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COMPENSACIN DE ATRASOADELANTO
COMPENSACIN DE ATRASO-ADELANTO
COMPENSADOR
Respuesta transitoria
Respuesta es estado estable
Adelanto
Atraso
1
1
1
1
La funcin de transferencia
1
1
Donde:
1
1
1 1
1
1
1
1
Donde
1
1
Compensador
Atraso Adelanto
1
1
1
1
1
1
1
1
1
1
+
1
+
+
1
, > 1,
Para
Paso 1. A partir de las especificaciones de desempeo proporcionadas, se
determina la ubicacin deseada para los polos dominantes en lazo
cerrado
Paso 2. A partir de la FT en lazo abierto del sistema no compensado G(s),
determine la deficiencia angular . La parte de adelanto de fase del
compensador de atraso-adelanto debe contribuir con este ngulo .
=
+
$
1
= lim
$
= lim
$
1
1
1
+
1
+
1
+
1
+
1
+
5 <
1
+
1
+
< 0
Ejemplo 4.1
( + 0.5)
4
4
=
( + 0.5) + 0.5
()
4
4
=
=
=
() 1 + () ( + 0.5) + 4 + 0.5 + 4
= 0.2500 <1.9843
45 = 2 '(*/+&
2 = 0.125
0.19
0.135
0.095
0.06
0.03
0.4
2
System: sys
Gain: 1
Pole: -0.25 + 1.98i
Damping: 0.125
Overshoot (%): 67.3
Frequency (rad/sec): 2
1 0.7
Imaginary Axis
2.5
1.5
1
0.5
0
0.5
-1 0.7
1
1.5
-2
0.4
0.28
-3
-1
-0.9
-0.8
0.19
-0.7
-0.6
0.135
-0.5
Real Axis
-0.4
0.095
-0.3
0.06
-0.2
0.03
-0.1
2.5
30
Amplitude
1.2
1
0.8
0.6
0.4
0.2
0
10
15
Time (sec)
20
25
Amplitude
6
5
4
3
2
1
0
5
Time (sec)
10
Parmetros
sistema no compensado
sistema compensado
45 = 2 '(*/+&
45 = 5 '(*/+&
= 8 +&8
= 80 +&8
2 = 0.125
2 = 0.5
= 245 4?
= 2.5 <4.3301
Deficiencia angular
4
@
0.5 $
A B8.CD .
114.7914 120
= 234.79
180(2E + 1)
Root Locus
5
0.46
4
0.34
PD
0.24
0.17
0.11
0.05
4
0.62
3
A partir de la ecuacin:
= 234.79 180
= 54.79
La deficiencia angular:
G 54.79
Imaginary Axis
2 0.84
1
0
-1
-2 0.84
-3
-4
3
0.62
4
0.46
-5
-3
-2.5
0.34
-2
0.24
-1.5
Real Axis
0.17
-1
0.11
-0.5
0.05
50
Root Locus
1
+
5
0.72
0.58
0.44
0.32
0.22
0.1
4
0.86
3
2
Imaginary Axis
() =
1
+
0.96
1
6
0
-1
-2
0.96
-3
0.86
-4
0.72
-5
-6
-5
0.58
-4
0.44
-3
Real Axis
0.32
-2
0.22
-1
0.1
0
1
+
1
+
4
( + 0.5)
1
( + 5) 0.5
( + 5)
=
+ 0.5
+5
= 4
Obtenemos
1
=
( + 5)
= 25
8.D .
=1
= 6.25
1
+
1
+
= 6.25
( + 0.5)
( + 5)
( + 0.5)
4
1
25
( + 5) 0.5
( + 5)
= 2.5 <4.3301
cumple
0.24
0.17
0.11
0.05
4
System: sys
Gain: 0.99
Pole: -2.5 + 4.3i
Damping: 0.503
Overshoot (%): 16.1
Frequency (rad/sec): 4.98
0.62
3
2 0.84
Imaginary Axis
Polos deseados
0.34
3
2
1
1
0
-1
-2 0.84
-3
-4
3
0.62
4
0.46
-5
-3
-2.5
0.34
-2
0.24
-1.5
Real Axis
0.17
-1
0.11
-0.5
0.05
50
Remplazando
1
1
+
+
Sistema
compensado
1
+
( + 0.5)
4
= lim 6.2500
$
( + 5) + 1 + 0.5
1
1 4
= 6.2500
= 5 = 80
(5) 1 1
= 16
1
5 <
< 0
1
+
+
Polo: = 0.0125
Magnitud
1
+
1
+
Angulo
$B8.CD .
5 <
+ 0.2
=
+ 0.0125
1
+
1
+
8.CD .
= 0.98 1
< 0
Cumple
1
+
1
+
1
+
+
1
= 6.25
( + 0.5) ( + 0.2)
=
( + 5) ( + 0.0125)
1
+
1
+
1
1
+ +
( + 0.5) ( + 0.2)
4
= 6.25
( + 5) ( + 0.0125) + 0.5
25 + 5
=
+ 5.0125 + 0.0625
()
=
= + 5.0125 + 0.0625
25 + 5
() 1 + () 1 +
+ 5.0125 + 0.0625
=
25 + 5
+ 5.0125 + 25.0625 + 5
Imaginary Axis
0.42
0.3
0.2
0.09
System: sys
Gain: 1.01
Pole: -2.4 + 4.3i
Damping: 0.488
Overshoot (%): 17.3
Frequency (rad/sec): 4.93
0.84
0.54
0.95
1
5
-1
-2
0.95
-3
0.84
-4
0.68
-5
-5.5
-5
-4.5
0.54
-4
-3.5
-3
0.42
-2.5
Real Axis
-2
0.3
0.2
-1.5
-1
0.09
-0.5
0.54
0.42
0.3
0.2
0.09
4
0.84
sys nc
Imaginary Axis
sys c
0.95
1
5
-1
-2
0.95
-3
0.84
-4
0.68
-5
-5.5
-5
-4.5
0.54
-4
-3.5
-3
0.42
-2.5
Real Axis
-2
0.3
0.2
-1.5
-1
0.09
-0.5
sys nc
sys c
1.4
Amplitude
1.2
1
0.8
0.6
0.4
0.2
0
10
15
Time (sec)
20
25
sys nc
sys c
8
7
Amplitude
6
5
4
3
2
1
0
5
Time (sec)
10
rampa
sys nc
sys c
9.6
Amplitude
9.55
9.5
9.45
9.4
9.35
9.3
9.25
9.3
9.35
9.4
Time (sec)
9.45
9.5
9.55
9.6
Para =
Paso 1. A partir de las especificaciones de desempeo proporcionadas,
determine la ubicacin deseada para los polos dominantes en lazo cerrado
Paso 2. El compensador de atraso adelanto se modifica a la ecuacin:
1
=
1
+
+
1
1
+
=
1
+
+
+
1
1
+
+
$
1
+
+
1
+
1
+
()
Obteniendo
= lim
$
= lim
$
1
+
1
+
=
1
+
1
+
( ) = 1
5 <
1
+
1
+
< 0
Ejemplo 4.2
Considere el sistema de control la FT lazo abierto (). Disee un
compensador atraso adelanto con = apropiado, para cumplir todas
las especificaciones de desempeo 2 = 0.5, 45 = 5 '(*/+& y =
80 +&8
=
4
( + 0.5)
Solucin
La funcin de transferencia de lazo abierto de acuerdo al ejemplo es:
=
4
4
=
( + 0.5) + 0.5
0.19
0.135
0.095
0.06
0.03
0.4
2
System: sys
Gain: 1
Pole: -0.25 + 1.98i
Damping: 0.125
Overshoot (%): 67.3
Frequency (rad/sec): 2
1 0.7
Imaginary Axis
2.5
1.5
1
0.5
0
0.5
-1 0.7
1
1.5
-2
0.4
0.28
-3
-1
-0.9
-0.8
0.19
-0.7
-0.6
0.135
-0.5
Real Axis
-0.4
0.095
-0.3
0.06
-0.2
0.03
-0.1
2.5
30
Amplitude
1.2
1
0.8
0.6
0.4
0.2
0
10
15
Time (sec)
20
25
Amplitude
6
5
4
3
2
1
0
5
Time (sec)
10
Parmetros
sistema no compensado
sistema compensado
45 = 2 '(*/+&
45 = 5 '(*/+&
= 8 +&8
= 80 +&8
2 = 0.125
2 = 0.5
= 245 4?
