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REALIZADO POR:
Arteaga Soto Mara Beln
Nenjer Arboleda Andrs Javier
Datos:
Pndulo Tmx = 2.34 N.m
M = 2 kg J = 0.24x10-8
m =0.5 kg R = 2.88 ohm
l = 0.5 m L = 6.44 mH
Motor P = 0.75 W
M = 2kg I=3A
V = 12 V Ke = 48
W = 0-300 rpm KT = 0.8
1
SISTEMA DINMICO
LAGRANGIANO
L=T U
1 2 1 2
L= M x + m v mgh
2 2
Donde:
y=lcos ; y = lsin()
2 2 2
v = x + y
lsin ( )
v2 =
2
( x + lcos()) +
v2 = l 2 2 + x 2 +2l x cos
h=llcos
h=l( 1cos)
Reemplazando:
1 2 1
L= M x + m( x +2 l x cos+l )mg l(1cos)
2 2 2
2 2
Simplificamos:
2
1 1 1
L=3 [ mr x 2 ]+ q xb B+ M x2+ m l 2 2 + m x +m l x cosmgl(1cos)
2 2 2
1 1
L= ( M +m ) x 2 +ml x cos + ml 2 2mg l+ mglcos
2 2
DISIPACIN DE RALEIGH
F=0u x
L d L F
x dt x( )
=
x
d 1
0 (
dt 2 )
( M + m) x + ml cos =u
L d L F
dt ( )
=
d
m x l sen mglsen (m x lcos +ml 2 )=0
dt
mlgsen+ m x lcos+m l 2 =0
g sen x cos
=
l l (2)
Despejamos x :
mg cossen ml sen
2
x = u
2
+ 2
+ 2
(3)
M + msen M +m sen M +m sen
Despejamos :
MOTOR
e e =k e
T =k T q
LAGRANGIANO
L=T U
1 1
L= L q 2 + J 2
2 2
DISIPACIN DE RALEIGH
1 2)(V q e e q + T )
F= ( R q 2+ b
2
1 2 1 2
F= R q + b V q + e e q T
2 2
1 2 1 2
F= R q + b V q + k e qT
2 2
1 1 2
F= R q2 + b V q + k e qk T q
2 2
L d L F
q dt q( )
=
q
d
0 ( L q ) =R q V + e e
dt
0L q =R q V +k e
T
V =R q + L q +k e k
Laplace:
L{V }=L {R q + L q +k e }
2
V ( s )=L s q ( s ) Rsq ( s ) +k e s ( s ) k T s (s) (1)
L d L F
dt ( )
=
d e q T
0 ( J ) =b +k
dt
J =b e q T
+k
b +k
T =L + e q
Laplace:
b +k
L{T }=L {L + e q }
+
L{k T q }=L{L +b k e q }
Js +b
q ( s )=( s) (2)
k T k e
2 Js+ b
V ( s )=(L s + Rs) (s) + k s ( s)
k T k e e
3 2 2 2 2
V ( s ) L Js + L bs + RJ s + Rbs+k T k e sk e sk T s+ k T k e s
=
( s) k T k e
(s) k T k e
=
V (s) L Js + L bs + RJ s2 + Rbs+ k T k e sk e2 s
3 2