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Respuesta en frecuencia
>1
+
+1
+2
0.5
2
=
=2
=2
= 10
1
1
+
0.4
+1
+
+
0.4
5(0.5)
+
2 dB
Imaginary Axis
1
+
=
1
+
+2
=2
+ 0.4
-4 dB
1 4 dB-6 dB
6 dB
10-10
dB dB
System: sys
Real: 10
Imag: 0
Frequency (rad/sec): 0
0
-1
-2
-3
-4
0
6
Real Axis
10
12
14
+1
2
= 10
+1
0.4
Magnitude (dB)
20
System: sys
Frequency (rad/sec): 0.4
Magnitude (dB): 17.1
15
System: sys
Frequency (rad/sec): 2
Magnitude (dB): 8.88
10
Phase (deg)
5
0
-30
System: sys
Frequency (rad/sec): 0.4
Phase (deg): -33.6
System: sys
Frequency (rad/sec): 2
Phase (deg): -33.6
-60
-2
10
-1
10
10
Frequency (rad/sec)
10
10
>1
+ 1
+ 1
+ 1
=
=
+ 1
+ 1
+ 1
Ejemplo 6.1
1
1
=
+ 1 (0.5 + 1) 0.5 + 1.5 +
Magnitude (dB)
-50
-100
-150
-90
Phase (deg)
-135
-180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
Respuesta en el tiempo
Step Response
1.4
escalon
sys G
1.2
Amplitude
0.8
0.6
0.4
0.2
10
15
Time (sec)
20
25
Respuesta rampa
Step Response
20
18
rampa
sys G
16
14
Amplitude
12
10
8
6
4
2
0
10
Time (sec)
12
14
16
18
20
Compensado
= 32.6
= 9.54
= 1
40
10
= 5
1
+ 1
+ 1
+
Donde:
=
>1
Donde
1
= =
+ 1 (0.5 + 1)
De donde
= =5
1
1
=5
+ 1 (0.5 + 1)
=5
50
Magnitude (dB)
1
= 5
+ 1 (0.5 + 1)
sys G1
0
-50
-100
-150
-90
Margen de fase
= 13
Phase (deg)
-135
-180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
= 52
Magnitude (dB)
50
0
System: sys
Frequency (rad/sec): 0.46
Magnitude (dB): 19.6
-50
-100
-150
-90
= 0.46 /
Phase (deg)
-135
System: sys
Frequency (rad/sec): 0.46
Phase (deg): -128
-180
-225
-270
Nueva frecuencia de cruce de ganancia
-2
10
-1
10
10
Frequency (rad/sec)
10
10
1
= = 0.115
= 8.70
= 0.46 /
Magnitude (dB)
50
= 19.6 dB
System: sys
Frequency (rad/sec): 0.46
Magnitude (dB): 19.6
-50
-100
-150
-90
= 9.44
-135
Phase (deg)
= 19.6
System: sys
Frequency (rad/sec): 0.46
Phase (deg): -128
-180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
1
1
1
=
=
= 0.0122 /
9.44(8.70) 82.1280
5
=
= 0.53
9.44
= 0.53
Magnitude (dB)
10
5
sys C
0
-5
Phase (deg)
-10
0
-30
-60
-4
10
-3
10
-2
10
-1
10
Frequency (rad/sec)
10
10
Magnitude (dB)
100
sys G
sys C
50
0
-50
-100
Phase (deg)
-150
0
-90
-180
-270
-4
10
-3
10
-2
10
-1
10
Frequency (rad/sec)
10
10
10
+ 0.1149
1
= 0.53
+ 0.0122 + 1 (0.5 + 1)
0.53 + 0.0609
=
0.5 + 1.5061 + 1.0183 + 0.0122
Magnitude (dB)
100
sys C
sys CG
50
0
-50
-100
Phase (deg)
-150
0
-90
-180
-270
-4
10
-3
10
-2
10
-1
10
Frequency (rad/sec)
10
10
10
1
)(
=
( )0.5 + 1.5 + + 1
0.53 + 0.0609
=
0.5 + 1.5061 + 1.0183 + 0.0122
)(
=
( )1 +
0.53 + 0.0609
=
0.5 + 1.5061 + 1.0183 + 0.5422 + 0.0609
Respuesta escaln
Step Response
1.4
1.2
Amplitude
0.8
sys G
0.6
sys CG
0.4
0.2
10
15
Time (sec)
20
25
30
Respuesta rampa
Step Response
30
rampa
25
sys G
sys CG
Amplitude
20
15
10
10
15
Time (sec)
20
25
30
Ejemplo 6.2
Solucin
La funcin de transferencia en lazo abierto del sistema
1
=
+1
=
=
=
1
( )1 +
+2
1+
+1
Magnitude (dB)
100
50
-50
-180
Phase (deg)
-225
-270
-315
-360
-1
10
10
Frequency (rad/sec)
10
Respuesta en el tiempo
Step Response
1
0.9
escalon
0.8
sys G
0.7
Amplitude
0.6
0.5
0.4
0.3
0.2
0.1
0
50
100
150
Time (sec)
200
250
Respuesta rampa
Step Response
30
rampa
25
sys G
Amplitude
20
15
10
10
15
Time (sec)
20
25
30
Compensado
= 0
=
=
50
10
= 4
1
+ 1
+ 1
+
Donde:
=
>1
Donde
1
= =
+1
1
=4
+ 1
Donde
)(
lim ( = )1
1
=
+1
()
+ 1
1
+ 1
1
= lim = lim
==4
+1
4 1
4
=
=
+ 1 ( + 1)
4 1
=
+ 1
4
=
+
200
150
Magnitude (dB)
Bode Diagram
Gm = -212 dB (at 1 rad/sec) , Pm = -90 deg (at 1.8 rad/sec)
sys G
sys C1
100
sys C1G
50
0
-50
-90
Margen de fase
= 90
= 1.8
Phase (deg)
-180
-270
-360
-450
-1
10
10
Frequency (rad/sec)
10
1
1
=
= 5.56
0.18
24 + 4
=
+
Bode Diagram
Gm = -106 dB (at 1 rad/sec) , Pm = -1.91 deg (at 5 rad/sec)
200
= 5
sys C2
100
sys G2
50
0
-50
180
Margen de fase
0
Phase (deg)
= 1.91
sys C1G
150
Magnitude (dB)
4
= + 1
4
1
= + 1
+1
-180
System: untitled1
Frequency (rad/sec): 4.99
Phase (deg): -542
-360
-540
-720
-2
10
-1
10
10
Frequency (rad/sec)
10
= 0.2
+ 1 + 1
4 6 + 1 0.2 + 1
1
4.8 + 24.8 + 4
=
=
+ 1
+
Margen de fase
Magnitude (dB)
4 6 + 1 0.2 + 1
1
=
+ 1
4.8 + 24.8 + 4
=
+
Bode Diagram
Gm = Inf , Pm = 50 deg (at 6.29 rad/sec)
400
300
sys G2
sys C3
200
sys C3G2
100
0
-100
180
= 50
Phase (deg)
= 6.29
0
-180
System: untitled1
Frequency (rad/sec): 6.28
Phase (deg): -490
-360
-540
-720
-3
10
-2
10
-1
10
10
Frequency (rad/sec)
10
10
+ 1
Respuesta escaln
Step Response
1.6
escalon
1.4
sys G
sys CG
1.2
Amplitude
0.8
0.6
0.4
0.2
5
Time (sec)
10
Respuesta rampa
Step Response
30
rampa
25
sys G
sys CG
Amplitude
20
15
10
10
15
Time (sec)
20
25
30
Ejemplo 6.3