Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo

Sistemas de Control I
EIE-FI-UCV
Modelos Matemticos de Sistemas Dinmicos


Sistema de Regulacin de Temperatura de
una Incubadora
Bachilleres:
Fajardo, Orlando
Jaimes, Alfonso
Ravel, Jean-Michel
Introduccin
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Funcionamiento del Sistema
Esquema del diseo planteado:
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Funcionamiento del Sistema
Esquema del diseo modificado:
( ) ( ) ( ) + + + =
3 3 2 2
3
2
2
1 T K T
K
T K V u u u u u u
( ) T K V u u = 1
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Ecuaciones Diferenciales
) ( 41 ) ( 31 ) ( 21 ) ( 11 t h t h t h t h + + =
dt
t d
C t h
) ( 1
1 ) ( 21
u
=
Rp
t a t
t h
) ( ) ( 1
) ( 31
u u
=
Rp
t t
t h
) ( 2 ) ( 1
) ( 41
u u
=
Rp
t t
Rp
t a t
K
dt
t d
C t h
) ( 2 ) ( 1 ) ( ) ( 1
1
) ( 1
1 ) ( 11
u u u u u
+

+ =
habitacin 1
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Ecuaciones Diferenciales
) ( 3 ) ( 32 ) ( 22 ) ( 41 ) ( 12 t v h t h t h t h t h + + = +
dt
t d
C t h
) ( 2
2 ) ( 22
u
=
Rp
t a t
t h
) ( ) ( 2
) ( 32
u u
=
)) ( ) ( 2 ( * ) ( 3 t a t Kv t v h u u =
)) ( ) ( 2 ( *
) ( ) ( 2
2
) ( 2
2
) ( 2 ) ( 1
) ( 12 t a t Kv
Rp
t a t
K
dt
t d
C
Rp
t t
t h u u
u u u u u
+

+ =

+
habitacin 2
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Ecuaciones Diferenciales
R
Va
t h t h
R
2
* 184 , 4 ) ( ) ( 11
2
2 /
= =
) ( * ) ( ) ( ) ( 11 Vao Va f
Va
Vao f Va f t h
c
c
+ = =
Va
R
Vao
t h
184 , 4 *
) ( 11 =
Linealizacin de las ecuaciones
Ra
Vb
R
Va
t h t h t h
Ra R
2 2
2 /
* 184 , 4
2
* 184 , 4 ) ( ) ( ) ( 12 + = + =
) ( * ) ( ) ( * ) ( ) ( ) ( ) ( 12 Vbo Vb f
Vb
Vbo f Vao Va f
Va
Vao f Vb f Va f t h
c
c
+ +
c
c
+ = + =
Vb
Ra
Vbo
Va
R
Vao
t h
184 , 4 * * 2 184 , 4 *
) ( 12 + =
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Ecuaciones Diferenciales
Anlisis del sistema de control de temperatura.
) ( ) ( t Ve Ka t Va =
)) ( ) ( 1 ( * ) ( 1 t a t Kt t V u u =
|
.
|

\
|

=
2
)) ( ) ( 1 ( *
1
) (
* * ) (
R
t a t Kt
R
t VR
Rf Ka t Va
u u
) ( 1
2
) (
1
) ( t V
R
Rf
t VR
R
Rf
t Ve =
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Ecuaciones Diferenciales
) ( ) ( t Vr Kb t Vb =
)) ( ) ( 2 ( * ) ( 2 t a t Kt t V u u =
|
.
|

\
|

=
4
)) ( ) ( 2 ( *
3
) (
* * ) (
R
t a t Kt
R
t VR
Rf Kb t Vb
u u
Anlisis del sistema de control de temperatura.
4 3
2 1
R R
R R
=
=
) ( 2
4
) (
3
) ( t V
R
Rf
t VR
R
Rf
t Vr =
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Funcin de Transferencia
1 *
* * 184 , 4 *
1
R R
Rf Ka Vao
M =
2 *
* * * 184 , 4 *
2
R R
Kt Rf Ka Vao
M =
3 *
* * 184 , 4 * * 2
3
R R
Rf Kb Vbo
M =
4 *
* * * 184 , 4 * * 2
4
R R
Kt Rf Kb Vbo
M =
Constantes de relacin entre el sistema elctrico (actuador) y el sistema trmico (fuente).
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Funcin de Transferencia
Rp
s s
Rp
s a s
K s sC s H
) ( 2 ) ( 1 ) ( ) ( 1
1 ) ( 1 1 ) ( 11
u u u u
u

+

+ =
|
.
|

\
|

=
2
)) ( ) ( 1 ( *
1
) ( * * 184 , 4 *
) ( 11
R
s a s Kt
R
s VR
R
Rf Ka Vao
s H
u u
Rp
s
Rp
s a
Rp
K
sC s s a M s M s VR M
) ( 2 ) ( 1 1
1 ) ( 1 ) ( 2 ) ( 1 2 ) ( 1
u u
u u u
|
|
.
|

