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Laboratorio de TCA
Pgina 1
G (s)
Determine si
G(s)
i)
N ( s)
s 3s 2
3
Solucin:
s3
1
-3
s2
s1
s0
Por el criterio de R-H el sistema es inestable
Las races de la ecuacin caracterstica son:
>> roots([1 0 -3 2])
ans =
-2.0000
1.0000
1.0000
G ( s)
ii)
k * N ( s)
s 2 s 24 s 3 48s 2 25s 50
5
Solucin:
Laboratorio de TCA
Pgina 2
s5
1
24
-25
4
2
48
-50
0(8)
0(96) 0
24
-50
(2 s 4 48s 2 50)
8s 3 96 s
s
s3
s2
0
s1
112.7 0
-50
s0
0
Laboratorio de TCA
Pgina 3
2. Criterio de R-H:
(s)
A partir de la ecuacin de caracterstica
el criterio de R-H.
( s) s 3 2s 2 s 2
i)
Solucin:
s3
1
2
2
0(4)
(2 s 2 2)
4s
s
s1
s0
Por el criterio de R-H el sistema es estable
Laboratorio de TCA
Pgina 4
den =
1
>> sys=tf(num,den)
Transfer function:
1
------------------s^3 + 2 s^2 + s + 2
>> pzmap(sys)
>> grid
( s) s 4 12 s 2 36
ii)
Solucin:
4
1
12
36
0(4)
0(24) 0
( s 4 12s 2 36)
4 s 3 24s
s
s3
s
2
6
36
Laboratorio de TCA
(6s 2 36)
12s
s
Pgina 5
s1
0(12) 0
36
s0
0
13
36
>> sys=tf(num,den)
Transfer function:
1
----------------s^4 + 13 s^2 + 36
>> pzmap(sys)
>> grid
Laboratorio de TCA
Pgina 6
( s ) s 5 2 s 4 4 s 3 8s 2 5s 10
iii)
s5
1
4
2
10
0(8)
0(16) 0
10
-4
-10
(2s 4 8s 2 10)
8s 3 16 s
s
s3
s2
s1
s0
Por el criterio de R-H el sistema es inestable
Laboratorio de TCA
Pgina 7
10
>> sys=tf(num,den)
Transfer function:
1
---------------------------------------------s^5 + 2 s^4 + 4 s^3 + 8 s^2 + 5 s + 10
>> pzmap(sys)
>> grid
Laboratorio de TCA
Pgina 8
Pole-Zero Map
1.5
Imaginary Ax is
0.5
-0.5
-1
-1.5
-2
-1.5
-1
-0.5
Real Axis
(s) s 4 s 3 s 2 s 2
iv)
s4
1
s3
s2
s1
s0
Por el criterio de R-H el sistema es inestable
Las races de la ecuacin caracterstica son:
>> roots([1 1 1 1 2])
ans =
-0.9734 + 0.7873i
-0.9734 - 0.7873i
Laboratorio de TCA
Pgina 9
0.5
0.4734 + 1.0256i
0.4734 - 1.0256i
>> sys=tf(num,den)
Transfer function:
1
----------------------s^4 + s^3 + s^2 + s + 2
>> pzmap(sys)
>> grid
Pole-Zero Map
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-1
-0.8
-0.6
-0.4
-0.2
Real Axis
0.2
0.4
0.6
3.Diagrama de
Nyquist:
Un amplificador tiene una ganancia de 200 en lazo directo.Su funcin de transferencia
(en lazo directo) tiene 3 polos con parte real negativa a 1MHz, 2MHz, 4MHz. Use el
diagrama de nyquist para determinar si el sistema en lazo cerrado es estable. El factor
de atenuacin de lazo inverso f=0.05.
