Taller N°2

Cr is tia n Ca m ilo Mo ra le s so li s 1 5 2 9 1 8 6 - 3 7 4 6

1.
𝑉𝑎=𝐼𝑎𝐴𝑟𝑟𝑎𝑛𝑞𝑢𝑢𝑒 ∗ (𝑅𝑎 + 𝑅𝑐 ) tal q u e:

𝑉𝑎 240 𝑉
𝐼𝑎𝐴𝑟𝑟𝑎𝑛𝑞𝑢𝑒 = = = 39,5948 [𝐴]
𝑅𝑎 + 𝑅𝑐 4,017Ω + 2,0444Ω

2. La co rr ien te en e st ad o es tac io n ar io d e l m o to r s e d efin e co m o :

𝑉𝑎 − 𝐾𝑣 ∗ 𝐼𝑓 ∗ 𝑤
𝐼𝑎0 =
𝑅𝑎 + 𝑅𝑐

Do n d e:

𝑉𝑎 ≔ 𝑉𝑜𝑙𝑡𝑎𝑗𝑒 𝑛𝑜𝑚𝑖𝑛𝑎𝑙 𝑑𝑒 𝑎𝑟𝑚𝑎𝑑𝑢𝑟𝑎 = 240𝑉

𝐾𝑣 ≔ 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡𝑒 𝑉𝑜𝑙𝑡𝑜𝑚𝑒𝑡𝑟𝑖𝑐𝑎 = 2.34
𝐼𝑓 ≔ 𝐶𝑜𝑟𝑟𝑖𝑒𝑛𝑡𝑒 𝑑𝑒 𝑐𝑎𝑚𝑝𝑜 =?
𝑟𝑎𝑑 𝑟𝑎𝑑
𝑤 ≔ 𝑉𝑒𝑙𝑜𝑐𝑖𝑑𝑎𝑑 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑒𝑗𝑒 = 89.01 ó 178.02
𝑠𝑒𝑐𝑜𝑛𝑑𝑠 𝑠𝑒𝑐𝑜𝑛𝑑𝑠
𝑅𝑎 ≔ 𝑅𝑒𝑠𝑖𝑠𝑡𝑒𝑛𝑐𝑖𝑎 𝑑𝑒 𝑎𝑟𝑚𝑎𝑑𝑢𝑟𝑎 = 4.017 Ω
𝑅𝑐 ≔ 𝑅𝑒𝑠𝑖𝑠𝑡𝑒𝑛𝑐𝑖𝑎 𝑐𝑜𝑛𝑚𝑢𝑡𝑎𝑑𝑜𝑟 = 2.0444Ω

Tal q u e co n v =8 5 0 o 1 7 0 0 r p m y V c=2 4 0 V o 1 2 0 V

En e stad o e sta cio n ar io t o d as la s d er iv ad as so n i g u ale s a 0 t al q u e 𝐼 𝑢𝑓 d o n d e u f=2 4 0 V y Rf=3 9 0 Ω

𝑓=
𝑅𝑓
240 𝑉
tal q u e 𝐼𝑓 = = 0.61538[𝐴]- - → ∅𝑒
390 Ω
240−(2.34)∗(0.6154)∗(89.01)
Po r lo tan to 𝐼𝑎0 = = 18.4484[𝐴]
4.017+2.0444

3. 𝑉𝑟𝑜𝑡 = 𝑉𝑎 + 𝐼𝑎 ∗ (𝑅𝑎 + 𝑅𝑐 ) =
240 + 3.8 ∗ (4,017 + 2.0444) = 263,033 [𝑉]
𝑉𝑟𝑜𝑡
Tal q u e 𝐾𝑣 = = 2,34
𝜔
En to n ce s

