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Contenido
1.
COMPENSACIN DE ADELANTO
+
0
4 1
1 1
=
=
1
() 3 2 + 1
+
2 2
Compensador electrnico
2 2
=
1 1
< 1
Red de adelanto
0.972
0.945
0.89
0.78
0.5
0.8
0.6 0.995
0.4
0.999
Imaginary Axis
0.2
6
0
-0.2
polo
cero
0.999
-0.4
-0.6 0.995
-0.8
0.986
-1
-6
0.972
-5
-4
0.945
-3
0.89
-2
Real Axis
0.78
-1
0.5
0
1.5 0.86
System: sys
Gain: 0.416
Pole: -1 + 0.815i
Step Response
Damping:
0.775
Overshoot (%): 2.12
2
1.5
1
Frequency (rad/sec): 1.29
0.985
5
0
-0.5
0.34
0.16
0.94
Imaginary Axis
1.2
Amplitude
O los parmetros:
Sobrepaso mximo
Tiempo de levantamiento
Tiempo de asentamiento
0.5
0.5
1.4
0.64
0.76
0.5
0.985
0.94
0.8
-1
0.6
0.76
-1.5 0.86
-2.5
0.4
-2
0.64
0.5
-1.5
0.34
-1
0.16
-0.5
Real Axis
0.2
5
Time (sec)
10
0.5
4.
5.
() =
lazo abierto. (condicin
1
+
magnitud)
Ejemplo 2.1
Se desea modificar los polos en lazo cerrado para obtener una frecuencia
natural no amortiguada 4 / y un factor de amortiguamiento 0.5
relativo
Solucin
La funcin de transferencia de lazo abierto y lazo cerrado del sistema son:
4
4
=
=
( + 2) 2 + 2
Lugar de races
()
()
4
=
=
() 1 + () ( + 1 + 3)( + 1 3)
Respuesta en el tiempo
0.42
0.32
0.22
0.071.75
Step Response
1.5
1.4
1.25
1
1.2
0.75
0.5
1
0.25
Amplitude
Imaginary Axis
0.14
-0.5
0.9
0.8
0.25
0.5
0.6
0.75
-1
1
0.4
-1.5 0.74
1.5
0.56
-2
-1.6
1.25
-1.4
0.42
-1.2
-1
0.32
-0.8
Real Axis
-0.6
0.22
0.14
0.2
0.071.75
-0.2
-0.4
0
0
1
3
Time (sec)
= 1 3
= 0.5
= 2 /
= 4 /
Los polos deseados de lazo cerrado compensado (no pertenecen al LGR
del sistema)
polos deseados
= 2.0000 .4641
() =
1
+
= 0.5
= 2 /
= 0.5
= 4 /
= 0.5
= 4 /
Root Locus
4
0.5
3
Polo deseado
0.36
0.27
0.19
0.12
0.06 3.5
3
0.66
2.5
2
1.5
0.88
Imaginary Axis
0.5
0
0.5
-1
0.88
1.5
= 0.5
= 2 /
Polos de LC
-2
-3
2
2.5
0.66
-2.5
0.5
-2
0.36
-1.5
0.27
-1
Real Axis
0.19
0.12
-0.5
0.06
3
0
( + 2)
=2+ 3 4
= 120 90 = 210
= 180(2 + 1)
= 180(2 + 1)
A partir de la ecuacin:
= 210 180 = 30
La deficiencia angular:
= = 30
0.6
0.46
Pole-Zero Map
0.34
0.24
0.15
2.5
0.76
1.5
PD
0.07 3.5
3
Imaginary Axis
0.92
1
0.5
0
0.5
-1
0.92
1.5
-2
2
0.76
2.5
-3
0.6
-4
-3
3
0.46
-2.5
-2
0.34
-1.5
Real Axis
0.24
-1
0.15
-0.5
0.07 3.5
0
0.5
() =
1
+
= 30
= 15
2
Construimos en la figura
Pole-Zero Map
6
0.64
0.5
0.34
0.16
Por geometra podemos determinar
Polo deseado
5
la ubicacin del polo y cero
5 0.76
: = 5.4641
Imaginary Axis
