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R1=100 Ω
R2=470 Ω
R3=560 Ω
R4 =100 Ω
L=2 H
C=3 F
Malla No. 1
e (t )=e R +e R3 + e L
1
2 d iL
¿ 100 i1 +560 i L +
dt
2 d iL
=e (t )−100 i1−560i L
dt
diL 1
= ( e −100 i 1−560 i L )
dt 2 (t )
Nodo 1
i 1=i 2+ ic +i L
Malla 2
ec
i 2 R2 =e c →i 2=
470
ec
i 1= +i +i +i
470 c c L
diL 1 e
( (
= e ( t )−100 c +i c + i L −560 i L
dt 2 470 ) )
diL 1 100
dt 2 (
= e ( t )− e −100 i c −660 i L
470 c )
Malla 3
e c + e R 4 =e R 3 + e L ; i 4=i 2 +i c ; i L =i 3
d iL 2 d iL ec
e L =L = ; i2=
dt dt 470
d il
e c + 100 ( i2 +i c )=560 i L + 2
dt
2 d iL
100 i c =560i L + −e c −100i 2
dt
2 d iL e
100 i c =560i L +
dt
−e c −100 c
470 ( )
2d i L 570
560i L + − e
dt 470 c 28 1 d iL 57
ic= = iL+ − e
100 5 50 dt 4700 c
Reemplazamos
diL 1 100 28 1 d iL 57
dt 2 (
= e ( t )−
470
ec −100
5 (
iL + −
50 dt 4700 c )
e −660 i L )
diL 1 100 d i 57
(
= e ( t )−
dt 2 470
ec −560 i L −2 L + e c −660 i L
dt 47 )
diL 1 di e ( t ) ec di
dt 2 (
= e ( t )−e c −1220 i L −2 L =
dt 2) − −610 i L − L
2 dt
d i L d i L 2 d i L e ( t ) ec
+ = = − −610i L
dt dt dt 2 2
d i L e ( t ) ec
= − −305 i L
dt 4 4
Como:
1 d ec 1 ic
ec= ∫ i c dt entonces: = ic=
c dt c 3
d ec 1 28 1 d iL 57
=
dt 3 5 (
iL+ −
50 dt 4700 c
e )
Reemplazamos
d ec 1 28 1 e(t ) e c 57
=
dt 3 5 (
iL+
50 4 (
− −305 i L −
4
e
4700 c ) )
d ec 28 e ( t ) e c 61 57
= iL + − − iL − e
dt 15 600 600 5 14100 c
d ec −31 e (t )
= iL + −0,0057 ec
dt 3 600
3 Hallar el modelo matemático del sistema dinámico mediante una ecuación diferencial.
d ec 31 e (t )
=−0,0057 e c − i L +
dt 3 600
d i L −e c e (t )
= −305 i L +
dt 4 4
e c (t)=x 1 (t)
i L (t)=x 2 (t)
e c (t)= ẋ1 (t )
i L (t)= ẋ2 (t )
31 e (t )
ẋ 1 ( t )=−0,0057 x 1− x 2+
3 600
−x 1 e (t )
ẋ 2 ( t )= −305 x 2 +
4 4
ẋ1 ( t ) x (t )
[ ] [ ]
ẋ2 ( t )
=[ A ] 1 + [ b ] u ( t )
x2 ( t )
−31 1
d ec (t)
[ ]
d i L (t)
=
[−0,0057
−1
4
3
][ ] [ ]
e c (t ) 600
−305 i L (t )
+
1
4
[ e (t) ]
[ y ] =[ c ] x 1 (t )
[ ]
x 2 (t )
[ y ] =[ 1 0 ] V c (t )
[ ] i L (t )
ẋ= Ax+ Bμ
−31 1
ẋ=
[−0,0057
−1
4
3 x + 600 μ
−305
Ecuación de salida:
1
4
][ ]
y=cx → y=[ 1 0 ] x
4.1 Generar el diagrama de bloques que representa el modelo matemático del sistema.
y ( t ) =cx (t)