Laboratorio de TCA
Pgina 10
Solucin:
i)
Datos:
C ( s ) 200k
hacemos k=1
G ( s)
1
( s 6283185)( s 12566371)( s 25132741)
F.T de lazo Directo
H ( s) 0.05
Funcin de transferencia de lazo cerrado es:
F (s)
C ( s )G ( s )
1 C ( s )G ( s) H ( s )
F (s)
10
s 43982297 s 5.52697842685 *1014 s 1.98440165336 * 10 21
s3
Laboratorio de TCA
5.52697842685 *1014
Pgina 11
s2
43982297
s1
5.07479652213 *1014
s0
1.98440165336 *10 21
1.98440165336 *10 21
k
Ahora para todos lo valores de
C ( s ) 200k
G ( s)
1
( s 6283185)( s 12566371)( s 25132741)
H ( s) 0.05
F (s)
C ( s )G ( s )
1 C ( s )G ( s) H ( s )
10
s 43982297 s 5.52697842685 *1014 s 1.98440165336 *10 21 10k
F ( s)
s3
s2
43982297
5.52697842685 *1014
1.98440165336 * 10 21 10k
Laboratorio de TCA
Pgina 12
s0
k 2.23245190148 *10 21
>> C=200;
>> num2=1;
>> den2=conv([1 6283185],conv([1 12566371],[1 25132741]));
>> G=tf(num2,den2)
Transfer function:
1
--------------------------------------------s^3 + 4.398e007 s^2 + 5.527e014 s + 1.984e021
>> H=0.05;
>> sys=series(C,series(G,H))
Transfer function:
10
--------------------------------------------s^3 + 4.398e007 s^2 + 5.527e014 s + 1.984e021
>> rlocus(sys)
>> gris
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
-2.0142e+005 +2.2981e+007i
ans =
2.1036e+021
Laboratorio de TCA
Pgina 13
Root Locus
x 10
Im a g in a r y A x is
2
1
0
-1
-2
-3
-4
-6
-5
-4
-3
-2
-1
1
7
Real A xis
x 10
Root Locus
x 10
Im a g in a r y A x is
2
1
0
-1
-2
-3
-4
-6
-5
-4
-3
-2
-1
1
7
Real Axis
x 10
0 k 2.232 *1021
Respuesta: El sistema es estable si
4. Lugar de Races:
Sea el sistema de control definido por el diagrama de bloques de la figura siguiente.
Realice el grafico del lugar de races; y segn este grfico, determine para que valores
de k este grafico, determine para que valores de k el sistema es estable.
C (s) k
i)
G(s)
( s 2)( s 3)
s2 s
Solucion:
Laboratorio de TCA
Pgina 14
H (s) 1
F (s)
C ( s )G ( s )
1 C ( s )G ( s) H ( s )
..Funcin de transferencia de Lazo Cerrado
F (s)
k ( s 2)( s 3)
(1 k ) s 2 (1 5k ) s 6k
s2
1 k
6k
s1
6k
s0
6k 0
k 0
k [0,
>> C=1;
>> num2=conv([1 2],[1 3]);
>> den2=conv([1 0],[1 1]);
>> G=tf(num2,den2)
Transfer function:
s^2 + 5 s + 6
------------s^2 + s
>> H=1;
>> sys=series(C,series(G,H))
Transfer function:
s^2 + 5 s + 6
------------s^2 + s
Laboratorio de TCA
Pgina 15
>> rlocus(sys)
>> grid
Root Locus
1
0.8
0.6
Im a g in a r y A x is
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-3.5
-3
-2.5
-2
-1.5
Real Axis
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
-0.9579 - 0.0093i
ans =
0.0194
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
-2.9899 - 0.0031i
ans =
570.2846
Laboratorio de TCA
Pgina 16
-1
-0.5
Root Locus
1
0.8
0.6
Im aginary Ax is
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
Real Axis
