DISEÑO DEL CONTROL DE POSICION DE UN MOTOR DC

>> Ra=0.6;

>> La=0.0000024;

>> Kb=0.0195;

>> f=0.000226;

>> J=0.0000225;

>> Kw=0.045;

>> numm=[Kb];

>> denm=[J*La (J*Ra+f*La) (Ra*f+Kw*Kb) 0];

>> sysm=tf(numm,denm)

Transfer function:

0.0195

-----------------------------------------

5.4e-011 s^3 + 1.35e-005 s^2 + 0.001013 s

>> Sens=0.78;

>> rlocus(Sens*numm,denm)

5
x 10 Root Locus
5
0.76 0.64 0.5 0.34 0.16
4 0.86

3
0.94
2

0.985
1
Imaginary Axis

7e+005 6e+005 5e+005 4e+005 3e+005 2e+005 1e+005

0

-1
0.985

-2
0.94
-3

-4 0.86
0.76 0.64 0.5 0.34 0.16
-5
-7 -6 -5 -4 -3 -2 -1 0 1 2 3
Real Axis 5
x 10
>> Sisotool(sysm)

Factor de amortiguamiento= .568

Frecuencia natural=66

Ganancia= 3.02

>>Kcr= gain*2

>>gain=3.02;

>>Kcr=6.12

>> Tcr= 2∏/frec natural

>>frec natural=94;

>>Tcr= 0.066842396

Control P

>> Kcr=6.12;

>> Tcr= 0.066842396;

>> Kp=0.5*Kcr

Kp =

3.0600
>> syslcP=feedback(Kp*sysm,Sens)

Transfer function:

0.05967

---------------------------------------------------

5.4e-011 s^3 + 1.35e-005 s^2 + 0.001013 s + 0.04654

>> step(syslcP)

Step Response
1.4
System: syslcP
Time (sec): 0.0691
1.2 Amplitude: 1.38 System: syslcP
Time (sec): 0.126
Amplitude: 1.28
1

0.8
Amplitude

0.6

0.4

0.2

0
0 0.05 0.1 0.15
Time (sec)

>> Kp=0.5*Kcr;

>> sysP=tf(Kp*numm,denm);

>> sys=feedback(sysP,Sens);

>> step(sys)

>> sys=feedback(sysP,1);

>> step(sys)
 Step Response
1.4
System: sys
Time (sec): 0.0582
1.2 Amplitude: 1.12 System: sys
Time (sec): 0.147
Amplitude: 0.998
1

0.8
Amplitude

0.6

0.4

0.2

0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18
Time (sec)

Control PI

>> sysGcPI=tf([0.45*Kcr*Tcr 0.54*Kcr],[Tcr 0])

Transfer function:

0.1841 s + 3.305

----------------

0.06684 s

>> sysdPI=sysGcPI*sysm

Transfer function:

0.00359 s + 0.06444

------------------------------------------------

3.609e-012 s^4 + 9.024e-007 s^3 + 6.772e-005 s^2

>> syslcPI=feedback(sysdPI,Sens)
Transfer function:

0.00359 s + 0.06444

---------------------------------------------------------------------

3.609e-012 s^4 + 9.024e-007 s^3 + 6.772e-005 s^2 + 0.0028 s + 0.05027

>> step(syslcPI)

Step Response
2

1.8
System: syslcPI
1.6 Time (sec): 0.0715
Amplitude: 1.82 System: syslcPI
Time (sec): 0.225
1.4 Amplitude: 1.28

1.2
Amplitude

0.8

0.6

0.4

0.2

0
0 0.05 0.1 0.15 0.2 0.25 0.3
Time (sec)

Control PID

>> SysGc=tf(0.075*Kcr*Tcr*conv([1 4/Tcr],[1 4/Tcr]),[1 0])

Transfer function:

0.03068 s^2 + 3.672 s + 109.9

-----------------------------

S
>> sysd=SysGc*sysm

Transfer function:

0.0005983 s^2 + 0.0716 s + 2.142

-------------------------------------------

5.4e-011 s^4 + 1.35e-005 s^3 + 0.001013 s^2

>> syslcPID=feedback(sysd,Sens)

Transfer function:

0.0005983 s^2 + 0.0716 s + 2.142

--------------------------------------------------------------

5.4e-011 s^4 + 1.35e-005 s^3 + 0.00148 s^2 + 0.05585 s + 1.671

>> step(syslcPID)

Step Response
1.8

System: syslcPID
1.6
Time (sec): 0.0626 System: syslcPID
Amplitude: 1.73 Time (sec): 0.289
1.4 Amplitude: 1.28

1.2

1
Amplitude

0.8

0.6

0.4

0.2

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time (sec)
Universidad de Sonora
División de ingenierías
Ingeniería en Mecatrónica

ANONIMO

Ingeniería De Control
Lugar de las Raíces

Hermosillo, Sonora a 02 de diciembre de 2010