: = 2.9282
x
0.86
bisectriz
3
La FT del compensador:
0.94
2
1
+
= + 2.9282
=
1
+ 5.4641 1 0.985
+
x
Donde: = 0.3415 = 0.5359 0-6
-5
polo
-4
-3
Real Axis
-2
cero
-1
1
+ 5.4641
+
+ 2.9282
=
+ 2 + 5.4641
= 18.9282
18.9282
= 4.7321
4
+ 2.9282
4
18.9282 + 55.4256
= 3
+ 5.4641 + 2
+ 7.4641 2 + 10.9282
0.36
0.27
0.19
0.12
0.06 3.5
sys nc
sys c 3
0.66
2.5
2
1.5
0.88
Imaginary Axis
0.5
0
0.5
-1
0.88
1.5
-2
-3
2
2.5
0.66
-2.5
0.5
-2
0.36
-1.5
0.27
-1
Real Axis
0.19
0.12
-0.5
0.06
3
0
Amplitude
0.8
0.6
0.4
0.2
3
Time (sec)
En simulink
4
s2 +2s
Step
Transfer Fcn
Scope
Step1
num(s)
s+5.4641
s2 +2s
Transfer Fcn2
Transfer Fcn1
En Labview
Ejemplo 2.2
Solucin:
La FT de lazo abierto:
5
1
5
10
10
=
=
=
=
(0.5 + 1) 0.5 (0.5 + 1 ) ( + 2) 2 + 2
0.5 0.5
La FT de lazo cerrado:
10
= 2
=
() 1 +
+ 2 + 10
4.
5.
() =
lazo abierto. (condicin
1
+
magnitud)
0.36
0.27
0.19
0.12
0.06 3.5
3
0.66
2.5
2
1.5
0.88
Imaginary Axis
0.5
0
0.5
-1
0.88
1.5
-2
-3
2
2.5
0.66
-2.5
0.5
-2
0.36
-1.5
0.27
-1
Real Axis
0.19
0.12
-0.5
0.06
3
0
Polos deseados
= 2 .4641
0.36
0.27
0.19
0.12
0.06 3.5
3
0.66
2.5
2
1.5
0.88
Imaginary Axis
0.5
0.5
1
0.88
1.5
-2
-3
2
2.5
0.66
-2.5
0.5
-2
0.36
-1.5
0.27
-1
Real Axis
0.19
0.12
-0.5
0.06
3
0
Deficiencia angular
= 120 90 = 210
= 180(2 + 1)
0.5
A partir de la ecuacin:
= 30
= = 30
Imaginary Axis
La deficiencia angular:
=2+
= 180(2 + 1)
Root Locus
10
( + 2)
0.36
0.27
0.19
0.12
0.06 3.5
3
0.66
2.5
2
1.5
0.88
120
1
90
0.5
0
0.5
-1
0.88
1.5
-2
-3
2
2.5
0.66
-2.5
0.5
-2
0.36
-1.5
0.27
-1
Real Axis
0.19
0.12
-0.5
0.06
3
0
= = 30
El cero = 2
El polo = 4
Imaginary Axis
2
30
Si la deficiencia angular es: 0.97
1
x4
5
0
-1
0.97
-2
0.88
-3
-5
0.76
-4.5
-4
0.62
-3.5
-3
-2.5
Real Axis
0.48
-2
0.36
-1.5
0.24
-1
0.12
-0.5
El compensador queda:
1
+ 2
=
=
1
+ 4
+
( + 2)
1 10
1
=
=
=
( + 4) ( + )
+ 4
( + 4)
= 10
=1
16
= 16
= 1.6
=
1 + 2
+
( + 2)
10
16
16
=
= 2
= 1.6
( + 4) + 2
( + 4) + 4
0.62
0.88
2
0.97
5
0
-1
0.48
0.36
0.24
0.12
snc
System: sys
Gain: 0.995
Pole: -2 + 3.45i
Damping: 0.501
Overshoot (%): 16.2
Frequency (rad/sec): 3.99
Imaginary Axis
sc
0.97
-2
0.88
-3
-5
0.76
-4.5
-4
0.62
-3.5
-3
-2.5
Real Axis
0.48
-2
0.36
-1.5
0.24
-1
0.12
-0.5
Amplitude
0.8
0.6
0.4
0.2
3
Time (sec)
Ejemplo 2.3
Gc(s)
G(s)
= (1 + )
1
=
10000( 2 1.1772)
Se desea lo siguiente:
Factor de amortiguamiento relativo del sistema en lazo cerrado sea = 0.7
= 0.5 /.