G(s)
C (s) k
1
s ( s 3s 18)
2
H (s) 1
ii)
Solucin:
F (s)
C ( s )G ( s )
1 C ( s )G ( s) H ( s )
Funcin de Transferencia de Lazo Cerrado
F (s)
k
s 3s 18s k
s3
18
s2
54 k
3
s0
Laboratorio de TCA
Pgina 17
54 k
0
3
k 0
54 k 0
k 0
54 k k 0
k 54 k 0
k [0,54]
>> C=1;
>> num2=1;
>> den2=conv([1 0],[1 3 18]);
>> G=tf(num2,den2)
Transfer function:
1
-----------------s^3 + 3 s^2 + 18 s
>> H=1;
>> sys=series(C,series(G,H))
Transfer function:
1
-----------------s^3 + 3 s^2 + 18 s
>> rlocus(sys)
>>grid
Laboratorio de TCA
Pgina 18
Root Locus
10
8
6
Im a g in a r y A x is
4
2
0
-2
-4
-6
-8
-10
-12
-10
-8
-6
-4
-2
Real Axis
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
-0.0379 - 4.2547i
ans =
52.9436
Root Locus
10
8
6
Im a g in a ry Ax is
4
2
0
-2
-4
-6
-8
-10
-12
-10
-8
-6
-4
-2
Real Axis
C ( s)
iii)
k
s
G(s)
s 1
s ( s 4)
H (s) 1
Solucin:
F (s)
C ( s )G ( s )
1 C ( s )G ( s) H ( s )
. Funcin de Transferencia de Lazo Cerrado
Laboratorio de TCA
Pgina 19
F ( s)
k ( s 1)
s 4 s 2 ks k
s3
s2
k
2
s0
k
0
2
k 0
k0 k 0
k [0,
>> num1=1;
>> den1=[1 0];
>> C=tf(num1,den1)
Transfer function:
1
s
>> num2=[1 1];
>> den2=conv([1 0],[1 4]);
>> G=tf(num2,den2)
Transfer function:
s+1
--------s^2 + 4 s
>> H=1;
>> sys=series(C,series(G,H))
Laboratorio de TCA
Pgina 20
Transfer function:
s+1
----------s^3 + 4 s^2
>> rlocus(sys)
Root Locus
4
3
0.64
0.5
4
0.38
0.28
0.17
0.08 3.5
3
0.8
2.5
2
Im a g in a r y A x is
1.5
0.94
0.5
0
0.5
-1
0.94
1.5
-2
-3
2
2.5
0.8
3
0.64
-4
-4
-3.5
0.5
-3
-2.5
0.38
-2
0.28
-1.5
0.08 3.5
0.17
-1
-0.5
4 0
Real Axis
>>grid
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
-1.0095 - 0.0373i
ans =
Root Locus
4
3
Im a g in a r y A x is
2
1
0
-1
-2
-3
79.3650
-4
-4
Laboratorio de TCA
-3.5
-3
-2.5
-2
Real Axis
Pgina 21
-1.5
-1
-0.5
C ( s)
iv)
k
s
G ( s)
1
s2
H (s)
1
s4
Solucin:
F (s)
C ( s )G ( s )
1 C ( s )G ( s) H ( s )
.Funcin de Transferencia de Lazo Cerrado
F ( s)
k ( s 4)
s 6 s 2 8s k
s3
s2
48 k
6
s0
48 k
0
6
k 0
48 k 0
k 0
48 k k 0
k 48 k 0
k [0,48]
>> num1=1;
>> den1=[1 0];
>> C=tf(num1,den1)
Laboratorio de TCA
Pgina 22
Transfer function:
1
s
>> num2=1;
>> den2=[1 2];
>> G=tf(num2,den2)
Transfer function:
1
----s+2
>> num3=1;
>> den3=[1 4];
>> H=tf(num3,den3)
Transfer function:
1
----s+4
>> sys=series(C,series(G,H))
Transfer function:
1
----------------s^3 + 6 s^2 + 8 s
>> rlocus(sys)
>>grid
Root Locus
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-12
-10
-8
-6
-4
-2
Real Axis
Laboratorio de TCA
Pgina 23
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
-0.0379 + 2.7578i
ans =
45.0615
Root Locus
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-12
-10
-8
-6
-4
-2
Real Axis
(s)
5.-Partir de la ecuacin caracterstica
sistema es estable (use criterio de R-H)
( s ) s 4 s 3 3s 2 2 s k
i)
Solucin:
s4
k
1
s3
s2
k
1
s1
2k
Laboratorio de TCA
Pgina 24
s0
k
0
2k 0k 0
k 2k 0
0 k 2 k [0,2]
>> num=1;
>> den=[1 1 3 2 0];
>> sys=tf(num,den)
Transfer function:
1
----------------------s^4 + s^3 + 3 s^2 + 2 s
>> rlocus(sys)
Root Locus
4
3
Imaginary Axis
2
1
0
-1
-2
-3
>> grid
-4
-4
-3
-2
-1
0
Real Axis
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
0.0284 - 1.4037i
ans = 2.1472
Laboratorio de TCA
Pgina 25
Root Locus
4
3
Im agina ry A x is
2
1
0
-1
-2
-3
-4
-4
-3
-2
-1
0
Real Axis
(s) s 5 s 4 2s 3 s 2 s k
ii)
Solucin:
s5
1
s4
s3
1
s2
1 k
k
0
s1
s0
k 0k 0
Laboratorio de TCA
Pgina 26
k 0k 0
0 k 0 k {0}
>> num=1;
>> den=[1 1 2 1 1 0];
>> sys=tf(num,den)
Transfer function:
1
--------------------------s^5 + s^4 + 2 s^3 + s^2 + s
>> rlocus(sys)
>> grid
Root Locus
Im a g in a r y A x is
-1
-2
-3
-4
-3
-2
-1
0
Real Axis
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
0.0059 - 0.9783i
ans =
0.0432
Laboratorio de TCA
Pgina 27
Im a g in a r y A x is
Root Locus
0.81
0.7
0.56
0.38
0.2
0.5
0.38
0.2
0.89
0.95
0.988
4
0
3.5
2.5
1.5
0.988
-1
-2
-3
-4
0.95
0.89
0.7
0.81
-3
0.56
-2
-1
Real Axis
(s )
Vi (s)
0.707
coeficiente de amortiguamiento
( s )
2
Vi ( s) ( s 10)( s 2)
Solucin:
G(s)
( s )
2
Vi ( s ) ( s 10)( s 2)
W ( s)
G ( s)G1( s)
1 G ( s )G1( s)
H ( s) ?
H ( s) k
Laboratorio de TCA
Pgina 28
2
*k
( s 10)( s 2)
W ( s)
2
1
*k
( s 10)( s 2)
W ( s)
2k
( s 10)( s 2) 2k
W (s)
2k
s 12 s 20 2k
W (s)
2k
s 12 s 20 2k
s 2 12s 20 2k s 2 2s 2
entonces si
0.707
12 2
12 2 * 0.707 *
12
1.414
8.4865629420084865629420084865629
8.49
20 2k 2
20 2k 8.492
20 2k 72.0801
2k 52.0801
k 26.04005
Laboratorio de TCA
Pgina 29
k 26
>> num=2;
>> den=conv([1 10],[1 2]);
>> sys=tf(num,den)
Transfer function:
2
-------------s^2 + 12 s + 20
>> rlocus(sys)
>> grid
Root Locus
2
1.5
Im aginary Ax is
1
0.5
0
-0.5
-1
-1.5
-2
-10
-9
-8
-7
-6
-5
-4
-3
-2
-1
Real Axis
Por lo que muestra la grafica de lugar de races podemos observar que el sistema es
estable para cualquier valor de k.
7.-La funcin de transferencia del pndulo invertido est expresado por (2),
(s )
T (s )
donde
es el ngulo de inclinacin de la barra y
representa el torque
aplicado por un motor en base del pndulo. Haga el lugar de races
Gc( s ) Kp
suponiendo un controlador proporcional
Kp
lazo cerrado espera para los valores de
Laboratorio de TCA
Pgina 30
(s)
2
2
T (s) s 2
Solucion:
( s)
2
2
T (s) s 2
G ( s)
G1( s) Gc( s ) Kp
W ( s)
G ( s)G1( s)
1 G ( s )G1( s)
W (s)
G ( s )Gc( s )
1 G ( s )Gc( s )
2
*k
W (s) s 2
2
1 2
*k
s 2
2
W ( s)
2k
s 2 2k
W (s)
2k
s 2(k 1)
( s) s 2 2( k 1)
s2
1
s1
2(k 1)
0
s0
0
Laboratorio de TCA
Pgina 31
2(k 1) 0
k 1 0
k 1
k [1,
>> num=2;
>> den=[1 0 2];
>> sys=tf(num,den)
Transfer function:
2
------s^2 + 2
>> num=2;
>> den=[1 0 -2];
>> sys=tf(num,den)
Transfer function:
