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RESPUESTA EN FRECUENCIA
Contenido
+
=
adelanto
Donde
>1
1
+
atraso
>1
Para el caso
= 1
1
+
La frecuencia es aquella
en la cual el ngulo de fase
es cero
1
=
polar
+ 1.1 + 0.1
=
+ 10.01 + 0.1
+
1
+
+1
=
+ 10
+ 0.1
+ 0.01
Diagrama polar
Nyquist Diagram
1
atraso
0.8
1 (10)
0 < <
2 dB
< <
-2 dB
-4 dB
0.6 6 dB
0.4 10 dB
0.2
adelanto
-10 dB
20 dB
-20 dB
0
System: sys
Real: 0.11
Imag: -0.00182
Frequency (rad/sec): -0.328
-0.2
-0.4
adelanto
0 dB
-6 dB
= 0.3162
Imaginary Axis
4 dB
-0.6
atraso
-0.8
-1
-1
-0.8
-0.6
-0.4
-0.2
0
Real Axis
0.2
0.4
0.6
0.8
Diagrama Bode
Bode Diagram
0
+1
+ 10
+ 0.1
+ 0.01
-5
Magnitude (dB)
1
+
1
+
-10
-15
-20
90
45
Phase (deg)
1
+
System: sys
Frequency (rad/sec): 1.01
Phase (deg): 34.4
System: sys
Frequency (rad/sec): 10
Phase (deg): 38.7
-45
System: sys
Frequency (rad/sec): 0.0101
-90 (deg): -39
Phase
-4
-3
-2
10
10
10
System: sys
Frequency (rad/sec): 0.0996
Phase (deg): -34.2
-1
0
1
10
10
10
Frequency (rad/sec)
10
10
Ejemplo 7.1
1
1
=
+ 1 ( + 2) + 3 + 2
Diagramas de Bode
Bode Diagram
Gm = 15.6 dB (at 1.41 rad/sec) , Pm = 53.4 deg (at 0.446 rad/sec)
50
Margen de fase
Magnitude (dB)
-50
-100
-150
-90
MP=53.4
-135
Phase (deg)
-180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
Respuesta escaln
Step Response
1.4
1.2
Amplitude
0.8
escalon
0.6
sys G
0.4
0.2
10
Time (sec)
12
14
16
18
Respuesta rampa
Step Response
20
18
rampa
sys G
16
14
12
Amplitude
10
8
6
4
2
0
10
Time (sec)
12
14
16
18
20
+
=
1
+
1
1
+
+
1
=
= lim
1 + 1 ( + 2)
+
+
=
= 10
2
= 20
Obtenemos
20
20
=
=
=
+ 1 ( + 2) + 1 ( + 2) + 3 + 2
1
1 (2)
Diagrama de Bode G1
Bode Diagram
Gm = -10.5 dB (at 1.41 rad/sec) , Pm = -28.1 deg (at 2.43 rad/sec)
100
Margen de fase
28.1
Magnitude (dB)
50
0
-50
-100
-150
-90
sys G
-135
Phase (deg)
sys G1
-180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
= .
50
Phase (deg)
= 10.5
Magnitude (dB)
-50
-100
-90
-135
-180
System: untitled1
Frequency (rad/sec): 1.41
Phase (deg): -180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
1+
Para el ejemplo = 50 + 5
+ 1 55 + 1
=
=
= 10.05
1
1 55
1
= 0.141
= .
Compensador en atraso
1
+ 0.142
=
1
+ 0.014
+
System: untitled1
Frequency (rad/sec): 1.41
Magnitude (dB): 10.5
50
Magnitude (dB)
0
System: sys
Frequency (rad/sec): 1.41
Magnitude (dB): -10.5
-50
-100
90
0
Phase (deg)
100
-90
-180
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
Si
1
1
+
+
=
+ 4.75
+
=
1
= 0.475
1
+
+ 0.475
=
+ 4.75
+
System: sys
Frequency (rad/sec): 4.75
Magnitude (dB): -0.0171
20
Magnitude (dB)
-40
-60
91
90.5
Phase (deg)
90
89.5
89
-2
10
-1
10
10
Frequency (rad/sec)
10
10
=
= 20
1
( + 4.75) ( + 0.014)
+ +
Magnitude (dB)
100
50
0
sys G
-50
sys CG
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
-4
10
-3
10
-2
10
-1
10
Frequency (rad/sec)
10
10
10
1.2
Amplitude
0.8
sys G
0.6
sys CG
0.4
0.2
10
15
Time (sec)
20
25
Ejemplo 7.2
Solucin
FT de lazo abierto del sistema
=
1
(+ 1)( + 5)
1
1
=
+ 1 ( + 5) + 6 + 5
FT de lazo cerrado
)(
1
=
( ) + 6 + 5 + 1
Diagramas de Bode
Bode Diagram
Gm = 29.5 dB (at 2.24 rad/sec) , Pm = 76.7 deg (at 0.196 rad/sec)
50
Magnitude (dB)
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
Respuesta escaln
Step Response
1
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
10
15
Time (sec)
20
25
30
35
Respuesta rampa
Step Response
20
18
16
14
12
Amplitude
10
8
6
4
2
0
10
Time (sec)
12
14
16
18
20
= 20 ,
= 60
= 8
Suponemos el compensador atraso adelanto, para = :
1
+
= lim )(
1
1
+
+
1
= lim
=
1 + 1 ( + 5)
+
+
=
= 20
5
= 100
Obtenemos
100
100
=
=
=
+ 1 ( + 2) + 1 ( + 2) + 3 + 2
1
1 (5)
Diagrama de Bode G1
Bode Diagram
Gm = -10.5 dB (at 2.24 rad/sec) , Pm = -23.7 deg (at 3.91 rad/sec)
100
Margen de fase
23.7
Magnitude (dB)
50
0
-50
-100
-150
-90
sys G
sys G1
-135
Phase (deg)
-180
-225
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
= .
= 10.5
50
untitled1
Phase (deg)
Magnitude (dB)
100
System: untitled1
Frequency (rad/sec): 2.24
Phase (deg): -180
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
=
=
=
+1
1+
1
=
= 0.224
= .
Compensador en atraso
1
+ 0.2242
=
1
+ 0.0160
+
Magnitude (dB)
0
System: sys
Frequency (rad/sec): 2.24
Magnitude (dB): -10.5
-50
-100
90
0
Phase (deg)
System: untitled1
Frequency (rad/sec): 2.23
Magnitude (dB): 10.5
50
-90
-180
-270
-2
10
-1
10
10
Frequency (rad/sec)
10
10
Magnitude (dB)
0
=
+ 7.55
-20
+
System: sys
-40
Frequency (rad/sec): 0.54
Si
Magnitude (dB): -22.9
-60
91
=
1
= 0.5392
1
+ 0.54
=
+ 7.55
+
90.5
Phase (deg)
90
89.5
89
-2
10
-1
10
10
Frequency (rad/sec)
10
10
=
= 100
1
+ 7.55 + 0.0160
+ +
1
+ 0.54 + 0.2242
= 100
+ 7.55 + 0.0160 (+ 1)( + 5)
Magnitude (dB)
50
0
-50
-100
-150
-200
-90
-135
Phase (deg)
-180
-225
-270
-3
10
-2
10
-1
10
10
Frequency (rad/sec)
10
10
10
1.2
Amplitude
0.8
sys G
0.6
sys CG
0.4
0.2
10
15
Time (sec)
20
25
30
35
Ejemplo 7.3