TALLER MECANISMOS Y AUTOMATIZACION

BRAYAN ALEXIS MONTAEZ SIERRA

CODIGO 1056799009

Docente:
Leonel Alberto Gomez Perez

UNIVERSIDAD MANUELA BELTRAN

INGENIERIA INDUSTRIAL
MECANISMOS Y AUTOMATIZACION
BOGOTA D.C.
2014

TALLER 1 CALCULAR LA CONSTANTE DEL TIEMPO A UN SISTEMA DE PRIMER

ORDEN ANTE UNA ENTRADA IMPULSO.

G ( s )=

V ( s )=1

G ( s )=

k
s+1

V ( t )=U 0 (t)

Y ( s)
V (s)

Y ( s )=G(s)V ( s )

Y ( s )=

[ ]

Y ( s )=

k
s+1

Y ( s )=

k
1
s+1

k
s+

L1 [ Y ( s ) ]=

k=1
ta=1
t= 0:10
y=k*exp(-t/ta)
figure (1)
plot(y)

k
1
s+

Y ( t )=k e

1
t

TALLER 2

Ft =F exKX
ma=f (t )ky
m

dv
=f ( t )k x
dt

mL

dv
= L f ( t )k L x
dt

k
msV ( s )v ( 0 ) =F ( s ) V (s)
s

k
msV ( s )+ V ( s )=F ( s )
s

V ( s ) ms+

k
=F ( s )
s

V ( s)
1
s
=
G ( s )= 2
F ( s ) ms+ k
m s +k
s
M
10

K
130

G(S)

s
10 s +130
2

20

130

s
20 s +130
2

30

130

s
30 s +130
2

40

130

s
40 s + 130
2

50

130

s
50 s +130
2

TALLER 3
RCL

R
2.2

C
3.1

L
2.7

G(s)

1
8.37 s + 6.82 s+1
2

2.2

3.3

2.9

1
9.57 s +7.26 s+1
2

2.2

3.6

3.2

1
11.52 s +7.92 s +1
2

2.5

4.5

3.5

1
15.75 s +11.25 s+1
2

2.7

4.5

3.8

1
17.1 s +12.15 s+ 1
2

2.9

4.5

4.1

1
18.45 s +13.05 s +1
2

3.3

5.1

4.4

1
22.44 s +16.83 s+1
2

3.7

5.7

4.4

1
25.08 s +21.09 s +1
2

3.9

5.9

4.4

1
25.96 s +23.01 s +1
2

TALLER 4

I 1 R1 + R2 ( I 1I 2 ) +C 2 ( I 1 )=V 1 (s)
I 2 ( C 1) + R 2 ( I 2I 1 )=0
I 2 ( C 1+ R 2) =I 1R2

I2 =

I 1R 2
C 1+ R 2

I 1 ( R1 + R2 +C 2) R2 I 2=V 1 ( s)

I 1 ( R1 + R2 +C 2) R2

I 1R2
=V 1 (s)
C 1 + R2

I 1 R 1+ R 2+C 2

I1 =

( R2 )

C1 + R2

=V 1 (s )

V 1 (s)

R1 + R2 +C2

2
( R 2)

C 1+ R 2

I1 =

I 1=

) (

V 1 (s)
1
R 1 ( C 1+ R 2 ) + R2 ( C 1 + R2 ) +C 2 ( C 1+ R2 )( R 2 )2
C 1 + R2

V 1 ( s) ( C1 + R2 )

( R1 ( C 1 + R2 ) + R2 ( C1 + R2 ) +C 2 ( C 1 + R2 )( R 2 )2 )

V 2 ( s )=I 1C2

((

V 2 ( s )=

G ( s )=

V 1 (s) ( C 1 + R2 )
R 1 ( C 1+ R 2 ) + R2 ( C1 + R2 ) +C 2 ( C 1+ R 2 )( R 2)

Z C 2 [ Z C 1 +Z R 2 ]
V 2( s)
=
V 1( s) [ Z C 1 + R2 ] ( Z R 1+ Z R 2 + Z C 2) Z( R )