2
------s^2 - 2
>> rlocus(sys)
>> grid
Laboratorio de TCA
Pgina 32
1.5
Im a g in a r y A x is
0.5
0.64
0.5
0.34
Root Locus
1.4
0.16
0.76
1.2
0.86
0.8
1
0.6
0.94
0.4
0.985
0.2
0.985
0.2
-0.5
-1
0.4
0.94
0.6
0.86
0.8
0.76
1.2
-1.5
-1.5
0.64
0.5
-1
0.34
0.16
-0.5
1.4
0
0.5
1.5
Real Axis
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
0.0107 - 0.0140i
ans =
1.0000
Root Locus
1.5
Im ag in a ry Ax is
0.5
-0.5
-1
-1.5
-1.5
-1
-0.5
0
Real Axis
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
0.0036 + 1.3742i
ans = 1.9442
Laboratorio de TCA
Pgina 33
0.5
1.5
Root Locus
1.5
Im agina ry Ax is
0.5
-0.5
-1
-1.5
-1.5
-1
-0.5
0.5
1.5
Real Axis
k [1,
Respuesta: El sistema es estable en
G (s )
8.-considere el sistema en lazo directo
G (s)
10
s 1
r (t ) sen (t 30o )
i)
r (t ) 2 sen(2t 45o )
ii)
W (s)
G(s)
1 G(s) H (s)
H (s) 1
Laboratorio de TCA
Pgina 34
10
s 1
W ( s)
10
1
*1
s 1
W (s)
10
s 11
r (t ) sen (t 30o )
i)
>> r=sin(t+pi/6);
>> lsim(sys2,r,t)
>> grid
Laboratorio de TCA
Pgina 35
1
0.8
0.6
0.4
Am plitude
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
10
Time (sec)
1
0.8
0.6
Am plitude
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
5
Time (sec)
Laboratorio de TCA
Pgina 36
10
Am plitude
-1
-2
-3
10
Time (sec)
G ( s) H ( s)
10k ( s 0.5)
s 2 ( s 2)(s 10)
G ( s) H ( s)
k 1
k 10
10k ( s 0.5)
s ( s 2)( s 10)
G ( s)G1( S )
G1( s) H ( s )
G ( s) H ( S )
10k ( s 0.5)
s ( s 2)( s 10)
2
10k ( s 0.5)
s ( s 2)( s 10)
W ( s)
10k ( s 0.5)
1 2
s ( s 2)( s 10)
2
W ( s)
10k ( s 0.5)
s ( s 2)( s 10) 10k ( s 0.5)
2
Laboratorio de TCA
Pgina 37
W ( s)
10k ( s 0.5)
s 12s 20 s 2 10k ( s 0.5)
W ( s)
10k ( s 0.5)
s 12s 3 20 s 2 10ks 5k
( s ) s 4 12 s 3 20s 2 10ks 5k
Si
k 1
G ( s) H ( S )
10( s 0.5)
s ( s 2)( s 10)
2
10
8
Im a g in a r y A x is
6
4
2
0
-2
-4
-6
-8
-10
-150
-100
-50
Real Axis
Laboratorio de TCA
Pgina 38
Nyquist Diagram
4
3
Im a g in a r y A x is
2
1
0
-1
-2
-3
-4
-10
-5
0
Real Axis
W ( s)
10( s 0.5)
s 12 s 3 20 s 2 10 s 5
4
( s ) s 4 12 s 3 20 s 2 10 s 5
s4
1
20
12
10
19.1667
s3
s2
s1
6.8696
s0
5
Si
k 10
Laboratorio de TCA
Pgina 39
G ( s) H ( S )
100( s 0.5)
s ( s 2)( s 10)
2
100
80
Im a g in a r y A x is
60
40
20
0
-20
-40
-60
-80
-100
-1500
-1000
-500
Real Axis
Nyquist Diagram
4
3
Im a g in a r y A x is
2
1
0
-1
-2
-3
-4
-10
-5
0
Real Axis
Laboratorio de TCA
Pgina 40
Nyquist Diagram
1
0.8
0.6
Im ag ina ry Ax is
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-2
-1.5
-1
-0.5
0.5
Real Axis
Nyquist Diagram
0.5
0.4
0.3
Imaginary Ax is
0.2
0.1
0
-0.1
-0.2
-0.3
-0.4
-0.5
-1.4
-1.2
-1
-0.8
-0.6
Real Axis
W ( s)
100( s 0.5)
s 12 s 3 20 s 2 100 s 50
4
( s ) s 4 12 s 3 20 s 2 100 s 50
s4
1
20
50
12
100
11.6667
50
48.5716
s3
s2
s1
Laboratorio de TCA
Pgina 41
-0.4
-0.2
0.2
s0
50
Laboratorio de TCA
Pgina 42