Frecuencia natural no amortiguada sea
4.
5.
() =
lazo abierto. (condicin
1
+
magnitud)
Solucin
Paso 1. Graficar el lugar de races del sistema
La funcin de transferencia de lazo abierto del sistema
1
0.0001
= 2
=
10000 2 1.1772
1.1772
1.5
0.64
0.5
0.34
0.76
Root Locus
1.4
0.16
1.2
Step Response
1200
0.8
0.86
1000
0.6
0.4
0.985
0.2
0.985
0.2
800
Amplitude
Imaginary Axis
0.5 0.94
0.4
-0.5 0.94
600
0.6
0.86
400
0.8
-1
1
0.76
1.2
0.64
-1.5
-1.5
0.5
-1
0.34
-0.5
0.16
1.4
0
Real Axis
200
0.5
1.5
0
8
Time (sec)
10
12
14
0.8
0.86
0.6
0.5 0.94
Imaginary Axis
1,2 = 1
0.4
0.985
0.2
0
0.985
0.2
0.4
-0.5 0.94
0.6
0.86
0.8
1
1.2
0.5
-1
0.34
-0.5
0.16
1.4
0
Real Axis
0.5
1.5
Deficiencia angular
0.0001
2
= 180(2 + 1)
1.1772 0.35.3570
Root Locus
1.4
0.16
1.2
1.5
A partir de la ecuacin:
0.5
0.34
1
0.86
0.8
PD
0.6
0.5 0.94
Imaginary Axis
= 166.0295 25.9065
= 191.936 = 180(2 + 1)
0.64
0.76
0.4
0.985
166.03
0.2
25.90
0.985
0.2
0.4
-0.5 0.94
0.6
0.86
0.8
-1
1
0.76
1.2
0.64
-1.5
-1.5
0.5
-1
0.34
-0.5
0.16
1.4
0
Real Axis
0.5
1.5
= = 11.936
1 0.92
0.965
0.5
Imaginary Axis
A partir de la deficiencia
angular, el aporte del cero:
El cero esta ubicado
0.99
5
0
166.03
x
2
1.5
0.5
25.90
0.99
-0.5
0.965
= 2.0388
-1 0.92
0.84
-1.5
-2.5
0.74
-2
-1.5
0.6
-1
0.42
0.22
-0.5
Real Axis
0.5
1.5
El compensador PD dado
El sistema compensado es
1
= 1 + = ( + )
PD
= 2.0388
= 0.4906
= ( + )
.
( + 2.0388)
=
= (0.4906)( + 2.0388)
.
