Documente Academic
Documente Profesional
Documente Cultură
Luis Snchez
Control de Posicin
Las entradas
de prueba para
anlisis
y
diseo de error
en
estado
estable varan
con el tipo de
objetivo
Control de
Una antena
Entrada Escaln
Entrada rampa
Error:
R( s )
r (t )
C (s)
c(t )
G( s )
E ( s)
e(t )
e(t ) r (t ) c(t )
Steady-state error:
G( s )
C (s)
c(t )
Sistema con
Realimentacin
Unitaria H(s)=1
lim f (t ) lim sF ( s)
s 0
s 0
R( s )
r (t )
C (s)
c(t )
G( s )
R( s)
E ( s)
e(t )
G( s )
C (s)
c(t )
1
s
ess lim sE ( s )
s 0
1
lim s[1 G ( s )]
s 0
s
lim[1 G ( s )]
s 0
1 G (0)
1
1
ess lim sE ( s ) lim s
s 0
s 0 1 G ( s ) s
1
1
lim
s 0 1 G ( s )
1 G (0)
Clasificacin de G(s)H(s) :
Considere la siguiente funcin de transferencia de lazo abierto
G(s)H(s)
K (T s 1)(Tb s 1) (Tm s 1)
G ( s) H ( s) N a
s (T1s 1)(T2 s 1) (T p s 1)
E ( s)
e(t )
G( s )
C (s)
c(t )
1
ees lim sE ( s ) lim s
R( s)
s 0
s 0 1 G ( s )
s
1
1
ees lim
s 0 1 G ( s ) s
1 G ( 0)
la constante
K P se define como:
K P lim G ( s) G (0)
s 0
ees
K P es
1
1 KP
K (Ta s 1)(Tb s 1)
K
s 0 (T1s 1)(T2 s 1)
K P lim
ees
1
1 K
K (Ta s 1)(Tb s 1)
K P lim N
s 0 s (T s 1)(T s 1)
1
2
ees 0
s
1
1
ess lim
lim
2
s 0 1 G ( s ) s
s 0 sG ( s )
La constante K v se define como
KV lim sG ( s )
s 0
1
ees
KV
K v es
sK (Ta s 1)(Tb s 1)
KV lim
0
s 0 (T1s 1)(T2 s 1)
1
ees
KV
sK (Ta s 1)(Tb s 1)
KV lim
K
s 0 s (T1s 1)(T2 s 1)
1
1
ees
KV K
K (Ta s 1)(Tb s 1)
KV lim N
s 0 s (T s 1)(T s 1)
1
2
1
ees
0
KV
s
1
1
ess lim
lim 2
3
s 0 1 G ( s ) s
s 0 s G ( s )
La constante K a se define como
K a lim s 2G( s)
s 0
1
ees
Ka
s 2 K (Ta s 1)(Tb s 1)
K a lim
0
s 0
(T1s 1)(T2 s 1)
ees
Ka
ees
1
Inf
Ka
s 2 K (Ta s 1)(Tb s 1)
K a lim
0
s 0
s(T1s 1)(T2 s 1)
Para un sistema tipo 2
s 2 K (Ta s 1)(Tb s 1)
K a lim N
K
s 0 s (T s 1)(T s 1)
1
2
ees
1
Ka
s 2 K (Ta s 1)(Tb s 1)
KV lim N
s 0 s (T s 1)(T s 1)
1
2
1
ees
0
KV
k p lim G ( s)
s 0
k lim sG ( s)
s 0
ka lim s G ( s)
2
s 0
Error
constants
Type of
System
k p kv k a
0
0
Steady-state error
ess
r (t ) R0 1(t )
r (t ) V0t
R0
1 k
V0
k
0
0
r (t ) A0t 2 2
A0
k
Ejemplo
Encuentre los errores de estado estable para las entradas 5u(t),
5tu(t) y 5t2u(t) para el sistema mostrado en la figura.
Example: For each system of Figure, evaluate the static error constants and
find the expected error for the standard step, ramp, and parabolic inputs.
numg=500*poly([-2 -5 -6]);
deng=poly([0 -8 -10 -12]);
G=tf(numg,deng);
'Check Stability'
T=feedback(G,1);
poles=pole(T)
% Display label.
% Form T(s).
% Display closed-loop poles.
'Step Input'
Kp=dcgain(G)
ess=1/(1+Kp)
% Display label.
% Evaluate Kp=numg/deng for s=0.
% Evaluate ess for step input.
'Ramp Input'
% Display label.
numsg=conv([1 0],numg);
% Define numerator of sG(s).
densg=poly([0 -8 -10 -12]);
% Define denominator of sG(s).
sG=tf(numsg,densg);
% Create sG(s).
sG=minreal(sG);
% Cancel common 's' in numerator(numsg)
% and denominator(densg).
Kv=dcgain(sG)
% Evaluate Kv=sG(s) for s=0.
ess=1/Kv
% Evaluate steady-state error for
% ramp input.
'Parabolic Input'
% Display label.
nums2g=conv([1 0 0],numg);
% Define numerator of s^2G(s).
dens2g=poly([-8 -10 -12]);
% Define denominator of s^2G(s).
s2G=tf(nums2g,dens2g);
% Create s^2G(s)
s2G=minreal(s2G);
% Cancel common 's' in
% numerator(nums2g) and
% denominator(dens2g).
Ka=dcgain(s2G)
% Evaluate Ka=s^2G(s) for s=0.
ess=1/Ka
% Evaluate steady-state error for
% parabolic input.
G(s)
K ( s 3)( s 5)
s ( s 7)( s 8)
s = tf('s');
G = ((s+3)*(s+5))/(s*(s+7)*(s+8));
T = feedback(G,1);
t = 0:0.1:25;
u = t;
[y,t,x] = lsim(T,u,t);
plot(t,y,'y',t,u,'m')
xlabel('Time (sec)')
ylabel('Amplitude')
title('Input-purple, Output-yellow)
Error muy
grande!!!!
We know from our problem statement that the steady-state error must
be 0.1. Therefore, we can solve the problem following these steps:
e( )
1
0.1
Kv
15 K
K v 10 lim sG ( s )
56
s 0
k 37.33
K = 37.33 ;
s = tf('s');
G = (K*(s+3)*(s+5))/(s*(s+7)*(s+8));
sysCL = feedback(G,1);
t = 0:0.1:50;
u = t;
[y,t,x] = lsim(sysCL,u,t);
plot(t,y,'y',t,u,'m')
xlabel('Time (sec)')
ylabel('Amplitude')
title('Input-purple, Output-yellow')
Ampliando la imagen!!!
Now let's modify the problem a little bit and say that our
system has the form shown below.
s = tf('s');
P = ((s+3)*(s+5))/(s*(s+7)*(s+8));
C = 1/s;
sysCL = feedback(C*P,1);
t = 0:0.1:250;
u = t;
[y,t,x] = lsim(sysCL,u,t);
plot(t,y,'y',t,u,'m')
xlabel('Time (sec)')
ylabel('Amplitude')
title('Input-purple, Output-yellow')
Usando Simulink