FACULTAD DE INGENIERÍA DE

PRODUCCIÓ N Y SERVICIOS

CURSO: SISTEMAS DE CONTROL DIGITAL

TEMA: HORNO DOBLE CAPACIDAD - MÉTODO DE

VARIABLES DE ESTADO

HORNO DOBLE CAPACIDAD

R10
 R21

u1(t) u2(t)
C2 Q2

C1 Q1

C1: Capacidad térmica de la envoltura [Joule/°C].

C2: Capacidad térmica del horno [Joule/°C].

R21: Resistencia térmica entre la envoltura y el horno.

R10: Resistencia térmica entre la envoltura y el medio ambiente.

[R21]=°C/wattios C1=C2= 1 Joule/°C

[R21]=°C/wattios R10=R21=10°C/wattio

θ0: temperatura ambiente.

θ1: temperatura de la envoltura.

θ2: temperatura del horno.

ECUACIONES

1 1
C 1. Q1=u
˙ 1 ( t )− ( θ 1−θ 0 ) − (θ 1−θ 2)
R10 R 21

θ 1−θ 2
C 2. Q˙ 2= +3 u 2(t)
R 21

x= [θθ 1−θ 0
2−θ 0 ]

θ˙1
ẋ= ˙
θ2[ ]
CI : x= 0
0 []
a) ∅ ( t ) =e At por Cayley-Hamilton
b) Hallar y graficar θ1(t) y θ2(t)

DESARROLLO MATEMÁTICO
 1 1
C 1. θ˙1=u 1 ( t )− ( θ 1−θ 0 )− (θ 1−θ 2)
R 10 R 21

θ 1−θ 2
C 2. θ˙2= +3 u 2(t )
R 21

Despejamos la ecuación de estado:

1 1 1
θ˙1= . u 1 ( t )− ( θ 1−θ 0 )− (θ 1−θ2)
C1 C 1. R 10 C 1. R 21

1 θ 1−θ 2 1
θ˙2=
C2
. (
R 21
+ 3.
C2 )
. u 2(t)

1
θ˙1 = D E . θ 1−θ 0 + C 1
[ ][
θ˙2 ][
F G θ 2−θ 0
0
] [ ][ 0
3
C2
.
u1(t)
u2(t) ]
Cálculos auxiliares para determinar la matriz A:

−1 1
D ( θ1−θ 0 ) + E ( θ 2−θ 0 )= ( θ 1−θ 0 )− ( θ 1−θ 2 )
C 1. R 10 C 1. R 21

1 −1 1 1
−( D+ E ) . θ 0+ D .θ 1+ E . θ 2=
C 1. R 10
. θ 0+ ( −
C 1. R 10 C 1. R 21
. θ 1+)C 1. R 21
.θ2

Por comparación obtenemos:

−1 1
D= −
C 1. R 10 C 1. R 21

1
E=
C 1. R 21

1 θ 1−θ 2
F ( θ 1−θ 0 )+ G ( θ 2−θ 0 )=
C2
. (
R 21 )
1 1
−( F+ G ) . θ 0+ F . θ 1+G. θ 2= .θ 1− .θ2
C 2. R 21 C 2. R 21

Igualmente por comparación obtenemos:

 1
F=
C 2. R 21

−1
G=
C 2. R 21

Por lo tanto, la ecuación de estado queda definida así:

−1 1 1 1

θ˙2
[ −
θ 1 = C 1. R 10 C 1. R 21
˙
[ ] 1
C 2. R 21
−1
C 2. R 21
][ ] [ ][
C 1. R 21 . θ 1−θ 0 + C 1
θ 2−θ 0
0
0
3
C2
.
u 1(t)
u 2(t) ]

ẋ= A . x+ B . u(t)

Reemplazamos los valores, para obtener las matrices A y B:

0.1
A=[−0.2
0.1 −0.1 ]

B=[ 1 0 ]
0 3

Seguidamente por Cayley-Hamilton hallamos: e At

Para esto tenemos que hallar los autovalores:

det ( λI −A )=0

|λ−0.1
+0.2 −0.1 =0
λ+ 0.1 |
λ 2+0.3 λ +0.01=0

λ 1=−0.038

λ 2=−0.26

Podemos calcular α 0 y α 1 :

e λ 1t =α 0+α 1. λ 1
{e λ 2t =α 0+α 1. λ 2
 e λ1 t e λ2 t
→ α 1= −
λ 1−λ 2 λ 1− λ 2

α 1=4.5 e−0.038 t−4.5 e−0.26 t

→ αo=e λ 1 t−α 1. λ 1

αo=e−0.038t −( 4.5 e−0.038t −4.5 e−0.26 t ) .(−0.038)

