DEPARTAMENTO DE AUTOMATIZACION Y CONTROL INDUSTRIAL - DACI

LABORATORIO DE SISTEMAS DE CONTROL AUTOMATICO

PROYECTO

Integrantes:
Andrea Rocha
Katherine Quiñónez
Fecha: 03/Septiembre/2013
Motor DC regulado por armadura

Ecuaciones diferenciales:
𝑑𝑖𝑎
Eléctrica 𝑒𝑎 = 𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝑒𝑒
𝑑𝑡
𝑒𝑎 = 𝐾𝑒 𝜔
Mecánica 𝑇 = 𝐾𝑇 𝑖𝑎
𝑇 = 𝐽𝜔̇ + 𝐵𝑚 𝜔
DIAGRAMAS DE BLOQUES
𝑑𝑖𝑎
𝑒𝑎 = 𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝑒𝑒 ⇒ 𝐸𝑎 = 𝑅𝑎 𝐼𝑎 + 𝐿𝑎 𝑆𝐼𝑎 + 𝐸𝑒
𝑑𝑡
𝑇 = 𝐾𝑇 𝑖𝑎 ⟹ 𝑇 = 𝐾𝑇 𝐼𝑎
𝑇 = 𝐽𝜔̇ + 𝐵𝑚 𝜔 ⟹ 𝑇 = 𝐽𝑆𝜔 + 𝐵𝑚 𝜔
𝑇
𝜔=
𝑆𝐽 + 𝐵𝑚
𝐸𝑎 = 𝐾𝑒 𝜔
Ra 0.6Ω
La 1.2mH
Kt 0.4[N/mA]
B 0.2287[N/mA]
J 1[Kgs/s2]
Ke 1.8[V.s]
Kp 5[V.rad]
N 1/9
Step1
ia T W
1 0.4 1 1
0.0012s+0.6 1 s+0.2287 s
θ
Transfer Fcn2 Transfer Fcn1 Integrator
Transfer Fcn

Transfer Fcn3
1.8
1

Velocidad
1 1 0.72
𝐿1 = − ∗ 0.4 ∗ ∗ 1.8 = − 2
0.0012𝑠 + 0.6 𝑠 + 0.2287 0.0012𝑠 + 500.23𝑠 + 0.13722
0.72 0.0012𝑠 2 +0.60027𝑠+0.13722+0.72
∆= 1 − 𝐿1 = 1 + =
0.0012𝑠 2 +500.23𝑠+0.13722 0.0012𝑠 2 +0.60027𝑠+0.13722

𝑠 2 + 500.23𝑠 + 714.435
∆= 2
𝑠 + 500.23𝑠 + 114.435
0.4 333.33
𝑃1 = = ∆1 = 1
0.0012𝑠2 + 500.23𝑠 + 0.13722 𝑠 2 + 500.23𝑠 + 114.435

333.33
𝜔(𝑠) 𝑃1 ∆1 𝑠 2 + 500.23𝑠 + 114.435
𝐺(𝑠) = = = 2
𝐸𝑎 (𝑠) ∆ 𝑠 + 500.23𝑠 + 714.435
𝑠 2 + 500.23𝑠 + 114.435
𝝎(𝒔) 𝟏
= 𝟑𝟑𝟑. 𝟑𝟑 [ 𝟐 ]
𝑬𝒂 (𝒔) 𝒔 + 𝟓𝟎𝟎. 𝟐𝟑𝒔𝟏 + 𝟕𝟏𝟒. 𝟒𝟑𝟓
Posición
0.4 333.33
𝑃1 = = ∆1 = 1
𝑠(0.0012𝑠 2 + 500.23𝑠 + 0.13722) 𝑠(𝑠 2 + 500.23𝑠 + 114.435)

Φ(𝒔) 𝟏
= 𝟑𝟑𝟑. 𝟑𝟑 [ ]
𝑬𝒂 (𝒔) 𝒔(𝒔𝟐 + 𝟓𝟎𝟎. 𝟐𝟑𝒔 + 𝟕𝟏𝟒. 𝟒𝟑𝟓)
Le reducimos en 9 veces la ganancia para que se pueda ver
Φ(𝒔) 𝟏
= 𝟑𝟕. 𝟎𝟒 [ ]
𝑬𝒂 (𝒔) 𝒔(𝒔𝟐 + 𝟓𝟎𝟎. 𝟐𝟑𝒔𝟏 + 𝟕𝟏𝟒. 𝟒𝟑𝟓)
Análisis para la Velocidad

1 1
1 0.4 1
Ea 0.0012s+0.6 s+0.2287 Velocidad
Transfer Fcn Gain Transfer Fcn1

Gain1

1.8

Ea Velocidad

Step Scope1

Subsystem

>> v=tf([333.33],[1 500.23 714.43]

Transfer function:
333.3
---------------------
s^2 + 500.2 s + 714.4

>> step(v)
>> step(v)
>> margin(v)
>> rlocus(v)
>> stepinfo(v)
ans =
RiseTime: 1.5347
SettlingTime: 2.7335
SettlingMin: 0.4211
SettlingMax: 0.4666
Overshoot: 0
Undershoot: 0
Peak: 0.4666
PeakTime: 7.3243

Velocidad
0.5

0.45
System: v
Peak amplitude >= 0.466
0.4 System: v Overshoot (%): 0
Rise Time (sec): 1.53 At time (sec) > 4.5
0.35

0.3
Amplitude

0.25

0.2

0.15

0.1

0.05

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Time (sec)
 Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = Inf
0