\
| +
+ = +
)) ( ) ( 2 ( *
) ( ) ( 2
2 ) ( 2 2
) ( 2 ) ( 1
) ( 12 s a s Kv
Rp
s a s
K s sC
Rp
s s
s H u u
u u
u
u u
+

+ =

+
|
.
|

\
|


|
.
|

\
|

=
4
)) ( ) ( 2 ( *
3
) ( * * * 184 , 4 * * 2
2
)) ( ) ( 1 ( *
1
) ( * * 184 , 4 *
) ( 12
R
s a s Kt
R
s VR
Ra
Rf Kb Vbo
R
s a s Kt
R
s VR
R
Rf Ka Vao
s H
u u
u u
|
|
.
|

\
|
+
|
|
.
|

\
|
+
+
+ =
+ + + + +
Kv
Rp
K
s a Kv
Rp
K
sC s
Rp
s
M M s a s M s M M M s VR
2
) (
1 2
2 ) ( 2
) ( 1
) 4 2 )( ( ) ( 2 4 ) ( 1 2 ) 3 1 )( (
u u
u
u u u
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Funcin de Transferencia
|
|
.
|

\
|

+
+
|
|
.
|

\
|
+
|
|
.
|

\
|
+
=
2
1 1
1
) ( 2
1
) ( 2
1
) ( 1
) ( 1
M
Rp
K
sC
s
Rp
s a M
Rp
K
s VR M
s
u u
u
|
|
.
|

\
|
+
+
+
|
|
.
|

\
|
+ +
|
|
.
|

\
|
+ + +
=
4
1 2
2
) ( 1 2
1
) ( 4 2
2
) ( ) 3 1 (
) ( 2
M Kv
Rp
K
sC
s M
Rp
s a M M Kv
Rp
K
s VR M M
s
u u
u
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Diagrama de Bloques
|
|
.
|

\
|

+
+ 2
1 1
1
1
M
Rp
K
sC
Rp
1
2
1
M
Rp
K

1 M
|
|
.
|

\
|
+
+
+ 4
1 2
2
1
M Kv
Rp
K
sC
2
1
M
Rp
+
4 2
2
M M Kv
Rp
K
+
3 1 M M + ) ( 2 s u
) (s a u
) (s VR
) ( 1 s u


) (s a u
) (s VR
+
+
+
-
+
-
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Diagrama de Flujo
) ( 2 s u
) ( 1 s u
) (s a u
) (s a u
) (s VR
) (s VR
4 2
2
M M Kv
Rp
K
+
2
1
M
Rp
K

) 3 1 ( M M +
1 M
Rp
1
2
1
M
Rp
+
|
|
.
|

\
|

+
+
=
2
1 1
1
1
1
M
Rp
K
sC
G
1 G
|
|
.
|

\
|
+
+
+
=
4
1 2
2
1
2
M Kv
Rp
K
sC
G
2 G
1
1
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Ecuacin de Estado
Variables de entradas VR y a
Variables de estados 1, 2, 1, 2
Variables de salida 1, 2
|
|
.
|

\
|
|
|
.
|

\
|
+ + +
|
|
.
|

\
|
+
+
= =
|
|
.
|

\
|
+ +
|
|
.
|

\
| +
= =
=
=
Kv
Rp
K
a
Rp
x
Kv
Rp
K
x h
C
x
Rp
K
a
Rp
x
Rp
K
x h
C
x
x
x
2 1 1 2
2 12
2
1
2 2
1 2 1 1
1 11
1
1
1 1
2 2
1 1
u u
u u
u
u

Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo

Sistemas de Control I
EIE-FI-UCV Ecuacin de Estado
(

(
(
(
(

|
|
.
|

\
|
+
+

|
|
.
|

\
|

+
+
(

(
(
(
(

|
|
.
|

\
|
+
+

|
|
.
|

\
|
+
|
|
.
|

\
|

+

=
(

a
VR
M M Kv
Rp
K
C C
M M
M
Rp
K
C C
M
x
x
M Kv
Rp
K
C
M
Rp C
Rp C
M
Rp
K
C
x
x
u
1 4
2
2
1
2
3 1
2
1
1
1
1
1
2
1
4
1 2
2
1
2
1
2
1
1
1
2
1 1
1
1
2
1

=
(

2
1
1 0
0 1
2
1
x
x
y
y
Alfonso Jaimes, Jean Michel Ravel, Orlando Fajardo
Sistemas de Control I
EIE-FI-UCV Conclusiones
Resistencia Ra y termocupla extra para realimentar el sistema.
Funcin de transferencia, Entrada del sistema, Estados y
Salida.
Linealizacin del sistema, trabajo el rededor de un punto de
operacin
Representacin del sistema en espacio de estados