2 1.1772
= (0.4906)/10000
( + 2.0388)
2 1.1772
0.35.3570
=1
Obtenemos
= 0.7
El compensador
= 14268.24
1
= 1 + = +
= 14272(0.4906) + 2.0388
= 7001.8432 + 2.0388
El sistema compensado
1
1
= ( + )
10000 2 1.1772
0.00001
= 7001.8432 + 2.0388
2 1.1772
0.74
0.6
0.42
0.22
snc
1 0.92
sc
0.965
0.5
Imaginary Axis
0.99
5
0
1.5
0.74
0.6
0.5
0.99
-0.5
0.965
-1 0.92
0.84
-1.5
-2.5
-2
-1.5
-1
0.42
0.22
-0.5
Real Axis
0.5
1.5
Step Response
x 10
snc
5
sc
Amplitude
-1
10
15
Time (sec)
20
25
30
35
Amplitude
10
Time (sec)
12
14
16
18
Ejemplo 2.4
G(s)
Solucin
La funcin de transferencia de lazo abierto del sistema
1
2
()
1
=
= 2
() 1 +
+ 1
1.5
0.68
0.54
0.4
0.3
0.19
1 0.82
1.4
0.09
1
1.2
Step Response
0.9
0.8
0.8
0.6
0.5 0.94
0.4
0.2
0.6
0
Amplitude
Imaginary Axis
0.7
-0.5 0.94
0.5
0.2
0.4
0.4
0.6
0.3
-1 0.82
0.8
1
0.2
1.2
0.68
-1.5
-1.5
0.54
0.4
-1
0.3
0.19
0.09
0.1
-0.5
Real Axis
1.4
0
50
100
150
Time (sec)
200
250
Polos deseados
1.4
1.2
1
0.8
0.6
Imaginary Axis
1,2 = 1 1
0.5 0.94
0.4
0.2
0
0.2
0.4
-0.5 0.94
0.6
0.8
-1 0.82
1
1.2
0.68
-1.5
-1.5
0.54
0.4
-1
0.3
-0.5
Real Axis
0.19
0.09
1.4
0
Deficiencia angular
= 135 135 = 270
= 180(2 + 1)
1
2
1.5
La deficiencia angular:
= = 90
Root Locus
0.54
0.4
0.3
0.19
0.09
1.4
1.2
1 0.82
PD
0.8
A partir de la ecuacin:
= 270 180 = 90
=1+1
= 180(2 + 1)
0.68
0.6
0.5 0.94
Imaginary Axis
0.4
0.2
120
90
0.2
0.4
-0.5 0.94
0.6
0.8
-1 0.82
1
1.2
0.68
-1.5
-1.5
0.54
0.4
-1
0.3
-0.5
Real Axis
0.19
0.09
1.4
0
= = 90
El cero = 0.5
El polo = 2.9969
Imaginary Axis
0.9
0.81
0.7
0.56
0.4
0.2
() =
1
0.955
+
1
x
2.5
1.5
0.5
-0.5 0.988
-1
0.955
0.9
-1.5
-3.5
-3
0.81
-2.5
-2
0.7
-1.5
Real Axis
0.56
-1
0.4
-0.5
0.2
0
El compensador queda:
1
+ 0.5
=
=
1
+ 3
+
( + 0.5) 1
( + 0.5)
=
= 2
( + 3) 2
( + 3)
= 4
=
=4
2
1 2
(
+
3)
4( + 0.5)
4 + 2
= 2
= 3
( + 3) + 3 2
=
=4
2
1 2
(
+
3)
4( + 0.5)
4 + 2
= 2
= 3
( + 3) + 3 2
0.81
0.7
0.56
0.4
0.2
snc
0.955
sc
0.5 0.988
Imaginary Axis
5
0
2.5
1.5
0.5
-0.5 0.988
-1
0.955
0.9
-1.5
-3.5
-3
0.81
-2.5
-2
0.7
-1.5
Real Axis
0.56
-1
0.4
-0.5
0.2
0
snc
sc
1.6
1.4
1.2
Amplitude
1
0.8
0.6
0.4
0.2
0
50
100
150
Time (sec)
200
250
300
1.2
Amplitude
0.8
0.6
0.4
0.2
3
Time (sec)
Otro mtodo
1.4