-20 System: v System: v

Frequency (rad/sec): 0.0107 Frequency (rad/sec): 1.43
Magnitude (dB)

-40 Magnitude (dB): -6.62 Magnitude (dB): -9.62

-60

-80

-100

-120
0

-45
Phase (deg)

-90

-135

-180
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (rad/sec)

Root Locus
300

200

100
Imaginary Axis

-100

-200

-300
-600 -500 -400 -300 -200 -100 0 100
Real Axis
Parámetro MF MG Mr AB
Sistema
1.53 inf 0.466 1.43

Análisis para la Posición

1 1 1
1 0.4 1/9 1
Ea 0.0012s+0.6 s+0.2287 s Posicion
Transfer Fcn Gain Transfer Fcn1 Transfer Fcn2 Gain2

Gain1

1.8

Ea Posicion

Step Scope
Subsystem
 Step Response
80

70

60

50
Amplitude

40

30

20

10

0
0 500 1000 1500
Time (sec)

Bode Diagram
Gm = 79.7 dB (at 26.7 rad/sec) , Pm = 87.9 deg (at 0.0518 rad/sec)
50

0
System: p
Magnitude (dB)

-50
Frequency (rad/sec): 0.0771
Magnitude (dB): -3.37
-100

-150

-200

-250
-90
System: p
-135 Frequency (rad/sec): 0.0544
Phase (deg): -92.2
Phase (deg)

-180
System: p
-225 Frequency (rad/sec): 26.3
Phase (deg): -180

-270
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (rad/sec)
 Root Locus
1500

1000

500
Imaginary Axis

-500

-1000

-1500
-2000 -1500 -1000 -500 0 500 1000
Real Axis
Step Response
80

70

60

50
Amplitude

40

30

20

10

0
0 500 1000 1500
Time (sec)

Parámetro MF MG Mr AB
Sistema
87.9db 79.7dB 80db 0.0771
Control de Velocidad

10 Ea Velocidad

Step Gain Scope1

Subsystem

Tacometro

0.75

>> vlc=feedback(v,0.75)
Transfer function:
333.3
---------------------
s^2 + 500.2 s + 964.4

>> v1=v*0.75
Transfer function:
250
---------------------
s^2 + 500.2 s + 714.4

>> step(vlc)
>> stepinfo(vlc)
ans =
RiseTime: 1.1357
SettlingTime: 2.0234
SettlingMin: 0.3119
SettlingMax: 0.3456
Overshoot: 0
Undershoot: 0
Peak: 0.3456
PeakTime: 5.4203
>> margin(vlc)
>> rlocus(vlc)
 CONTROL DE VELOCDIDAD
0.35
System: vlc
Peak amplitude >= 0.345
0.3 Overshoot (%): 2.22e-014
System: vlc
Rise Time (sec): 1.14 At time (sec) > 3.5

0.25

0.2
Amplitude

0.15

0.1

0.05

0
0 0.5 1 1.5 2 2.5 3 3.5
Time (sec)

System: vlc Bode Diagram

Frequency (rad/sec): 1.98 Gm = Inf dB (at Inf rad/sec) , Pm = Inf
Magnitude
0 (dB): -12.3

-20 System: vlc

Frequency (rad/sec): 0.104
Magnitude (dB)

-40 Magnitude (dB): -9.24

-60

-80

-100

-120
0

-45
Phase (deg)

-90

-135

-180
-1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/sec)
 Root Locus
300

200

100
Imaginary Axis

-100

-200

-300
-600 -500 -400 -300 -200 -100 0 100
Real Axis

Parámetro MF MG Mr AB
Sistema
Inf dB Inf dB 0.345 1.98
Control de posicion
plc=feedback(p,5)
Transfer function:
37.04
---------------------------------
s^3 + 500.2 s^2 + 714.4 s + 185.2
>> step(plc)
>> rlocus(plc)
>>margin(plc)
>> stepinfo(plc)
ans =
RiseTime: 6.9694
SettlingTime: 12.6042
SettlingMin: 0.1815
SettlingMax: 0.2000
Overshoot: 0
Undershoot: 0
Peak: 0.2000
PeakTime: 30.8393

Step Response
0.2
System: plc
0.18 Peak amplitude >= 0.199
System: plc Overshoot (%): 0
0.16 Rise Time (sec): 6.97At time (sec) > 18

0.14

0.12
Amplitude

0.1

0.08

0.06

0.04

0.02

0
0 2 4 6 8 10 12 14 16 18
Time (sec)
 Root Locus
1500

1000

500
Imaginary Axis

-500

-1000

-1500
-2000 -1500 -1000 -500 0 500 1000
Real Axis

System: plc
Bode Diagram
Frequency (rad/sec): 0.314
Gm = 79.7 dB (at 26.7 rad/sec) , Pm = Inf
Magnitude (dB): -17
0

System: plc
-50
Frequency (rad/sec): 0.0116
Magnitude (dB)

Magnitude (dB): -14

-100

-150

-200

-250
0
Phase (deg)

-90

-180

-270
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (rad/sec)

Parámetro MF MG Mr AB
Sistema
79.7 dB 2000db 0.314
Control de velocidad y posicion
1
1 1 Velocidad
1 0.4 1/9 2
0.0012s+0.6 s+0.2287 1
Ea Posicion
Transfer Fcn Gain Transfer Fcn1 s Gain2
Transfer Fcn2
Gain1

1.8

Velocidad

10 Ea

Step Gain Posicion

Scope

Subsystem

Potenciometro

Tacometro

0.75