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ut =
2
1
2
1
kp =
kt =
2
1
2
1
2
1
2
J (t)2
Ia (t)2
Ip (t)2 +
Ia (t)2 +
1
2
1
2
mp (t)2 la2 + lp2 sin2 ((t)) + 2 la lp (t) cos((t)) (t) + lp2 (t)2
Ip (t)2 +
1
2
J (t)2 +
mp (t)2 la2 + lp2 sin2 ((t)) + 2 la lp (t) cos((t)) (t) + lp2 (t)2
g lp mp cos((t))
Lagrangiano
L=
2
1
2
1
2
Ia ( '[t])2 +
mp
2
2
2
la2 + lp2 Sin[[t]]2 ( '[t])2 + 2 la lp ( '[t]) ( '[t]) Cos[[t]] + lp2 ( '[t])2 +
J ( '[t])2 +
Ip ( '[t])2 -
1
2
mp g lp Cos[[t]]
g lp mp Cos[[t]] +
1
2
Ip [t]2 +
1
2
Ia [t]2 +
1
2
J [t]2 +
Control.nb
D[L, [t]]
0
phi = D[L, '[t]]
Ia [t] + J [t] +
1
2
D[L, [t]]
1
2
g lp mp Sin[[t]] +
1
2
1
2
phi2 = D[phi, t]
1
Ia [t] + J [t] +
theta2 = D[theta, t]
Ip [t] +
1
2
= phi2
1
Ia [t] + J [t] +
1
2
1
2
1
2
Simplify[]
- la lp mp Sin[[t]] [t]2 + lp2 mp Sin[2 [t]] [t] [t] +
la lp mp Cos[[t]] [t] + Ia + J + la2 mp + lp2 mp Sin[[t]]2 [t]
Control.nb
Expand[]
- la lp mp Sin[[t]] [t]2 + 2 lp2 mp Cos[[t]] Sin[[t]] [t] [t] +
la lp mp Cos[[t]] [t] + Ia [t] + J [t] + la2 mp [t] + lp2 mp Sin[[t]]2 [t]
Simplify[cero]
-
Expand[cero]
-
cero1 = -
(t)
la lp mp cos((t))
Ip + lp2 mp
la lp mp (t)2 sin((t)) + lp2 (-mp) (t) sin(2 (t)) (t) + torq
1
2
a :=
b :=
la lp mp Cos[[t]]
Ip + lp2 mp
- la lp mp Cos[[t]]
Det[a]
- la lp mp Cos[[t]]
.b
Inverse[a].b
Ecuaciones de [t] y [t] respectivamente
mp lp2 +Ip -mp sin(2 (t)) (t) (t) lp2 +la mp sin((t)) (t)2 lp+torq
mp lp2 +Ip mp la2 +lp2 mp sin2 ((t))+Ia+J -la2 lp2 mp2 cos2 ((t))
mp lp2 +Ip mp la2 +lp2 mp sin2 ((t))+Ia+J -la2 lp2 mp2 cos2 ((t))
mp2
cos2 ((t))
la lp mp cos((t)) -mp sin(2 (t)) (t) (t) lp2 +la mp sin((t)) (t)2 lp+torq
mp lp2 +Ip mp la2 +lp2 mp sin2 ((t))+Ia+J -la2 lp2 mp2 cos2 ((t))
x1 = '[t]
Control.nb
Ip + lp2 mp la lp mp (t)2 sin((t)) + lp2 (-mp) (t) sin(2 (t)) (t) + torq
x2 =
Ip + lp2 mp Ia + J + la2 mp + lp2 mp sin2 ((t)) - la2 lp2 mp2 cos2 ((t))
1
x3 = '[t]
1
x2 =
x3 =
x4 =
x1punto = x2
xdospunto = Ip + lp2 mp torq + la lp mp Sin[x3] x42 - lp2 mp Sin[2 x3] x4 x2
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 1
la lp mp Cos[x3]
x3punto = x4
xcuatropunto = - la lp mp Cos[x3] torq + la lp mp Sin[x3] x22 - lp2 mp Sin[2 x3] x4 x2
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 +
1
Como lo que en realidad la variable a controlar sera el voltaje del motor (Ea), entonces la relacion
torque - velocidad es la siguiente:
=
ke
ra
Ea
0 1
x1
x1
x2
x2
=
x3
x3
x4
x4
0
2
0 0
Ip+lp2 mp Ia+J +la2 mp+lp2 mp sin2 (x3)-la2 lp2 mp2 cos2 (x3)
0 0
0
1
0 0
la lp mp cos(x3) g lp mp sin(x3)+lp2 mp x2
