Documentos de Académico
Documentos de Profesional
Documentos de Cultura
1uF
+
R1
1k
UNIVERSIDAD NACIONAL DE INGENIERA
INGENIERIA DE CONTROL
V1
0/5V
L1 PROGRAMACION
PLATAFORMA DE
C2
1H
R2
100
1uF
100 Hz
R6
1k
L2
1H
C6
1uF
R3
100
Vi(t)
Vc(t)
Funcin de Transferencia:
C8
1uF
+
R8
1k
C7
1uF
R10
100
L3
1H
G( s)
1
RC
s
s2
C5
1uF
1
s
RC
1
LC
Diagrama de Bloques:
SIMULACION DE CIRCUITO SERIE-PARALELO
1/(R*C)s
s2 +1/(R*C)s+1/(L*C)
Step
E_Sistema
Escalon
Transfer Fcn
1/(R*C)s
s2 +1/(R*C)s+1/(L*C)
Sine Wave
01
02
03
04
05
06
07
08
09
S_Sistema
Transfer Fcn2
%***********************************************************************
% Programa
: analisis_rlc_sp.m
% Descripcin : Analiza el Sistema Lineal
%
Vc(s)
1
s
%
G(s)= --------- = ------ --------------------------1/(R*C)s
%
Vi(s)
RC s^2
+
s/RC + 1/LC
2
s +1/(R*C)s+1/(L*C)
Stepp
ES_Sistema
%
Transfer Fcn1
% Autor: FreedySotelo V.
%***********************************************************************
Seno Wave
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.17
PID C
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INGENIERIA DE CONTROL
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.18
INGENIERIA DE CONTROL
>>analisis_rlc_sp
Parametros del Sistema...
R= 1
L= 1
C= 1
Funcion de Transferencia del Sistema...
num =
0 1 0
den =
1 1 1
num/den =
s
--------------s^2 + s + 1
Raices del Sistema...
ans =
-0.5000 + 0.8660i
-0.5000 - 0.8660i
Presione tecla para continuar...
Presione tecla para continuar...
Presione tecla para continuar...
Presione tecla para continuar...
Presione tecla para continuar...
Espacio de Estado del Sistema...
A=
-1 -1
1 0
B=
1
0
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.19
C=
1
D=
0
INGENIERIA DE CONTROL
0.5
Amplitude
0.4
0.3
0.2
0.1
-0.1
10
12
Time (sec)
Entrada 10*Step
6
Amplitude
-1
10
12
Time (sec)
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.20
INGENIERIA DE CONTROL
1.2
0.8
0.6
0.4
0.2
-0.2
10
Root Locus
1
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1.4
-1.2
-1
-0.8
-0.6
-0.4
-0.2
Real Axis
Bode Diagram
0
Magnitude (dB)
-10
-20
-30
-40
-50
-60
90
Phase (deg)
45
0
-45
-90
-2
10
-1
10
10
10
10
Frequency (rad/sec)
Respuesta en Frecuencia.
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.21
INGENIERIA DE CONTROL
G( s)
1
RC
s
s2
1
s
RC
1
LC
x1
x1
a2
a1
x2
b1
x2
a1
0 1
1
RC
x1
x2
a2
0u
1
LC
b1
1
RC
%***********************************************************************
% Programa
: ed2rlc_sp.m
% Descripcion : Analiza el Sistema Lineal
%
Vc(s) 1
s
%
G(s)= -------- = ----- -------------------------%
Vi(s) RC s^2 + s/RC + 1/LC
%
%
Para: a1=1/RC a2=1/LC b1=1/RC
%
%
Modelo de Espacio de Estado
%
Ecuaciones Diferenciales Lineales
%
x1'(t,x1,x2,u) = x2(t)
%
x2'(t,x1,x2,u) = -a2x1(t) - a1x2(t) +b1u(t)
%
Vc(t) = x2(t)
%
%
u(0) = 1 x1(0) = 0 x2(0) = 0
%
%
Por Metodo de Euler
%
%
x1(i+1)=x1(i)+h*x1'(i); % Solucion Euler
%
x2(i+1)=x2(i)+h*x2'(i); % Solucion Euler
%
% Autor
: FreedySotelo V.
