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CONCEPTO
Estabilidad
Rapidez del sistema en cadena cerrada al variar k
Oscilaciones
CONCEPTO
r(t) y(t)
G(s)
+ -
H(s)
G (s)
M (s) =
1 + G (s)H (s)
G (s)H (s) = k
(s zi )
(s pi )
CONCEPTO
CONCEPTO
Estabilidad
Rapidez del sistema en cadena cerrada
al variar k
Oscilaciones
EJEMPLO
k
s ( s + 2) k
M ( s) = = 2
1+
k s + 2s + k
s ( s + 2)
s1 = 1 + 1 k
Polos del sistema: s + 2s + k = 0
2
s2 = 1 1 k
s =0
(k = 0) 1
s2 = 2
s = 1
(k = 1) 1
s2 = 1
s = 1 + 3 j
(k = 10) 1
s2 = 1 3 j
1+ k
(s z ) = 0,
i
k
(s z ) = 1
i
(s p ) i (s p ) i
k
| s z | = 1,
i
k=
| s p |
i
| s p |
i | s z |
i
o tambin
arg( s p ) arg( s z ) = ( 2q + 1)
i i
1+ k
(s z )
=0
i
k
(s z )
= 1
i
(s p ) i (s p ) i
s
arg(s- pi )
|s- pi |
pi
1+ k
(s z )
=0
i
k
(s z )
= 1
i
(s p ) i (s p ) i
k
| s zi |
=1 k =
| s pi |
| s pi | | s zi |
Ejemplo - Criterios
entonces
nmero de ramas = max (m,n)
1+ k
(s zi )
= 0
(s pi )
(s pi ) +k (s zi ) = 0
k = 0 ( s p i ) = 0 C o m ie n z a e n lo s p o lo s
1
k
(s pi ) + (s zi ) = 0
k = ( s z i ) = 0 F in a liz a e n lo s c e r o s
arg ( s p i ) a r g ( s z i ) = ( 2 q + 1 )
-
0
s pi pi s
Regla 5. Asntotas
a a
arg( s pi ) arg( s z i ) = n a m a = ( 2 q + 1)
2q + 1
a =
nm
Regla 6. Centroide
El punto en que se unen las asntotas se denomina
centroide.
0 = pi zi
nm
arg( s arg( s z
pi ) i )= i + i = ( 2 q + 1 )
= ( 2 q + 1 ) +
i i
2
1 2
1
ngulos de llegada
Se calculan de forma equivalente, tomando un punto
infintamente cercano a un cero
2
1 2
a rg ( s pi ) arg ( s z i )= i + i = ( 2 q + 1 )
= ( 2 q + 1 ) +
i i
1 1
p = z
i i
k =
| s p i|
| s zi|
entonces
r a ic e s = a n 1
Root Loc us
L u g a r d e la s r a c e s d e G ( s ) H ( s ) = ( s + 1 ) / s ( s + 2 ) ( s + 4 )
8
4
centroide
2
Imaginary Axis
-2
-6
-8
-4 - 3 .5 -3 - 2 .5 -2 - 1 .5 -1 - 0 .5 0
R e a l A x is
1+ k
(s z )
i
=0 < k < 0
(s p )
i
1+ k
(s z )
i
=0 k
(s z )
= 1
i
(s p )
i (s p ) i
arg( s p ) arg( s z ) = 2q
i i
|k|
| s zi|
= 1
| s p i|
|k|=
| s p i|
| s zi|
arg( s p ) arg(s z ) = 2q
i i
-
0
s pi pi s
arg( s p ) arg(s z ) = 2q
i i
Regla 5. Asntotas
arg(s p ) arg(s z ) = n m = 2q
i i a a
2q
a =
nm
arg(s p ) arg(s z ) = 2q
i i
+ = 2q
i i
2
2
1
= 2q + i i
1
ngulos de llegada
Se calculan de forma equivalente, tomando un punto
infintamente cercano a un cero
| k|=
|s pi|
|s zi|
G ( s, x ) A( s, x )
M ( s, x ) = =
1 + G ( s , x ) H ( s , x ) B ( s, x )
1 2
G H (s ) =
( s + 2 ) ( s + 3 ) (1 + s )
E c u a c i o n c a r a c t e r i s t i c a : ( s + 2 ) ( s + 3 ) (1 + s ) + 1 2 = 0
s e p u e d e re e s c rib ir c o m o :
[( s + 2 )( s + 3 ) + 1 2 ]+ ( s + 2 ) ( s + 3 ) s = 0
o e n e l fo rm a to :
s (s + 3 )(s + 2 )
= 1
(s 2 + 5 s + 1 8 )
INTERPRETACIN
Root Locus
L u g a r d e la s r a c e s d e G ( s ) H ( s ) = ( s + 1 ) / s ( s + 2 ) ( s + 4 )
8
2
Imaginary Axis
-2
-4
-6
-8
-4 - 3 .5 -3 - 2 .5 -2 - 1 .5 -1 - 0 .5 0
R e a l A x is
INTERPRETACIN
Root Loc us
Lugar de las rac es de G(s )H(s )=1/s (s +3)(s 2+2s +2)
5
1
Imaginary Axis
-1
-2
-3
-4
-5
-8 -6 -4 -2 0 2 4
Real A x is
G (s)H (s) = e Ts
k
(s zi )
(s pi )
(s p ) i
a rg ( e ) + a rg ( s z
Ts
i ) a rg ( s p i ) = ( 2 q + 1)
a rg ( e T s ) = a rg ( e T ( + j ) ) = a rg ( e T e j T ) = T
T + a rg ( s z i ) a rg ( s p i ) = ( 2 q + 1)
T + arg( s z i ) arg( s p i ) = ( 2 q + 1 )
T + m n = ( 2 q + 1 )
( 0 )
T = ( 2 q + 1 )
T = ( 2 q + 1)
T + ( m n ) = ( 2 q + 1 )
T + (m n) = (2q + 1)