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P03 PInvertidoIC PDF
P03 PInvertidoIC PDF
Figura 1: Motor DC
( ) (1)
( )
>> J=.01;
>> b=.1;
>> K=.01;
>> R=1;
>> L=.5;
>> num=[ 0 0 K ]
num =
0 0 0.0100
>> step(num,den,0:.1:5)
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DR.ING. FREEDY SOTELO V. PAG.43
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
Step Response
0.1
0.09
0.08
0.07
0.06
Amplitude
0.05
0.04
0.03
0.02
0.01
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)
>> [A,B,C,D]=tf2ss(num,den)
A=
-12.0000 -20.0200
1.0000 0
B=
1
0
C=
0 2
D=
0
>> step(A,B,C,D)
Step Response
0.1
0.09
0.08
0.07
0.06
Amplitude
0.05
0.04
0.03
0.02
0.01
0
0 0.5 1 1.5 2 2.5 3
Time (sec)
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DR.ING. FREEDY SOTELO V. PAG.44
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
>> impulse(num,den,0:.1:5)
Impulse Response
0.14
0.12
0.1
0.08
Amplitude
0.06
0.04
0.02
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)
x m
0 x
u M
x
''
M m m cos 2 (2)
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DR.ING. FREEDY SOTELO V. PAG.45
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
''
Ml ml ml cos 2 (3)
3. Espacio de Estado
x1 x2 '
'
(4)
x2 ''
'
Ml ml ml cos 2
(5)
x3 x4 x '
'
(6)
x4 x ''
'
M m m cos x1
2
(7)
x1
y1 1 0 0 0 x 2
y 2 0 0 1 0 x3 (8)
x
4
4. Linealizacin
x '1 f1 / x1 f1 / x 2 f1 / x3 f1 / x 4 x1 f1 / u
'
x 2 f 2 / x1 f 2 / x 2 f 2 / x3 f 2 / x 4 x 2 f 2 / u
' f / x f 3 / x 2 f 3 / x3 f 3 / x 4 x f / u u
x 3 3 1
3 3
x ' 4 f / x
4 1 f 4 / x 2 f 4 / x3 f 4 / x 4 xi Pto .Operacin x 4 f 4 / u u Pto .Operacin
(9)
5. Linealizando en MatLab
5.1. Programa
% Programa : LinPenInv.m
% Descripcin :
clc
% Variables simbolicas
syms f1 f2 f3 f4 x1 x2 x3 x4 u m M l g
f1=x2
f2=((M+m)*g*sin(x1)-u*cos(x1)-m*l*x2^2*sin(x1)*cos(x1))/(M*l+m*l-m*l*(cos(x1))^2)
f3=x4
f4=(u+m*l*x2^2*sin(x1)-m*g*sin(x1)*cos(x1))/(M+m-m*(cos(x1))^2)
f=[f1;f2;f3;f4];
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DR.ING. FREEDY SOTELO V. PAG.46
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
f1 = x2
f2 = ((M+m)*g*sin(x1)-u*cos(x1)-m*l*x2^2*sin(x1)*cos(x1))/(M*l+m*l-m*l*cos(x1)^2)
f3 = x4
f4 = (u+m*l*x2^2*sin(x1)-m*g*sin(x1)*cos(x1))/(M+m-m*cos(x1)^2)
As = 0 1 0 0 Bs = 0
(M+m)*g/M/l 0 0 0 -1/M/l
0 0 0 1 0
-m*g/M 0 0 0 1/M
A= 0 1 0 0 B= 0
20.601 0 0 0 -1
0 0 0 1 0
-0.4905 0 0 0 0.5
C= 1 0 0 0 D= 0
0 0 1 0
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DR.ING. FREEDY SOTELO V. PAG.47
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
Step Response
0
-0.1
To: Out(1)
-0.2
-0.3
Amplitude
-0.4
0.1
0.08
To: Out(2)
0.06
0.04
0.02
0
0 0.1 0.2 0.3 0.4 0.5 0.6
Time (sec)
6. Simulink
(M+m)*g = 20.601
m*l = 0.05
M*l =1
m*g = 0.981
M+m = 2.1
f1 u(3)
f2 (20.601*sin(u(2))-u(1)*cos(u(2))-0.05* sin(u(2))*cos(u(2))*(u(3))^2)/(1.05-0.05*(cos(u(2)))^2)
f3 u(5)
f4 (u(1)+0.05*sin(u(2))*(u(3))^2-0.981*sin(u(2))*cos(u(2)))/(2.1-0.1*(cos(u(2)))^2)
A= 0 1 0 0 B= 0
20.601 0 0 0 -1
0 0 0 1 0
-.4905 0 0 0 0.5
C= 1 0 0 0 D= 0
0 0 1 0
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DR.ING. FREEDY SOTELO V. PAG.48
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
PENDULO INVERTIDO
MODELO NO LINEAL
Sistema:
f = [ u f1 f2 f3 f4 ] ' ynl: x1
x1nl: x1l
u x' x y ynl: x3
MATLAB
1/s C
Function
Step
Integrator Matriz C
Pendulo ynl: x1, x3
yl: x1
Entrada:u Sistema: [u, xi] Sistema ' : [u, xi] Sistema: [xi]
MODELO LINEALIZADO
yl: x3
x' x y
B
1/s C
Matrix Sum Integrator1 Matrix yl: x1, x3
Gain3 Gain1
A
Matrix
Gain2
%-------------------------------------------------------------------------------------------------------
% Programa : EulerPenInv.m
% Descripcion : dy/dx=2xy; yi(0)=.. xi(0)=..