%***********************************************************************
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.22
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73
INGENIERIA DE CONTROL
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.23
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86
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91
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93
94
95
INGENIERIA DE CONTROL
>> ed2rlc_sp
Parametros del Sistema...
R= 1
L= 1
C= 1
Tiempo de Evaluacion [Escalon] : 12
Periodo de Muestreo [h=0.1]
: .1
Frecuencia de Evaluacion [f_seno]: 1
Periodos de Evaluacion [Ts_seno] : 3
Periodo de Muestreo [h=0.01] : .01
Funcion de Transferencia del Sistema...
num =
0 1 0
den =
1 1 1
num/den =
s
-----------s^2 + s + 1
t
u
x1
x2
ans =
0 1.0000
0
0
0.1000 1.0000
0 0.1000
0.2000 1.0000 0.0100 0.1900
0.3000 1.0000 0.0290 0.2700
0.4000 1.0000 0.0560 0.3401
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.24
INGENIERIA DE CONTROL
Step Response
0.6
0.5
Amplitude
0.4
0.3
0.2
0.1
-0.1
10
12
Time (sec)
u(t),x1(t),x2(t)
0.8
t vs u [Vi(t)]
t vs x1 [I(x2)]
t vs x2 [Vc(t)]
0.6
0.4
0.2
0
0
6
t
10
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.25
INGENIERIA DE CONTROL
0.8
0.6
u(t),x1(t),x2(t)
0.4
0.2
0
-0.2
-0.4
-0.6
C1
1uF
+
R1
1k
-0.8
V1
0/5V
-1
1.5
t
2.5
R2
100
0.5
L1 Mediante Mtodo
Respuesta al Seno
C2 de Euler.
1H
1uF
100 Hz
R6
1k
L2
1H
C6
1uF
R3
100
Vi(t)
Vc(t)
C7
1uF
R10
100
L3
1H
C8
1uF
+
20
Kp
C5
1uF
1/(R*C)s
Scope
s2+1/(R*C)s+1/(L*C)
50
Step
Ki
1
Kd
1
s
RLC Serie_Paralelo
Integrator
du/dt
Derivative
PID
Funcin de Transferencia del Sistema:
PID Controller
1/(R*C)s
Scope1
s2+1/(R*C)s+1/(L*C)
RLC Serie_Paralelo1
_______________________________________________________________________
Step1
DR.ING. FREEDY SOTELO V.
PAG.26
INGENIERIA DE CONTROL
1
RC
G( s)
s
1
s
RC
s2
1
LC
K ( s)
Ki
s
Kp
Kd s2
Kd s
K ps
Ki
H (s) 1
Hallando la Funcin de Transferencia del Sistema de Control:
3
2
Ki s
1 Kd s K ps
1 2
1
RC
s3
s
s
RC
LC
K ( s)G ( s)
C ( s)
R( s )
1
RC
Kd s3
( K d 1) s 3
(K p
K p s 2 Ki s
1 2
)s ( K i
RC
1
)s
LC
Para:
a1
Kd
b1
1
Kd
RC
a2
1
RC
a3
Ki
1
Kp
RC
b3
1
Ki
RC
Kp
b2
1
LC
Modelo en el Tiempo:
a1 y (3) (t )
a2 y ( 2) (t )
a3 y (1) (t )
Para:
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.27
a1
c1
a3
a1
c2
Kd
b1 a3
a1
a2
1
RC
Kp
b3
a1
INGENIERIA DE CONTROL
c3
a2
a1
a3
Ki
a 2 b1
c4
a1
1
LC
b2
a1
c5
x1
c1 x2 c2 u
x2
y
x1 c3 x2 c4 u
x 2 c5 u
Forma Matricial:
.
x1
.
