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m ( t )=J m m + B m ( 4)
M l : Masa disco
0.068 Kg K Kp
Glc= 2
( 22)
r :radio disco 0.0248 m s +as + K K p
E. Diseo Controlador PD
Para el diseo del controlador PD se requiere un sobre
pico menos al 10% y un tiempo de establecimiento de por lo
menos el 50% que el conseguido por el controlador
proporcional luego se tiene que:
>00.5912( 27)
Ilustracin 2: Respuesta paso con controlador =0.6(28)
proporcional El tiempo de establecimiento debe ser de por lo menos
0.3387 s, luego:
El sistema no debera llegar nunca a ser inestable, ya que
para simplificar el diseo se supuso un sistema de segundo t s=0.3 s(29)
orden. Esto se puede ver en la ilustracin 4 (LGR).
n=22.22(30)
La funcin de transferencia con controlador PD es:
K ( Kd s + K p)
Glc= 2
( 31 )
s + ( a+ K K d ) s + K K p
2 na
Kd= =0.0247(32)
K
Ilustracin 3: Respuesta Rampa con Control P 2
n
Kd= =0.767(33)
K
F. Simulacion Controlador PD
REFERENCES
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