G ( s )=

Z C 2 [ Z C 1 +Z R 2 ]
V 2( s)
=
V 1( s) [ Z C 1 + R2 ] ( Z R 1+ Z R 2 + Z C 2) Z( R )

Z C ( s )=

G ( s )=

1
CS

Z R=R

1
1
+ R2
S C2 S C 1

Z L=SL

](

1
1
+ R R 1+ R 2+
( R 2 )2
S C1 2
S C2

R
1
+ 2
S C1C2 S C2
2

G ( s )=

1+ R2 S C1
S C1

](

R 1 S C 2+ R 2 S C2 +1
( R 2 )2
S C2

S C 2 + R2 S C 1 C 2
2

S3 C 1 ( C 2 )
G ( s )=
[ 1+ R2 S C 1 ][ R1 S C2 + R2 S C 2+ 1 ]
2

S C1 C 2

( R 2 )2

))

C2

S C2 + R2 S C 1 C 2
S3 C 1 ( C 2 )

G ( s )=

[ 1+ R2 S C 1 ][ R1 S C2 + R2 S C 2+ 1 ][ ( R 2) 2 S2 C1 C2 ]
2

S C1C2

G ( s )=

( S3 C1 ( C2 )2 )

G ( s )=

( S C2)

H (S )
Qi ( S )

V = Ah; Q=

h
R

Vd=QiQ0

S2C1C2

( S C 2 + R2 S 2 C 1 C 2 )
2
[1+ R 2 S C1 ] [ R 1 S C 2+ R 2 S C2 +1 ][ ( R2 ) S 2 C 1 C 2 ]

TALLER 5

G ( S )=

( S 2 C 1 C 2 )( S C 2+ R 2 S2 C 1 C 2 )
2
[ 1+ R2 S C 1 ] [ R 1 S C2 + R2 S C 2 +1 ][ ( R 2 ) S2 C1 C2 ]

dh
=QiQ 0
dt

S2 C1 C2

dh
h
=Qi
dt
R

dh 1
+ Lh=L Qi
dt R

AL

A ( Sh ( S ) h(0) ) +

1
h (s)=Qi (S )
R

ASh ( S ) +

1
h ( s )=Qi ( S )
R

1
=Qi ( S )
R

h ( S ) AS+

h (S )

=Q ( S )
( ARS+1
R )

G ( S )=

R=

H (S )
R
=
Qi ( S ) ARS +1

Cambio en laaltura (h)[m]

Cambio en el caudal(qi )[ m3 / s]

G ( S )=

C=

Q 0( S)
Q i ( S)

dh
=Cantidad de liquido acumulado , donde Q0 ( t ) es el caudal de salida .
dt
RC

dh
+h=R Qi
dt

CR=L d Q0 ( t )+ LQ0 ( t ) =Qi ( t )

CRS Q0 ( S ) +Q0 ( S )=Qi ( S )

1.G ( S )=

Q0 ( S )
H (S )
1
R
=
2. G ( S )=
=
Qi ( S ) CRS+1
Qi ( S ) ARS+1

R
10%

C m3
1

G(s)

20%

1
0.20 S+1

30%

1
0.30 S+1

40%

1
0.40 S+1

50%

1
0.50 S+1

1
0.10 S+1

R
10%

Am
1

G(S)

0.10
0.10 S+1

20%

0.20
0.20 S+1

30%

0.30
0.30 S+1

40%

0.40
0.40 S+1

50%

0.50
0.50 S+1

TALLER 6

8 s+ k
G
s 3+ 2 s2
=
1+GH
8 s+k
1+ 3
s +2 s 2

( s 3+ 2 s2 ) +(8 s +4 k )
3

s +2 s

8 s +k
3
2
s +2 s
3
( s +2 s 2 ) +( 8 s+ 4 k )
3
2
s +2 s

8 s+ k
( s + 2 s2 ) +(8 s +4 k )
3

s +2 s + 8 s+ 4 k =0
a0 + a1+ a2 +a3 =0
3

S 18

S 24 k
S1

164 k
2

S 4k

164 k
>0
2
164 k > 0

4 k >16
k >

16
4

k<4

0< k <4
%Estabilidad
num=[8 4]
den=[1 2 8 4]
printsys(num,den)
num1=roots(num)
den1=roots(den)
%mapa zeros y polos
pzmap(num,den)
%polos
c=pzmap(num,den)

