Documentos de Académico
Documentos de Profesional
Documentos de Cultura
ALUMNOS :
2020 – A
LABORATORIO DE SISTEMAS DE CONTROL DIGITAL 20-5-2020
Tema
q̇ ( t ) +2 q ( t ) =θ ( t )
τ̇ ( t )+ 0.5 τ ( t ) =2 q ( t )
v ( t )=0.25 τ (t)
2|Página
LABORATORIO DE SISTEMAS DE CONTROL DIGITAL 20-5-2020
PROCEDIMIENTO DE LABORATORIO:
q̇ ( t ) +2 q ( t ) =θ ( t )
τ̇ ( t )+ 0.5 τ ( t ) =2 q ( t )
v ( t )=0.25 τ (t)
L[ q̇ ( t )+ 2q ( t )=θ ( t ) ]
s . q ( s )−q ( 0 ) +2 q ( s )=θ ( s )
q ( s ) .( s+2)=θ ( s )
θ( s)
q ( s) = …(I )
(s +2)
L[ τ̇ ( t )+ 0.5 τ ( t )=2 q ( t ) ]
s . τ ( s )−τ ( 0 ) + 0.5 τ ( s )=2 q ( s )
τ ( s ) . ( s+ 0.5 )=2 q (s)
2
τ ( s )= q ( s ) …(II )
( s+0.5 )
L[v ( t ) =0.25 τ (t )]
v ( s )=0.25 τ (s)
2
v ( s )=0.25 . q( s)
( s +0.5 )
0.5
v ( s )= q( s)
( s+0.5 )
0.5
v ( s )= θ ( s ) … (III )
(s +0.5)(s +2)
3|Página
LABORATORIO DE SISTEMAS DE CONTROL DIGITAL 20-5-2020
v (s ) 0.5
G ( s )= =
θ ( s ) (s +0.5)( s+2)
( a+ b ) s+ ( 2 a+0.5 b )=0.5
−0.333 −0.333 z
Z {
( s+ 2)
= }
z −e−2 T
Finalmente, nuestra función de transferencia pulso será de la siguiente forma:
4|Página
LABORATORIO DE SISTEMAS DE CONTROL DIGITAL 20-5-2020
0.333 z 0.333 z
G(z )= −
z −e−0.5T z−e−2 T
q̇ ( t ) +2 q ( t ) =θ ( t )
τ̇ ( t )+ 0.5 τ ( t ) =2 q ( t )
v ( t )=0.25 τ (t)
x˙2 ( t ) +2 x 2 ( t ) =u (t )
v ( t )=0.25 x 1 (t )
x˙1 ( t )=−0.5 x 1 ( t ) +2 x2 ( t ) + 0u ( t )
y ( t ) =0.25 x1 ( t ) +0 x 2 (t ) +0 u ( t )
ẋ1 ( t ) −0.5 2 x 1 ( t ) 0
[ ]=[ ][ ]+[ ]u ( t )
ẋ2 ( t ) 0 −2 x 2 ( t ) 1
5|Página
LABORATORIO DE SISTEMAS DE CONTROL DIGITAL 20-5-2020
x1 ( t )
y (t)=[0.25 0][ ]+[0 ]u (t)
x2 ( t )
τ̇ ( t )=−0.5 τ ( t ) +2 q ( t )
q̇ ( t )=−2 q ( t ) +θ ( t )
V ( t ) =0.25 τ ( t )
x 1 ( kT +1 )=T [−0.5 x 1 ( kT ) +2 x2 ( kT ) ]
x 2 ( kT +1 )=x 2 ( kT ) +T [−2 x2 ( kT ) +θ ( kT ) ]
y ( kT )=0.5 x 1 ( kT )
%Datos
τ =100
q=10
θ=10
%Periodo de muestreo
T =0.1
%Discretizacion directa
x 1 ( 1 )=0 ; x 2 ( 1 )=0 ;
for k =1:250
θ ( k ) =1;
x 1 ( k + 1 )=x 1 ( k )+T [−0.5 x 1 ( k ) +2 x 2 ( k ) ] ;
x 2 ( k+ 1 )=x 2 ( k )+ T [−2 x2 ( k ) +θ ( k ) ] ;
y ( k )=0.5 x 1 ( k ) ;
End
Plot ( Y ) ;
grid
ylabel ( Salida disponible(V) )
xlabel( Numero de Muestras (k) )
%print −deps−f figrlc
6|Página
LABORATORIO DE SISTEMAS DE CONTROL DIGITAL 20-5-2020
7|Página
LABORATORIO DE SISTEMAS DE CONTROL DIGITAL 20-5-2020
8|Página
LABORATORIO DE SISTEMAS DE CONTROL DIGITAL 20-5-2020
9|Página
LABORATORIO DE SISTEMAS DE CONTROL DIGITAL 20-5-2020
10 | P á g i n a