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Diseo de control mediante el Mtodo del Lugar Geomtrico de las Races. Compensacin de Adelanto.
Introduccin
R Gc(s) G(s) C
R(t)
C(t)
M p = exp(
1 )
2
=
n =
ln( M p )
2 + ln( M p ) 2
ts 2% =
4 ts 2%
M p = 0.05 ts 2% = 2 s
= 0.69
n = 2.9 r/s
Anlisis del sistema. Herramientas de Matlab -> Lugar Geomtrico de las Races -> sisotool
G(s) =
( s + 1)( s + 2 )
2 s + 3s + 2
2
Ajuste de ganancia
GC ( s ) = k p
Adicin de un polo
GC ( s ) = k p
1 s+ p
Adicin de un cero
GC ( s) = k p ( s + z )
(Probar ubicar el cero a la derecha de los del sistema)
GC ( s) = k p ( s + z )
z > z
GC ( s ) = k p
z> p
s+z s+ p
(Compensador en atraso)
Gc(s)
GC ( s ) = k p z< p
s+z s+ p
(Compensador en adelanto)
Sistematizacin. Compensador
1 T s +1 T GC ( s ) = K p = Kp 1 T s +1 s+ T s+
0 < <1
-1/(T) -1/T
n = 2.9
= 0.69
sx = n n 1 2
n 1 2
sx n
sx = 2 j 2.1
Condicin de ngulo
GC ( s ) G ( s ) GC ( s )
s = sx
s = sx
= 180 (2k + 1)
s = sx
A = A B C BC
+ G (s)
= 180 (2k + 1)
j
A A = BC B C
sx
-1/(T) -1/T
= GC ( s )
s = sx
= 180 G ( s ) = 25.46
Mtodo de la bisectriz
j
sx
-1/(T)
= sen 1 ( ) 90 + =
2
tan( 2) = Im( sx) p + Re( sx)
-1/T
tan( + 2) =
p= z= 1 = 3.52 T 1 = 2.39 T
Condicin de mdulo
GC ( s) G ( s) s = sx = 1
GC ( s ) = k p GC1 ( s )
>> sx = -2 +2.1j >> G = 2/((sx+1)*(sx+2)) >> Gc1 = (sx+2.39)/(sx+3.52) >> kp = 1/( abs(G)*abs(Gc1) )
k p GC1 ( s ) G ( s ) s = sx = 1
k p = 2.96
Respuesta transitoria
Mp=5.8%
ts = 2.08 s
Gc(s)
G(s)
G ( s) =
s+4 s ( s + 3 s + 2)
2
M p = 0.2
H(s)
tS 2% = 5 s