Documente Academic
Documente Profesional
Documente Cultură
FRECUENCIA
Respuesta a la Frecuencia
X ( s ) s + 1
X (t ) = A sen(t )
X ( s ) = A 2
2
s +
1 A
Y ( s) =
2
2
s + 1 s +
A s
A
A
+
+
2 2 2
2
2 2 2
2
1 + s + 1 + s + 1 + 2 2 s + 1
t
A
A
A
cos(
)
sen(
)
+
Y (t ) =
t
+
t
e
1 + 2 2
1 + 2 2
1 + 2 2
A
A
cos(t ) +
sen(t )
2 2
1+
1 + 2 2
A
Y (t ) =
sen(t + )
2 2
1+
CELSO MONTALVO
= arctg( )
Usando:
Respuesta a la Frecuencia
Y (t ) =
A
sen(t + )
1 + 2 2
= arctg( )
CELSO MONTALVO
Anlisis de la Estabilidad
G(s)
2
1
1
0.5
2
4
4
8
0.5
0.25
16
CELSO MONTALVO
Y (t ) =
A
sen(t + )
1 + 2 2
1
2s + 1
Kc
4s + 2
4s 2 + s + 1
Sen(t)
1
2s + 1
Kc
4s + 2
4s 2 + s + 1
Km
Lazo Cerrado
Km
Lazo Abierto
1 4s + 2
G ( s) = Kc
2
Km
2
+
1
4
1
+
+
s
s
s
CELSO MONTALVO
s
+
1
1
G(j ) =
j
+
1
G (j ) = a + b j
CELSO MONTALVO
A G (j ) = a 2 + b 2
a x
b
G (j ) = arctg
a
G(j ) =
j
=
=
2 2
2 2
j
j
j
+
1
1
+
1
+
+
+
1
G ( s) =
s + 1
1
1
=
+
G ( j ) =
2 2
2 2
1+ 1+
1 + 2 2
2
2 2
G (j ) = arctg 1 +
1
1 + 2 2
= arctg( )
CELSO MONTALVO
Tabla de AR y
FUNCIN
k (Cte)
1
s + 1
AR
k
1
1 + 2 2
arctg( )
s + 1
1 + 2 2
arctg( )
1
s + 2 s + 1
1
(1 2 2 ) 2 + ( 2 ) 2
as 2 + bs + 1
( 1-a 2 ) 2 + ( b ) 2
1
as + bs 2 + cs + 1
1
(1-b 2 ) 2 + ( c a 3 ) 2
e d s
1
s
s
90
Kc 1 +
1
+ D s
Kc 1 +
I s
1
+ 1
Kc D
CELSO MONTALVO
b
arctg
2
1 a
( c a 3 )
arctg
2
1 b
180
90
Kc 1 +
I s
1
+ Ds
Kc +
I s
2
arctg
2 2
1
arctg
I
1
I 2
2
1
D
+ Kc 2
I
arctg D
I
1
arctg D
I Kc
Kc
G1 ( s ) G2 ( s )
G3 ( s ) G4 ( s )
G ( j ) =
G1 (j ) G2 (j )
G3 (j ) G4 (j )
G (j ) = G1 (j ) + G2 (j ) G3 (j ) G4 (j )
CELSO MONTALVO
Diagramas de Bode
DIAGRAMA DE BODE - AR vs
10.00
1.00
AR
0.10
0.01
0.00
0.010
0.100
1.000
10.000
100.000
10.000
100.000
Frecuencia
DIAGRAMA DE BODE - vs
200.00
150.00
100.00
50.00
0.00
-50.00
-100.00
-150.00
-200.00
-250.00
-300.00
0.010
0.100
1.000
Frecuencia
CELSO MONTALVO
10
FIN
11