2 = 0.5
= 2.5 <4.3301
1
1
+
=
1
+
+
+
1
1
+
+
= lim
$
$
1
+
+
1
+
+
1
=
80
1
1
+
+
1
+
1
+
4
( + 0.5)
1
4
= (8)
1 0.5
= 10
()
1
+
+
1
+
+
1
+
+
1
1
+
+
1
4
( + 0.5)
4
( + 0.5)
= 2.5 <4.3301
4
@
= 180(2E + 1)
( + 0.5) $B8.D .
0.87
0.78
0.66
0.52
0.36
0.18
4
0.94
3
2
Imaginary Axis
A partir de la ecuacin:
Root Locus
PD
0.985
1
8
-1
-2
0.985
-3
0.94
La deficiencia angular:
G = = 54.7914
-4
0.87
-5
-10
-9
0.78
-8
-7
-6
0.66
-5
Real Axis
-4
0.52
0.36
0.18
-3
-2
-1
El cero = 0.5
El polo = 5
= 10
Root Locus
5
0.74
0.6
0.48
3
2
0.34
0.22
0.12
1
+
() =
+
0.88
0.96
1
6
0
x5
-3
cero
polo
-1
-2
0.96
0.88
-4
0.74
-5
-6
0.6
-5
-4
0.48
-3
0.34
-2
-1
0.22
-1
0.12
0
El sistema compensado
=
= 10
+ 0.5
+5
1
+
1
+
1
+
1
+
4
1 + 0.5
+
+
4
+ 0.5
40 + 20
+ 5.5 + 2.5
0.81
0.7
0.56
0.38
0.2
2 0.95
1 0.988
6
0
-1 0.988
-2 0.95
0.89
-3
-6
0.81
-5
-4
0.7
-3
0.56
0.38
-2
-1
-1
0.2
0
1
+
=1
5 <
1
+
1
+
< 0
Magnitud
Angulo
1
1
+
+
$B8.CD .
5 <
+2
=
+ 0.02
8.CD .
1
+
< 0
1
+
2.5 + <4.3301 + 0.2
= 0.98 1
=
1
+
1
+
4
+ 0.5
1
+ 0.5 ( + 0.2)
4
40 + 8
= 10
=
+ 5 ( + 0.02) + 0.5
+ 5.02 + 0.1
+
+
0.94
0.89
0.8
0.64
0.35
0.988
0.5 0.997
6
0
-0.5 0.997
-1
0.988
0.97
-1.5
-6
0.94
-5
-4
0.89
-3
0.8
0.64
-2
-1
-1
0.35
0
0.81
0.7
0.56
0.38
0.2
2 0.95
1 0.988
6
0
-1 0.988
-2 0.95
0.89
-3
-6
0.81
-5
-4
0.7
-3
0.56
0.38
-2
-1
-1
0.2
0
La FT de lazo cerrado
40 + 8
= + 5.02 + 0.1
40 + 8
1 +
1+
+ 5.02 + 0.1
40 + 8
=
+ 5.02 + 40.1 + 8
Amplitude
1.2
1
0.8
0.6
0.4
0.2
0
10
Time (seconds)
15
20
25
Amplitude
6
5
4
3
2
1
0
Time (seconds)
10
Step Response
Amplitude
0
0
3
Time (seconds)
Ejemplo 4.3
Considere el sistema de control la FT lazo abierto (). Disee un
compensador atraso adelanto con = apropiado, para cumplir todas
las especificaciones de desempeo = 2 <3.46 y = 50 +&8
=
10
( + 2)( + 5)
Solucin
La funcin de transferencia de lazo abierto de acuerdo al ejemplo es:
10
10
=
=
( + 2)( + 5)
+ 7 + 10
10
+ 7 + 10
()
10
=
=
=
10
() 1 + () 1 +
+ 7 + 10 + 10
+ 7 + 10
0.8
0.54
0.36
0.18
4
LGR sys nc
3 0.88
Imaginary Axis
2 0.95
1 0.985
5
6
0
0.36
0.18
-2
-1
-1 0.985
-2 0.95
-3 0.88
-4
0.8
-5
-6
0.68
-5
0.54
-4
-3
Real Axis
1.2
Amplitude
0.8
0.6
0.4
0.2
Time (seconds)
Amplitude
6
5
4
3
2
1
0
Time (seconds)
10
10
()
10
=
= + 7 + 10 =
10
() 1 + () 1 +
+ 7 + 10 + 10
+ 7 + 10
2 = 0.55
= 1 +&8
= 245 45 1 2
45 = 4 '(*/+&
2 = 0.5
Compensado
2 = 0.55
45 = 1.34 '(*/+&
= 1 +&8
2 = 0.5
45 = 4 '(*/+&
= 50 +&8
Dato
Paso 2.