1.2
Polos deseados
1
0.8
0.6
0.5 0.94
Imaginary Axis
1,2 = 1 1
1 0.82
0.4
0.2
0
0.2
0.4
-0.5 0.94
0.6
0.8
-1 0.82
1
1.2
0.68
-1.5
-1.5
0.54
0.4
-1
0.3
-0.5
Real Axis
0.19
0.09
1.4
0
Deficiencia angular
= 135 135
= 270 = 180(2 + 1)
A partir de la ecuacin:
= 270 180 = 90
La deficiencia angular:
= = 90
=1+1
= = 180(2 + 1)
Root Locus
1.5
0.68
0.54
0.4
0.3
0.19
0.09
1.4
1.2
1 0.82
PD
0.8
0.6
0.5 0.94
Imaginary Axis
0.4
0.2
0
0.2
120
90
0.4
-0.5 0.94
0.6
0.8
-1 0.82
1
1.2
0.68
-1.5
-1.5
0.54
0.4
-1
0.3
-0.5
Real Axis
0.19
0.09
1.4
0
() =
1
+
= = 90
El cero =0
El polo = 2
Imaginary Axis
Root Locus
1.5
0.9
0.81
0.7
0.56
0.4
0.2
0.955
0.5 0.988
5
0
2.5
1.5
0.5
-0.5 0.988
-1
0.955
0.9
-1.5
-3.5
-3
0.81
-2.5
-2
0.7
-1.5
Real Axis
0.56
-1
0.4
-0.5
0.2
0
=
=
1
+ 2
+
El sistema compensado es:
1
1
=
=
( + 2)
( + 2) 2
El compensador queda:
Obtenemos
= 4.4721
=
= 4.4721
1 2
( + 2) 2
+
4.4721
4.4721
=
=
( + 2) 2 + 2
=
=
4
2
1 2
(
+
3)
4( + 0.5)
4 + 2
= 2
=
( + 3) 3 + 3 2
0.81
0.955
0.7
0.56
0.4
0.2
snc
sc
0.5 0.988
Imaginary Axis
5
0
2.5
1.5
0.5
-0.5 0.988
-1
0.955
0.9
-1.5
-3.5
-3
0.81
-2.5
-2
0.7
-1.5
Real Axis
0.56
-1
0.4
-0.5
0.2
0
Amplitude
1
0.8
0.6
0.4
0.2
0
50
100
150
Time (sec)
200
250
300
1.2
Amplitude
0.8
0.6
0.4
0.2
0.5
1.5
2.5
Time (sec)
3.5
4.5
Ejemplo 2.5
4
=
= 2
=
() 1 +
+ + 4
Root Locus
2.5
0.48
0.36
0.26
0.18
0.11
1.5
0.06
2
2
0.66
1.5
1.5
0.86
1
0.5
0
-0.5
-1
System: lc
Time (sec): 7.99
Amplitude: 1.02
1
0.5
Amplitude
Imaginary Axis
Step Response
0.5
0.86
0.5
-1.5
1.5
0.66
-2
2
0.48
-2.5
-1.5
0.36
0.26
-1
0.18
-0.5
Real Axis
0.11
0
0.06
0
6
Time (sec)
10
12
1 2
4
= 4 =
= 0.45
= 2.22
= 1 2
= 1 1.982
Polo deseado
= 1 1.982
0.26
0.18
0.11
0.06
2
2
0.66
1.5
1.5
Imaginary Axis
0.36
-0.5
-1
1
0.86
0.5
0.5
0.86
1
-1.5
1.5
0.66
-2
2
0.48
-2.5
-1.5
0.36
0.26
-1
0.18
-0.5
Real Axis
0.11
0.06
0
Deficiencia angular
( + 1)
2.5
0.48
0.36
Root Locus
0.26
0.18
0.11
0.06
2
0.66
1.5
1.5
1
Imaginary Axis
= 116.77 90 = 206
= 180(2 + 1)
A partir de la ecuacin:
=1+1.982
= 180(2 + 1)
1
0.86
0.5
0.5
116.77
90
0
-0.5
-1
0.5
0.86
1
-1.5
= = 26.77
1.5
0.66
-2
2
0.48
-2.5
-1.5
0.36
0.26
-1
0.18
-0.5
Real Axis
0.11
0.06
0
= = 26.77