αo=1.18 e−0.038 t −0.18 e−0.26 t

Calculamos e At :

e At=α 0. I +α 1. A

At
e =(1.18 e
−0.038 t −0.26 t
−0.18 e ). [ 10 01]+( 4.5 e −0.038t
−4.5 e
−0.26 t
) . −0.2
[ 0.1 0.1
−0.1 ]
1.18 e−0.038t −0.18 e−0.26 t 0
e At= [ 0 1.18 e−0.038t
−0.18 e−0.26 t
+…
]
−0.91 e−0.038t + 0.91 e−0.26 t 0.45 e−0.038 t−0.45 e−0.26 t
…+
[ 0.45 e−0.038 t −0.45 e−0.26 t −0.45 e−0.038 t +0.45 e−0.26 t ]
0.27 e−0.038 t +1.07 e−0.26 t 0.45 e−0.038 t−0.45 e−0.26 t
e At= [ 0.45 e−0.038t −0.45 e−0.26 t 0.72 e−0.038 t +0.62 e−0.26 t ]
Hallamos la solución homogénea y particular:
Solución homogénea
Solución particular
t
x ( t )=e At . xo+∫ e A ( t −τ ) . B . u( τ )dτ
0

Como la condición inicial es cero, no hay parte homogénea, sólo bastará con calcular la solución particular:

xh ( t )=0
t
xp ( t )=∫ e A (t −τ ) . B . u(τ)dτ
0
 Así obtenemos:

t
0.27 e−0.038(t −τ )+1.07 e−0.26(t−τ ) 0.45 e−0.038 (t −τ) −0.45 e−0.26(t −τ) 1 0
xp ( t )=∫
0
[ .
][ ]
0.45 e−0.038 (t −τ) −0.45 e−0.26(t− τ) 0.72 e−0.038(t−τ )+ 0.62 e−0.26 (t−τ ) 0 3
. u(τ )dτ

t
0.27 e−0.038(t −τ )+1.07 e−0.26(t−τ ) 1.35 e−0.038(t −τ) −1.35 e−0.26 (t−τ )
xp ( t )=∫
0
[ 0.45 e−0.038 (t −τ) −0.45 e−0.26(t− τ) 2.16 e−0.038 (t −τ )+1.86 e−0.26 (t−τ ) ]
.u (τ )dτ

2
0.27 e−0.038(t −τ )+ 1.07 e−0.26 (t−τ ) 1.35 e−0.038 (t −τ )−1.35 e−0.26 (t−τ ) 0.5
xp ( t )= ∫[ ][ ]
0.45 e−0.038 (t −τ )−0.45 e−0.26 (t −τ ) 2.16 e−0.038(t −τ )+ 1.86 e−0.26 (t−τ )
.
0
dτ
0

15
0.27 e−0.038 ( t−τ ) +1.07 e−0.26 (t −τ ) 1.35 e−0.038(t −τ )−1.35 e−0.26 (t −τ ) 2
+∫[ 2
][ ]
. dτ
0.45 e−0.038 (t −τ )−0.45 e−0.26 (t −τ ) 2.16 e−0.038( t−τ ) +1.86 e−0.26 (t −τ ) 0
25
0.27 e−0.038( t−τ ) +1.07 e−0.26 (t −τ ) 1.35 e−0.038(t −τ )−1.35 e−0.26 (t −τ)
+∫[ 0.45 e−0.038 ( t −τ )
−0.45 e−0.26 ( t −τ )
2.16 e−0.038 ( t−τ )
+1.86 e ][ ]
−0.26 ( t −τ )
. 2 dτ
0.5
15

t
0.27 e−0.038 ( t−τ ) +1.07 e−0.26 (t −τ ) 1.35 e−0.038(t −τ )−1.35 e−0.26 (t −τ ) 2
+∫[ ][ ]
. dτ
0.45 e−0.038 (t −τ )−0.45 e−0.26 (t −τ ) 2.16 e−0.038( t−τ ) +1.86 e−0.26 (t −τ ) 0
25

0.28 e−0.038 t +1.4 e−0.26 t 9.79 e−0.038t + 392.78 e−0.26 t

xp ( t )= [ ][
+
0.47 e−0.038t −0.59 e−0.26 t 16.32e−0.038 t −165.19 e−0.26t ]
26.14 e−0.038t +3469.45 e−0.26 t 22.44−36.74 e−0.038t −5474.63 e−0.26 t
+ [
42.59 e−0.038t +71.05 e−0.26 t
+ ][
20.22−61.24 e−0.038t + 2302.41e−0.26 t ]
22.44−0.53 e−0.038 t−1611 e−0.26 t
xp ( t )=
[ 20.22−1.86 e−0.038t + 2207.68 e−0.26t ]
Por lo tanto, obtendríamos:

t
x ( t )=e . xo+∫ e A (t −τ ) . B . u ( τ ) dτ
At

−0.038 t
θ 1−θ 0 = 22.44−0.53 e −1611 e−0.26 t
[ θ 2−θ 0 ][
20.22−1.86 e−0.038 t +2207.68 e−0.26 t ]
Tomamos la temperatura ambiente, θ0 = 25ºC

−1611 e−0.26 t
−0.038t
θ 1 = 47.44−0.53 e
[ ][θ2 45.22−1.86 e−0.038 t +2207.68 e−0.26 t ]
Siendo las gráficas respectivas: