Documente Academic
Documente Profesional
Documente Cultură
ELCTRICA Y
ELECTRNICA
I.
=
;
+1 +3
()
< 4
=
1
2 + 4 + 3
()
Entonces
4
= =1
4
Dejando en la forma general la funcin de transferencia
()
= 2
() + 4 + 3 +
3 + = 2
Por lo tanto
=
1 =
1 = 2
2 =
1
1
2
3
2
Si asumimos un valor constante de 2 = 0.25 entonces k>4-3>1
=
Calculamos
2
= 1 = 2 0.866 = 1.73
2
b) Mp menor al 10%,
Asumo un sistema
= +1 +3 ;
()
1
2 + 4 + 3
()
= 2
() + 4 + 3 +
< 0.1
=
= 0.1
Asumo un =1;
= 2.30
= 1.36
Como
= 1
5
=
2
= 0.877
5
=
2(0.877)
= 1.68
> 0.15
Entonces
4
= =1
4
= 0.1
ln 0.1
=
= 0.733
= 1
= 0.633
= cos = 0.81
0.733
=
2
1 0.81
= 2.955
Dejando de la forma general la funcin de transferencia
()
2
= 2
() + 2 + 2
()
8.73
= 2
() + 4.78 + 8.73
Los polos de la funcion de transferencia son:
P_1=-2.39+1.7j
P_1=-2.39-1.7j
a)
II.
1 =
Error esttico ante
escaln
Error esttico ante
rampa
Error esttico ante
parbola
3
+2
2
5
3
( + 2)
0
2 =
2
3
3 =
3
+ 2)
2 (
0
0
4
3
3
3
=
0
0 + 2
2
3
= lim ()() = lim
=0
0
0 + 2
3
= lim 2 ()() = lim
2 = 0
0
0 + 2
1
1
2
=
=
=
1 + 1 + 3 5
2
1
1
=
= =
0
2
2
=
= =
0
= lim ()() = lim
3
=
0
0 + 2
3
3
= lim ()() = lim
=
0
0 + 2
2
3
= lim 2 ()() = lim
2 = 0
0
0 + 2
1
1
=
=
=0
1 + 1 +
1
1 2
=
= =
3 3
2
2
2
=
= =
0
= lim ()() = lim
3
=
0
+2
3
= lim ()() = lim 2
=
0
0 + 2
3
3
= lim 2 ()() = lim 2
2 =
0
0 + 2
2
= lim ()() = lim
0 2
III.
2 4
4
3
2
1
0
+ 3
2
1
-7
25
7
1
+ 3 2 + 5 + 10
3
3
10
0
10
0
0
10
3 10
1 =
= 7
1
10 0
2 =
= 10
1
35 10 25
1 =
=
7
7
25
10
= 7
= 10
25
7
)
4
3
2
1
3 3
1
3
3
2
k
7
3
1
+ 3 2 + 2 +
k
0
0
20
7
k
92 7
1 =
=
3
3
3
2 =
=
3
14
3
9
= 3
= 2
7
7
3
7
9
(2 7 )
=
=
9
2 7
Para que el sistema sea estable
0<<
14
9
9
>0
7
14
<
9
2
+ 3
1
+ 3 2 + 3 + 6
4
3
2
1
0
1
3
1
3
6
6
3-
0
6
33
1 =
=0
1
60
2 =
=6
1
3 6
6
=
= 3
=6
IV.
6
0
0
a) = (+2)
=0
= 2
= 2
8
=
= 2 0
= 2
180(2 + 1)
=
180(1)
1 =
= 90
2
180(2 + 1)
2 =
= 270
2
+ 2 + 2 = 0
2 + 2 + 2 = 0
2 2
=
2
2 2
=
=0
2
2
1 = 0
= 1
2 0
=
=
= 1
b) = 2 (+5)
=0
=0
= 5
=
=
=
= 3
=
= 3 0
= 3
180(2 + 1)
=
180(1)
1 =
= 60
3
180(3)
2 =
= 180
3
180(5)
3 =
= 300 = 60
3
2 + 5 + = 0
= 3 5 2
= 3 2 10 = 0
3 10 = 0
=0
10
=
= 3.33
3
=
50
= 3
= 1.66
jw
jw
10
c) =
(+4)
(+2)
=0
= 2
= 4
=
= 2
=
= 2 1
= 1
180(2 + 1)
=
180(1)
=
= 180
1
=
2 (4)
=
1
=2
+ 2 + ( + 4) = 0
2 2
=
+4
2 2 + 4 ( 2 2)(1)
=
=0
( + 42 )
2 2 8 2 8 + 2 + 2 = 0
2 8 8 = 0
= 1.17
= 6.83
jw
11
(+4)
d) = 2 4+8
2 4 + 8 = 0
1 = 2 + 2
1 = 2 2
= 4
=
= 2
=
= 2 1
= 1
=
2 + 2 + 2 2 (4)
=
1
=8
180(2 + 1)
=
180(1)
1 =
= 180
1
180(2 + 1)
2 =
= 270
2
2 4 + 8 + ( + 4) = 0
2 + 4 8
=
+4
2 + 4 + 4 ( 2 + 4 8)(1) 2
=
=0
( + 4)2
2
2
2
2 8 + 4 + 16 + 4 + 8 = 0
2 8 + 24 = 0
= 2.32
= 10.32
2 4 + 8 + + 4 = 0
()2 4() + 8 + + 4 = 0
2 4 + 8 + + 4 = 0
2 + 8 + 4 = 0
2 + 8 + 4(4) = 0
2 = 24
= 4.89
4 + = 0
4 + = 0
=4
12
V.