Mtodo bisectriz
El cero = 1.4659
El polo = 2.6630
Imaginary Axis
() =
2
1
x
0.91
+
30
1.5
1
Si la deficiencia angular es:
0.975
0.5
polo
4
0
3.5
2.5
1.5
0.5
cero
-0.5
-1
0.975
-1.5
0.91
-2
0.82
-2.5
-4
-3.5
0.7
-3
-2.5
0.56
-2
Real Axis
-1.5
0.42
-1
0.28
0.14
-0.5
1
= + 1.47
=
1
+ 2.66
+
El compensador queda:
= 4
=
4
= 1.39
=
1 + 1
+
( + 1.47)
4
( + 1.47)
= 5.56
= 1.39
( + 2.66) + 1
( + 2.66)( + 1)
0.46
0.6
0.34
0.22
0.1
2
0.86
sys G
1.5
sys CG
1
Imaginary Axis
0.96
0.5
3
0
2.5
1.5
0.5
-0.5
-1
0.96
-1.5
0.86
-2
0.72
-2.5
-3
-2.5
0.6
-2
0.46
-1.5
Real Axis
0.34
-1
0.22
-0.5
0.1
0
1.5
Step Response
System: lcc
Time (sec): 1.53
Amplitude: 1.25
1
Amplitude
0.5
6
Time (sec)
10
12
Ejemplo 2.6
Root Locus
3 0.8
0.52
0.66
1.8
0.26
0.4
0.12
1.6
2 0.9
1.2
1 0.97
4
0
3.5
2.5
Amplitude
1.4
1.5
0.5
0.8
0.6
-1 0.97
0.4
-2 0.9
0.2
-3 0.8
-4
0.66
-3.5
-3
-2.5
0.52
-2
0.4
-1.5
-1
0.26
0.12
0
0 -0.5
50 0
-1
100
0.5
150
200
Time (seconds)
250
300
350
400
1 2
4
= 4 =
= 0.28
= 2.85
= 1 2
= 0.80 2.74
Polo deseado
= 0.80 .74
2.5
1.5
0.5
-1 0.97
-2 0.9
-3 0.8
-4
0.66
-3.5
-3
-2.5
0.52
-2
0.4
-1.5
0.26
-1
-1
0.12
-0.5
0.5
10
2
= 180(2 + 1)
+ 2 0.80.74
Root Locus
= 100.68 122.82 = 223.5 3
0.44
0.32 x 0.23
0.15
0.07
0.58
2.5
= 180(2 + 1)
Deficiencia angular
A partir de la ecuacin:
0.74
1.5
1
0.92
0.5
0
0.5
-1
0.92
1
1.5
0.74
-2
La deficiencia angular:
= = 43.5
0.58
-3
-2
0.44
-1.5
0.32
-1
0.23
0.15
-0.5
0.07
2.5
0
0.5
= = 43.5
Mtodo bisectriz
El cero = 1.54
El polo = 5.29
Imaginary Axis
() =
PD
1
2 0.95
+
Deficiencia angular :
1 0.985
6
0
-1 0.985
-2 0.95
0.88
-3
-6
0.78
-5
-4
0.66
-3
Real Axis
0.52
-2
0.36
-1
0.18
0
El compensador queda:
1
+ 1.54
=
=
1
+ 5.29
+
+ 1.54 10
10( + 1.54)
=
=
+ 5.29 2 + 2
( + 5.29)( 2 + 2)
( + 1.54)
=
( + 5.29)( 2 + 2)
= 10
10
=1.21
=
1 2 + 2
+
+ 1.54
10
+ 1.54
= 12.14
= 1.21
+ 5.29 2 + 2
+ 5.29 ( 2 + 2)
0.2
0.15
0.1
0.065
0.03 17.5
15
15
12.5
0.42
10
10
Imaginary Axis (seconds-1)
7.5
5
0.7
5
2.5
0
2.5
-5
0.7
7.5
-10
10
0.42
12.5
-15
15
0.28
-20
-6
-5
0.2
0.15
0.1
-4
-3
-2
0.065
-1
-1
0.03 17.5
0
1.8
1.2
1.6
1
1.4
Amplitude
Amplitude
1.2
1
0.8
0.6
0.8
0.4
0.6
0.4
0.2
0.2
0
0
50
100
150
200
Time (seconds)
250
300