x2
0 1
c1
x1
1 c3
x2
x1
x2
c2
c4
c5 u
01
02
03
04
05
06
07
08
09
10
11
12
13
14
%************************************************************************
% Programa
: ed2rlc_sp_pid.m
% Descripcion : Analiza el Sistema Lineal Controlado
%
%
PlantaBajo Control
%
Vc(s) 1
s
%
G(s)= ------- = ---- -------------------------%
Vi(s) RC s^2 + s/RC + 1/LC
%
%
Controlador
%
Ki
%
K(s)= Kp + ---- + Kd s [20,50,1]
%
s
%
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.28
b1
a1
INGENIERIA DE CONTROL
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
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45
46
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50
51
52
53
54
55
56
%
Kd s^2 + Kp s + Ki
%
K(s)= ----------------------------%
s
%
%
Sistema de Control
%
C(s) 1
Kd s^3 + Kp s^2 + Ki s
%
------ = ---- --------------------------------------------------------%
R(s) RC (Kd+1)s^3 + (Kp+1/RC)s^2 + (Ki+1/LC)s
%
%
Para: a1=(Kd+1) a2=(Kp+1/RC) a3=(Ki+1/LC)
%
1
1
1
%
b1=----- Kd b2=----- Kp
b3=----- Ki
%
RC
RC
RC
%
%
Luego: a3
b1 a3
b3
%
c1=----- c2=----------- - ---%
a1
a1^2
a1
%
%
a2
a2 b1
b2
b1
%
c3=------ c4=----------- - ---- c5=----%
a1
a1^2
a1
a1
%
%
Modelo de Espacio de Estado
%
Ecuaciones Diferenciales Lineales
%
x1'(t,x1,x2,u) = c1 x2(t) + c2 u(t)
%
x2'(t,x1,x2,u) = -x1(t) - c3 x2(t) - c4 u(t)
%
Vc(t) = x2(t) + c5 u(t)
%
%
u(0) = 1 x1(0) = 0 x2(0) = 0
%
%
Por Metodo de Euler
%
%
x1(i+1)=x1(i)+h*x1'(i); % Solucion Euler
%
x2(i+1)=x2(i)+h*x2'(i); % Solucion Euler
%
% Autor
: FreedySotelo V.
%***********************************************************************
clear all; clc
fprintf('Parametros del Sistema...\n');
R=input('R= ');
L=input('L= ');
C=input('C= ');
57
58
59
60
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.29
INGENIERIA DE CONTROL
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.30
111
112
113
114
115
116
117
INGENIERIA DE CONTROL
xlabel('t'), ylabel('u(t),Vc(t),Err(t)')
mx=0;
Mx=max(t);
my=min([min(u) min(Vc) min(Error)]);
My=max([max(u) max(Vc) max(Error)]);
axis([mx Mx my My])
%**********************************************************************
>>ed2rlc_sp_pid
Parametros del Sistema...
R= 1
L= 1
C= 1
Parametros del Controlador...
Kp[20]= 20
Ki[50]= 50
Kd[ 1]= 1
Periodo de Muestreo [h=0.1] : .1
Tiempo de Evaluacion [Escalon]: 12
Funcin de Transferencia del Sistema...
num/den =
s
--------------s^2 + s + 1
Funcin de Transferencia del Controlador...
num/den =
s^2 + 20 s + 50
-------------------s
F.T. del Sistema de Control...
num/den =
s^3 + 20 s^2 + 50 s
----------------------------2 s^3 + 21 s^2 + 51 s
>>
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.31
INGENIERIA DE CONTROL
Vc(t)CC&SC
0.8
0.6
Vc S/C
Vc C/C
0.4
0.2
-0.2
10
12
t (sec)
u(t),Vc(t),Err(t)
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
6
t
10
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.32
INGENIERIA DE CONTROL
20
1/(R*C)s
Kp
Scope
s2+1/(R*C)s+1/(L*C)
50
Step
Ki
1
Kd
1
s