36 + 20
+ 21 3 2 + 6 + 9
36
20
+ 2 + 3 21
11.42
+ 2 + 3
Verificando en Matlab
13
Step Response
4.5
3.5
Amplitude
2.5
1.5
0.5
Time (seconds)
VI.
6
1+
0.3+0.4+1
+ . +
< 0.1
1
< 0.1
1 + 6
1 < 0.1 1 + 6
1 < 0.1 + 0.6
> 1.5
b)
= 0.3 2 +0.4+1+6
6
=
4
10
0.3 2 + 3 + 3 + 20
20
=
4
10
2 + 3 + 3 + 20
14
= 2.47
=
= 1 2
= 1
=
=
2
3
92 4
92
9 4
3
3 =
92 4
92 = 92 4
9 2.47 2 = 92 4
= 2.56
4
2 =
3
2
=
3
10
+ 20
3
10
6.54 =
+ 20
3
19.63 10 = 60
= 0.16
2.56 =
VII.
2 2
( + 3)
15
2 2
=
R s
+3
2 2
1 + ( + 3)
+3
=
R s
3 1
Existe un polo en el lado positivo del plano s entonces entonces es un sistema unestable, por
lo tanto nunca se estabilizara.
Step Response
26
x 10
3.5
Amplitude
2.5
1.5
0.5
20
40
60
80
100
Time (seconds)
120
140
160
180
16
VIII.
( + 4)( 2 + 4 + 8)
( + 6)( 2 4 + 8)
= 180 2 + 1
1 + 2 + 3 1 + 2 + = 180
2
4
2
0 + 1
+ 1
90 + 1
+ = 180
6
4
8
0 + 18.93 + 45 90 + 14 + = 180
40.60 = 180
= 220.60
= 220.60
= 40.6 => = 139.4
1 = 139.4
2 = 0
Angulo de llegada:
1 + 2 + 3 1 + 2 + 3 = 180
2
2
4
1 + 1
+ 90 + 1
+ 0 + (180 1
) = 180
2
4
4
1 + 45 + 90 26.56 + 0 + 135 = 180
1 26.56 = 180
1 = 206.56
1 = 26.56
3 = 26.56
17
2 = 180
Lazo Cerrado:
+4 2 +4+8
+6 2 4+8 +(+4)( 2 +4+8)
1 + 6 2 4 + 8 + ( + 4)( 2 + 4 + 8)
3 4 2 + 8 + 6 2 + 24 + 48 + 3 + 4 2 + 8 + 4 2 + 16 + 32)
3 2 2 + 16 + 48 + 3 + 8 + 24 + 32 = 0
3 2 2 16 + 48 + 3 8 2 + 24 + 32 = 0
2 2 16 + 24 = 0
2 16 2 24 = 0
2 16
=
2 24
2 2 8 2 + 3 + 48 = 0
2( 2 24)
=
8( 2 + 4)
1 = (2)
2 16 2( 2 24)
=
2 24
8( 2 + 4)
3 4 96 2 + 832 = 0
3 2 2 96 2 + 832 = 0
2 =
Entonces:
3 2 96 + 832 = 0
1 = 7.09
2 39.09
2 = 1
2 = 7.09
= .
Comprobacion en Matlab del lugar de las races:
2.66 2 16
2.66 2 24
Para wn:
18
2 =
=
= 1.3634
= 1.1676 /
En Matlab:
Comprobacion en Matlab de que los dos polos s=1,4+- 2,3 son lugar de las races, entonces
se puede terminar el valor de K
( + 4)( 2 + 4 + 8)
( + 6)( 2 4 + 8)
s = -1.4 2.3j
k=0.2055
Error de estado estable ante entrada escaln
()
0 1 + ()()
3
= lim
0
( + 4)( 2 + 4 + 8)
1+
( + 6)( 2 4 + 8)
= lim
19
3
3
3(48)
=
=
2
(4)(8) 48 + 32
(0 + 4)(0 + 4(0) + 8)
1 + (6)(8)
1+
2
(0 + 6)(0 4(0) + 8)
9
=
3 + 2
IX.
s3=infinito
Ramales N=3
4 polos en el eje real
s3=-4
ngulo de salida 270 y -270 desde el polo en 0
tan =
tan 60 = 1.73
En matlab buscamos en el lugar de las races los polos que den
= 1.73
Entonces:
s1=-1.29+j2.24
s2=-1.29-j2.24
2 + 4 + 8
2 + 4
=
2 + 4 + 8
1+
2 ( + 4)
2 + 4 + 8
= 3
+ 4 2 + 2 + 4 + 8
3
2
+ 4 + 2 + 4 + 8 = ( + 1.29 + 2.24)( + 1.29 2.24)( + 12.9)
3 + 4 2 + 2 + 4 + 8 = ( 2 + 2.58 + 6.68)( + 12.9)
21
10 2 + 4 + 8
3 + 14 2 + 40 + 80
Error esttico
= lim
0 1 + ()()
1
1
= lim
2
0
10 + 4 + 8
1+
2 ( + 4)
= 0
Error de velocidad
= lim
0 1 + ()()
1
2
= lim
0
10 2 + 4 + 8
1+
2 ( + 4)
= 0
Error de aceleracin
= lim
0 1 + ()()
1
3
= lim
0
10 2 + 4 + 8
1+
2 ( + 4)
= 0.05
=
22