=
El compensador
de atraso adelanto
1
+
+
1
+
+
1
1
+
= lim
$
+
$
1
+
+
1
+
1
+
1
+
10
1 ( + 2)( + 5)
+
()
1
=
50
1
10
= (1)
1 2(5)
= 50
=
1
+
1
+
10
10
= 50
( + 2)( + 5)
( + 2)( + 5)
+
+
10
@
= 180(2E + 1)
( + 2)( + 5) $B8D
.
0.87
La deficiencia angular:
0.78
0.66
0.52
0.36
0.18
4
0.94
3
2
Imaginary Axis
A partir de la ecuacin:
Root Locus
0.985
1
8
-1
-2
0.985
-3
0.94
-4
G = = 79.07
0.87
-5
-10
-9
0.78
-8
-7
-6
0.66
-5
Real Axis
-4
0.52
0.36
0.18
-3
-2
-1
1
+
Root Locus
+
0.935
= 7.92
0.66
0.48
0.25
0.975
3
2
0.994
Imaginary Axis
Mtodo bisectriz:
El cero = 1.42
El polo = 11.25
0.8
G = = 79.07
0.88
1
14
12
10
-1
0.994
-2
-3
0.975
-4
0.935
-5
-15
0.88
0.8
-10
0.66
-5
Real Axis
0.48
0.25
0
10
=
( + 2)( + 5)
+
+ 1.42
10
= 50
+ 11.25 ( + 2)( + 5)
500 + 710
+ 18.25
+ 88.75 + 112.50
0.76
0.64
0.5
0.34
0.16
System: sys
Gain: 179
Pole: -1.99 + 3.46i
Damping: 0.498
Overshoot (%): 16.4
Frequency (rad/sec): 4
sys
comp adel
0.94
6
Imaginary Axis
0.985
2
17.5
15
12.5
10
7.5
2.5
-2
-4
0.985
-6
0.94
-8
0.86
-10
-20
-18
-16
0.76
-14
-12
0.64
-10
Real Axis
-8
0.5
-6
0.34
-4
0.16
-2
1
+
=1
5 <
1
+
1
+
< 0
Magnitud
1
+
1
+
Angulo
$B8D
.
5 <
+ 0.1
=
+ 0.0123
1
+
1
+
8D
.
< 0
3.46
3.46
2 + <3.46 + 0.1
8
8
= N()
+ N()
2 + <3.46 + 0.0123
1.9
1.98
= 61.22 + 60.21 = 1.01
1
+
1
+
4
+ 0.5
1
+
+ 1.42
( + 0.1)
10
= 50
+ 11.25 ( + 0.0123) ( + 2)( + 5)
+ 1.52 + 0.14
= 500
+ 18.26 + 88.97
+ 113.59 + 1.38
+
500 + 760 + 70
=
+ 18.26 + 88.97
+ 113.59 + 1.38
0.54
0.42
0.3
0.2
0.09
4
0.84
3
2
0.95
1
5
-1
-2
0.95
-3
0.84
-4
0.68
-5
-5.5
-5
-4.5
0.54
-4
-3.5
-3
0.42
-2.5
-2
-1
0.3
0.2
-1.5
-1
0.09
-0.5
0.54
0.42
0.3
0.2
0.09
4
0.84
3
2
0.95
1
5
-1
-2
0.95
-3
0.84
-4
0.68
-5
-5.5
-5
-4.5
0.54
-4
-3.5
-3
0.42
-2.5
-2
-1
0.3
0.2
-1.5
-1
0.09
-0.5
La FT de lazo cerrado
=
1 +
500 + 760 + 71
=
+ 18.26 + 88.99
+ 613.65 + 761.46 + 71
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
Time (seconds)
Amplitude
6
5
4
3
2
1
0
Time (seconds)
10
Amplitude
3
2.5
2
1.5
1
0.5
0
0
0.5
1.5
Time (seconds)
2.5
3.5
Ejemplo 4.4