Control.nb
xcuatropunto, se utiliza la linealizacin por Jacobiano, se muestran las derivadas parciales para cada
funcin
D[xdospunto, x1]
D[xdospunto, x2]
D[xdospunto, x3]
D[xdospunto, x4]
D[xdospunto, torq]
xdoslineal[x2_, x3_, x4_] :=
1
g lp mp Sin[x3] + lp2 mp x22 Sin[x3] Cos[x3]
la lp mp Sin[x3]
2
Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 - la2 lp2 mp2 Cos[x3]2 1
la lp mp Cos[x3]
la lp mp Cos[x3]
1
2
Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 - la2 lp2 mp2 Cos[x3]2 Ip + lp2 mp 2 lp2 mp Sin[x3] Cos[x3] Ip + lp2 mp + 2 la2 lp2 mp2 Sin[x3] Cos[x3]
la lp mp x42 Sin[x3] + lp2 (- mp) x2 x4 Sin[2 x3] + torq
2
g la lp2 mp2
2 - la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp
g la lp2 mp2
2 - la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp
Ip + lp2 mp
- la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp
Ip + lp2 mp
- la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp
Control.nb
D[xcuatropunto, x1]
D[xcuatropunto, x2]
D[xcuatropunto, x3]
D[xcuatropunto, x4]
D[xcuatropunto, torq]
xcuatrolineal[x2_, x3_, x4_] :=
2 la2 lp2 mp2 Cos[x3] Sin[x3] + 2 lp2 mp Ip + lp2 mp Cos[x3] Sin[x3]
1
2
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 la lp mp Cos[x3] la lp mp x22 Cos[x3] - 2 lp2 mp x2 x4 Cos[2 x3]
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 +
2 lp2 mp Cos[x3] Sin[x3]
Control.nb
torque2[0, 0, 0]
-
la lp mp
- la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp
la lp mp
2
- la lp
mp2
+ Ia + J + la2 mp Ip + lp2 mp
0 1
x1
x2
x3
x4
0 0 =
mp2
g la lp
2 -la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp
0 0
0 0
0
2
g lp mp Ia+J+la2 mp
2 -la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp
0
-
-la lp
Ip+lp2 mp
mp Ip+lp2 mp
mp2 +Ia+J+la2
0
-
la lp mp
-la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp
y=(0 0 1 0)
x1
x2
x3
x4
x1
x2
x3
x4
Control.nb
torque2[0, , 0]
0 1
x1
x2
x3
x4
0 0 =
g la lp
2
2 -la lp
0
2
mp2
mp2 +Ia+J+la2
0 0
mp Ip+lp mp
0 0 -
g lp mp Ia+J+la2 mp
2 -la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp
0
-
Ip+lp2 mp
2
2
2
-la lp mp +Ia+J+la2 mp Ip+lp2 mp
la lp mp
-la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp
0 1
0 0 -
0
2 -la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp
0 0
0 0 0
0
0
0
g la lp2 mp2
0
2 -la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp
1
0
0 -51.581
0
0
0 -62.2446
0
1
g lp mp Ia+J+la2 mp
0
0
1
0
0
Ip+lp2 mp
-la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp
0.245522632
la lp mp
1.7
x1
x2
x3
x4