1
350
2
400
4
Time (seconds)
1
+
Root Locus
3
0.88
Deficiencia angular:
= = 43.5
1 0.985
Aadimos un cero
1 = 43.5
0.78
0.66
0.52
0.8 + 2.74
0.36
0.18
PD
2 0.95
Imaginary Axis
6
0
-1 0.985
-2 0.95
= 3.68
0.88
-3
-6
0.78
-5
-4
0.66
-3
Real Axis
0.52
-2
0.36
-1
0.18
0
( + 3.68)
=
( 2 + 2)
= + 3.68
10
10( + 3.68)
=
2 + 2
( 2 + 2)
= 10
= 1.64
=
10
=0.164
El compensador queda:
= 0.164 + 3.68
10
1.64 + 6.04
=
2 + 2
2 + 2
Lugar de races
Root Locus
6 0.92
0.84
0.74
0.6
0.74
0.6
0.42
0.22
0.965
2 0.99
4
0
12
10
-2 0.99
-4
0.965
-6 0.92
-14
0.84
-12
-10
-8
-6
-4
-1
0.42
0.22
-2
Respuesta escaln
Step Response
1.4
Step Response
1.8
1.6
1.2
1.4
Amplitude
Amplitude
1.2
1
0.8
0.6
0.8
0.6
0.4
0.4
0.2
0.2
0
50
100
150
200
Time (seconds)
250
300
350
400
4
Time (seconds)
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
Time (sec)
1.2
1.4
= +
Deficiencia angular:
= = 43.5
Root Locus
3
0.93
0.86
0.76
0.62
0.44
0.22
2 0.97
1 0.992
Imaginary Axis
8
0
-1 0.992
-2 0.97
0.93
= 7.67
-3
-8
0.86
-7
-6
-5
0.76
-4
Real Axis
0.62
-3
-2
0.44
0.22
-1
= + 7.67
2
10
10
+
7.67
= + 7.67 2 2
=
+ 2
( 2 + 2)
+ 7.67 2
=
= 10
( 2 + 2)
Obtenemos
= 0.12
+ 7.67 2
=
( 2 + 2)
=
10
0.8+2.74
=1
=0.012
El compensador queda:
El sistema compensado es:
= 0.012 + 7.67
= 0.012 + 7.67
0.12 2 + 1.84 + 7.06
=
2 + 2
10
2 + 2
Lugar de races
Root Locus
6 0.8
0.66
0.52
0.4
0.26
0.12
4 0.9
2 0.97
8
0
-2 0.97
-4 0.9
-6 0.8
-8
0.66
-7
-6
-5
0.52
-4
0.4
-3
0.26
-2
-1
0.12
-1
1.1
Amplitude
0.9
0.8
0.7
0.6
0.5
0.2
0.4
0.6
Time (seconds)
0.8
1.2
3 0.8
= 1.54
0.66
0.52
0.4
0.12
0.26
2 0.9
Deficiencia angular:
1 + 2 = 43.5
+ 106.28 = 43.5
+ = 149.78
0.8 + 2.74
Root Locus
1 0.97
Imaginary Axis
4
0
3.5
2.5
1.5
0.5
-1 0.97
-2 0.9
-3 0.8
-4
0.66
-3.5
-3
-2.5
0.52
-2
0.4
-1.5
Real Axis
0.26
-1
0.12
-0.5
0.5
1
=
+ 1.54
1
10
2
= =
+ 1.54
2 + 2
10 + 1.54 2
+ 1.54 2
=
=
( 2 + 2)
( 2 + 2)
= 10
=0.232
=
= 2.32
10
El compensador queda:
+ 1.54
= 0.32
2
10
2 + 2
+ 1.54
Lugar de races
Root Locus
6 0.86
0.76
0.64
0.5
0.34
0.16
4
0.94
Imaginary Axis (seconds-1)
0.985
0
0
-2
0.985
0.94
-4
-6 0.86
-10
0.76
-8
0.64
-6
0.5
-4
0.34
-2
0.16
0
1.2
Amplitude
0.8
0.6
0.4
0.2
3
Time (seconds)
Ejemplo 2.5