ks+ k
G
s + 2 s28 s
=
1+GH
ks +k
1+ 3
s +2 s 28 s
3

( s 3+ 2 s28 s ) +( ks+ k)
3

s +2 s 8 s

ks+ k
2
s +2 s 8 s
3
( s +2 s 28 s ) +(ks +k )
3
2
s +2 s 8 s
3

ks +k
3

( s + 2 s 8 s ) +( ks+ k)

s +2 s 8 sk +k =0

a0 + a1+ a2 +a3 =0

S 18
2

S 2k
S1

16k
2

S0 k

16k
>0
2
16k > 0

k >16

k >

16
1

k <16

0< k <16

num=[1 1]
den=[1 2 -8 1]
printsys(num,den)
num1=roots(num)
den1=roots(den)
%mapa zeros y polos
pzmap(num,den)
%polos
c=pzmap(num,den)

kW n
= 0 =G(s)
2
2
s +2 Wn+W n i

G( s)=

k
s (s +2)

'

1+ (1+ k s)

k
s ( s+2)

k
s (s+2)
G( s)=
s ( s +2 ) +k + k ' ks
s (s+2)

G( s)=

kW n2
s 2+ 2 s+(k + k ' s)

16
k
= 2
s +5.6 s+16 s + s ( 2+k ' k ) + k
2

k =16

5.6=2+16 k '

5.62=16 k '
k'=

(5.62)
16

'

k =0.225

TALLER 7
G ( s )=

400
S (S + 30 S+ 1)

G ( s )=

400
2
(S +30 S +S )

1.1

400 Kp
2
(S +30 S + S)
3

1.2

G
400 Kp
=
1+GH ( S3 +30 S 2 +S + Kp)
2.

S +30 S + S+ Kp=0
2.1

S 3 +30 S 2+ S+ Kp=0
a0 + a1+ a2 +a3 =0
S31 1
2

S 30 kp
S

30kp
6

S kp

kp> 0

30kp
>0
6

30kp
>0
6
30kp>0

kp>30
k p<30

0< kp<30
KCR.
K=0 K=5 K=10 K=15 K=20 K=25 K=30
%Diseo controlador
n=[1]
d=[1 30 1 0]

figure(1)
step(n,d)
c=pzmap(n,d)
%calculo pcr1
kcr=0
n1=[kcr]
d1=[1 30 1 kcr]
figure(2)
step(n1,d1)
grid
%calculo pcr2
kcr=5
n1=[kcr]
d1=[1 30 1 kcr]
figure(3)
step(n1,d1)
grid
%calculo pcr3
kcr=15
n1=[kcr]
d1=[1 30 1 kcr]
figure(4)
step(n1,d1)
grid
%calculo pcr4
kcr=20
n1=[kcr]
d1=[1 30 1 kcr]
figure(5)
step(n1,d1)
grid
%calculo pcr5
kcr=25
n1=[kcr]
d1=[1 30 1 kcr]
figure(7)
step(n1,d1)
grid

PCR = 6.279
3.
KCR= 30
3.1

S=JW

PCR=6.279

J W + 30 J W + JW +30=0
J
(30 J W +30)( 3 W 3 + JW )=0

30 J W +30=0
30 J 2 W 2 =30
2

30 ( 1 ) W 2=30
W 2=

30
30

W 2=1
W = 1
W =1
PCR=

2
W

PCR=

2
1

PCR=6.283

4.
PCR=6.28 KCR=30
4.1
P= 0,6KCR
P=18
I=0,5PCR
I=3.14
D=0,125PCR
D=0.785
P
18

I
18/3.14

D
18*0.785