - 543 244

immin := 020 immax := 020

UdeC - DIE - 2014

r2( m) := P log kcred m

Im( r1( mm) )

eigenvals( Acp( kc_d1) ) =

r1( m) := P log kc_d1 m

Sistemas de Control - 543 244

UdeC - DIE - 2014

Im( r1( mm) )

Re( P( d) mm ) , Re( P( c) mm ) , Re( P( m) mm ) , Re( N( d) mm ) , Re( r1( mm) )

Ganancias Crticas kc_in y races en L.C. para estos casos

pol_car( kk) := identity( 2) Acp( kk)

kc_in1 := pol_car( kk)

eigenvals Acp kc_in1

r1( m) := P log kc_in1 m

Sistemas de Control - 543 244

UdeC - DIE - 2014

Im( r1( mm) )

Re( P( d) mm ) , Re( P( c) mm ) , Re( P( m) mm ) , Re( N( d) mm ) , Re( r1( mm) )

(i) El sistema es estable para kc mayor que

(ii) El sistema es estable y oscila para kc mayor que

Sistema en L.C. con hc (s) = kc /s.

Aci kc := augment stack Al , kc kst cl , stack b l , 0

Funciones de Transferencia en L.D.

Sistemas de Control - 543 244

54.545454545454545455 s + 6.6666666666666666667 s + s UdeC - DIE - 2014

Polos y ceros en L.D.

pol := eigenvals Aci( 0 )

Funciones de Transferencia en L.C.

hDx( s , k) := cci s identity( 3 ) Aci( k)

106600.0 k + 545450.0 s + 66667.0 s + 10000.0 s

pol := eigenvals Aci kc

Valor de kc para tener un sistema de primer orden.