RLC Serie_Paralelo
Integrator
du/dt
Derivative
PID
PID Controller
1/(R*C)s
Scope1
s2+1/(R*C)s+1/(L*C)
RLC Serie_Paralelo1
Step1
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.33
INGENIERIA DE CONTROL
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.34
INGENIERIA DE CONTROL
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.35
INGENIERIA DE CONTROL
R1
1k
V1
0/5V
R2
100
V3
0/5V
L1
1H
1000 Hz
100 Hz
C2
1uF
A: v1_1
B: c2_1
5.000 V
4.000 V
3.000 V
2.000 V
1.000 V
0.000 V
-1.000 V
-2.000 V
-3.000 V
0.000ms
5.000ms
10.00ms
15.00ms
20.00ms
25.00ms
30.00ms
35.00ms
40.00ms
45.00ms
50.00ms
Diagrama
de un Circuito Derivador:
D
R
1k
C1
1uF
+
R1
1k
V3
0/5V
V2
0/5V
V1
0/5V
R2
100
C
1uF
1000 Hz
L
1
1000 Hz
100 Hz
A: v3_1
B: c1_2
5.000 V
3.000 V
1.000 V
-1.000 V
-3.000 V
-5.000 V
0.000ms
1.000ms
2.000ms
3.000ms
4.000ms
5.000ms
6.000ms
7.000ms
8.000ms
9.000ms
10.00ms
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.36
INGENIERIA DE CONTROL
C1
1uF
+
B
V3
0/5V
V2
0/5V
R2
100
C
1uF
1000 Hz
1000 Hz
A: v2_1
B: d_a
5.000 V
4.000 V
3.000 V
D
2.000 V
C1
1uF
+
R
1k
1.000 V
V3
0/5V
V2
0/5V
1.000ms
2.000ms
3.000ms
4.000ms
0.000 V
0.000ms
5.000ms
V1
0/5V
6.000ms
8.000ms
R2
100
7.000ms
C
Formas de Onda del1uF
Circuito. 1000 Hz
1000 Hz
100 Hz
C3
1uF
+
V5
0/5V
+
R3
100
C4
1uF
1000 Hz
A: v5_1
B: c3_1
5.000 V
4.000 V
3.000 V
2.000 V
1.000 V
0.000 V
0.000ms
1.000ms
2.000ms
3.000ms
4.000ms
5.000ms
6.000ms
7.000ms
8.000ms
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.37
C1
1uF
+
R
1k
R1
1k
V3
0/5V
V2
0/5V
V1
0/5V
INGENIERIAR2DE CONTROL
C
1uF
1000 Hz
L1
1H
100
1000 Hz
100 Hz
C3
1uF
+
R6
1k
D
+
V5
0/5V
C4
1uF
1000 Hz
R
1k
R3
100
L2
1H
V3
0/5V
+
5.000 V
R2
100
A: v5_1
B: c3_1
C6 C1
1uF 1uF
V2
0/5V
D2
R4
1k
1000 Hz
1000 Hz
R5
1k
4.000 V
V4
0/5V
D1
C5
1uF
3.000 V
1000 Hz
C3
1uF
+
R4
1k
2.000 V
R3
100
+
1.000ms
2.000ms
1000 Hz
3.000ms
C4
1uF
4.000ms
5.000ms
6.000ms
7.000ms
8.000ms
R5
1k
V4
0/5V
R7
1k
1000 Hz
Circuito Proporcional.
A: v4_1
B: r5_2
5.000 V
4.000 V
3.000 V
2.000 V
1.000 V
0.000 V
0.000ms
1.000ms
2.000ms
3.000ms
4.000ms
5.000ms
6.000ms
7.000ms
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.38
8.000ms
L2
1H
V5
0/5V
1.000 V
0.000 V
0.000ms
R6
1k
D1
C3
1uF
+
R4
1k
R6
1k
UNIVERSIDAD
NACIONAL DE INGENIERA
V5
INGENIERIA DE CONTROL
R3
100
C4
1uF
1000 Hz
L2
1H
0/5V
C6
1uF
R5
1k
C8
1uF
+
R9
1k
R8
1k
R10
100
R7
1k
C7
1uF
1000 Hz
V4
0/5V
L3
1H
5.000 V
A: v4_1
B: r5_2
4.000 V
3.000 V
2.000 V
1.000 V
0.000 V
0.000ms
R2
1
Vi
10V
+
-
1.000ms
L1
1H
2.000ms
3.000ms
R3
1
4.000ms
5.000ms
6.000ms
7.000ms
8.000ms
C1
1F
1k
R6
1
1k
L3
1H
R4
1
C3
1F
IDEAL
2V
-
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.39
C5
1uF
INGENIERIA DE CONTROL
Circuito Proporcional.
Circuito Integrador.
Circuito Derivador.
Circuito Sumador.
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.40
INGENIERIA DE CONTROL
Circuito Inversor.
_______________________________________________________________________
DR.ING. FREEDY SOTELO V.
PAG.41