% yi(f) con h=0.01
% y'=y(n+1)-y(n)/h => y(n+1)=y(n)+hy'
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DR.ING. FREEDY SOTELO V. PAG.49
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
% f=[ x2;
% ((M+m)*g*sin(x1)-u*cos(x1)-m*l*x2^2*sin(x1)*cos(x1))/(M*l+m*l-m*l*(cos(x1))^2);
% x4;
% (u+m*l*x2^2*sin(x1)-m*g*sin(x1)*cos(x1))/(M+m-m*(cos(x1))^2) ];
%
% x1 = x2 =' x3 =x x4 =x'
% x1'=' x2'='' x3'=x' x4'=x''
%-------------------------------------------------------------------------------------------------------
% f= f + h* [ f(2);
% ((M+m)*g*sin(f(1))-u*cos(f(1))-m*l*f(2)^2*sin(f(1))*cos(f(1)))/(M*l+m*l-m*l*(cos(f(1)))^2);
% f(4);
% (u+m*l*f(2)^2*sin(f(1))-m*g*sin(f(1))*cos(f(1)))/(M+m-m*(cos(f(1)))^2)];
%-------------------------------------------------------------------------------------------------------
clc; clear all;
m=0.1;M=2;l=0.5;g=9.81;
t=0; h=0.01; f=[0; 0; 0; 0];
tacu=t; facu=f; u=1;
for i=1:400
f=f+h*[ f(2);
((M+m)*g*sin(f(1))-u*cos(f(1))-m*l*f(2)^2*sin(f(1))*cos(f(1)))/(M*l+m*l-m*l*(cos(f(1)))^2);
f(4);
(u+m*l*f(2)^2*sin(f(1))-m*g*sin(f(1))*cos(f(1)))/(M+m-m*(cos(f(1)))^2) ];
t=t+h;
tacu=[tacu t];
facu=[facu f];
end
%plot(tacu',yacu(1,:)','r'); grid on;
plot(tacu,facu(1,:),'r'); grid on;
axis([min(tacu) max(tacu) min(facu(1,:)) max(facu(1,:))]);
title('Sistema de Pendulo Invertido');
xlabel('tiempo[seg]'); ylabel('Posicion D[rad/seg]');
%-------------------------------------------------------------------------------------------------------
11
10
8
Posicion Teta[rad]
Figura 9: Grfica de .
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DR.ING. FREEDY SOTELO V. PAG.50
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
-2
-4
-6
Posicion D?[rad/seg]
-8
-10
-12
-14
-16
-18
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DR.ING. FREEDY SOTELO V. PAG.51
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
(10)
(11)
N
d2 M
i 1
mi
dt 2
r i
j 1
mi j
F (12)
(13)
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DR.ING. FREEDY SOTELO V. PAG.52
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
( ) ( ) (14)
( ) ( )( ) ( )( ) (15)
d
i i (16)
d
( ) ( ) ( ) ( ) ( ) (17)
Y ordenando:
( ) ( ) ( ) ( ) ( ) (18)
Donde:
(19)
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DR.ING. FREEDY SOTELO V. PAG.53
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
(20)
(21)
(22)
Donde:
( ) (23)
(24)
(25)
(26)
( ) (27)
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DR.ING. FREEDY SOTELO V. PAG.54
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
(28)
( ) (29)
Las ecuaciones (15), (18) y (29) representan el modelo matemtico del proceso
pndulo invertido controlado por la corriente de armadura. Tales ecuaciones
pueden ser escritas en forma compacta:
( ) ( ) (30)
( ) ( ) (31)
(32)
Donde:
(33)
(34)
(35)
(36)
(37)
(38)
(39)
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DR.ING. FREEDY SOTELO V. PAG.55
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
( )( ) ( ) ( ) ( ) ( )
( ( ) ( ) )
[ ]
( )( ) ( )
[ ( ) ( ) ]
(40)
(41)
Donde:
[ ] (42)
( ) (43)
[ ]
[ ] [ ]
( ) ( )
( ) [ ( ) ( )]+
( ) ( ) ( )
[ ( ) ( )( ) ( ) ]
(44)
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DR.ING. FREEDY SOTELO V. PAG.56
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
( ) ( )
( ) (45)
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
[ ] [ ]
(46)
(47)
Donde:
( )
( ) ( )
(48)
[( ) ( ) ]
( )
(49)
[( ) ]
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DR.ING. FREEDY SOTELO V. PAG.57
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
Las ecuaciones de estado en tiempo continuo del proceso estn dadas por:
( ) ( ) (50)
( ) ( ) ( ) (51)
( ) ( ) ( ) ( ) ( ) (52)
( ) ( )
( ) (53)
( ) ( ) ( ) (54)
( ) (55)
[ (]) () (56)
( ) ( ) ( ) (57)
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DR.ING. FREEDY SOTELO V. PAG.58
UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL
SISTEMA DE SEGUIMIENTO
____________________________________________________________________________________
DR.ING. FREEDY SOTELO V. PAG.59