𝑉𝑟𝑜𝑡 263.033 𝑅𝑎𝑑

𝜔= = = 112.4074 = 1073,4116 𝑟𝑝𝑚
𝐾𝑣 2,34 𝑠𝑒𝑐𝑜𝑛𝑑𝑠

4. Dad a s la s sig u ien te s ec u acio n e s :

𝑑𝑖𝑎
𝑢𝑎 = 𝑒 + 𝑅𝑎 ∗ 𝑖𝑎 + 𝐿𝑎 ∗ − −→ 𝑒𝑞 𝐶𝑖𝑟. 𝑑𝑒 𝑎𝑟𝑚𝑎𝑑𝑢𝑟𝑎
𝑑𝑡

𝑑∅𝑒
𝑢𝑓 = 𝑅𝑓 ∗ 𝑖𝑓 + 𝑁𝑓 ∗ − −→ 𝑒𝑞 𝐶𝑖𝑟. 𝑑𝑒 𝑐𝑎𝑚𝑝𝑜
𝑑𝑡

𝑑𝜔
𝐽∗ = 𝑇𝑚 − 𝑇𝑙 → 𝐿𝑒𝑦𝑒𝑠 𝑑𝑒 𝑁𝑒𝑤𝑡𝑜𝑚 𝑀𝑎𝑠𝑎 𝐶𝑜𝑛𝑐𝑒𝑛𝑡𝑟𝑎𝑑𝑎
𝑑𝑡

𝜔 = 𝑑𝜀/𝑑𝑡
𝑇𝑚 = 𝐶2 ∗ 𝜙𝑒 ∗ 𝑖𝑎

Se es crib irá el m o d elo e n esp acio d e e s tad o s co n la s sig u ien t e s v ar iab l e s :

𝑖𝑎 = 𝐶𝑜𝑟𝑟𝑖𝑒𝑛𝑡𝑒 𝑑𝑒 𝐴𝑟𝑚𝑎𝑑𝑢𝑟𝑎

𝑖𝑓 = 𝐶𝑜𝑟𝑟𝑖𝑒𝑛𝑡𝑒 𝑑𝑒 𝐶𝑎𝑚𝑝𝑜

𝜔 = 𝑉𝑒𝑙𝑜𝑐𝑖𝑑𝑎𝑑 𝑎𝑛𝑔𝑢𝑙𝑎𝑟

𝜀 = 𝑃𝑜𝑠𝑖𝑐𝑖𝑜𝑛

A p ar tir d e l a ecu ac ió n d e ar m ad u r a em p eza m o s a co n stru ir e l m o d elo

𝑑𝑖𝑎
𝑢𝑎 = 𝑒 + 𝑅𝑎 ∗ 𝑖𝑎 + 𝐿𝑎 ∗ − −→ 𝑒𝑞 𝐶𝑖𝑟. 𝑑𝑒 𝑎𝑟𝑚𝑎𝑑𝑢𝑟𝑎
𝑑𝑡

Tal q u e

−𝑅𝑎 ∗𝑖𝑎 𝑒 𝑢𝑎
𝑖𝑎̇ = − +
𝐿𝑎 𝐿𝑎 𝐿𝑎

Per o

𝑒 = 𝐶1 ∗ 𝜙𝑒 ∗ 𝜔 ∗ 𝐿𝑎𝑓

Do n d e

−𝑅𝑎 ∗𝑖𝑎 𝐿𝑎𝑓 ∗𝜙𝑒 ∗𝜔 𝑢𝑎

𝑖𝑎̇ = − + (1)
𝐿𝑎 𝐿𝑎 𝐿𝑎
 Ah o ra p a rti en d o d e :

𝑑𝜔 𝑑𝜖 𝑑2𝜀
𝐽∗ = 𝑇𝑚 − 𝑇𝑙 - - - > 𝑇𝑚 − 𝐵 ∗ =𝐽∗ +𝑘∗𝜀
𝑑𝑡 𝑑𝑡 𝑑𝑡 2

𝑑𝜖 𝑑2𝜀
𝑇𝑚 − 𝐵 ∗ −𝑘∗𝜀 =𝐽∗
𝑑𝑡 𝑑𝑡 2

𝑑𝜖 𝑑𝜔
𝑇𝑚 − 𝐵 ∗ −𝑘∗𝜀 =𝐽∗
𝑑𝑡 𝑑𝑡

𝑑𝜔
𝑇𝑚 − 𝐵 ∗ 𝜔 − 𝑘 ∗ 𝜀 = 𝐽 ∗
𝑑𝑡

𝑇𝑚 𝐵∗𝜔 𝑘∗𝜀
− − = 𝜔̇
𝑗 𝑗 𝑗

Pero

𝑇𝑚 = 𝐾2 ∗ 𝜙𝑒 ∗ 𝑖𝑎

𝐾2 ∗𝜙𝑒 ∗𝑖𝑎 𝐵∗𝜔 𝑘∗𝜀

𝜔̇ = − − (2)
𝑗 𝑗 𝑗

Ah o ra p a rti en d o d e :

𝑑∅
𝑢𝑓 = 𝑅𝑓 ∗ 𝑖𝑓 + 𝑁𝑓 ∗ 𝑒 - - →
𝑑𝑡
𝑑∅𝑒
𝑁𝑓 ∗ = 𝑢𝑓 − 𝑅𝑓 ∗ 𝑖𝑓
𝑑𝑡

p ero :

𝑖𝑓
𝑑
𝑁𝑓 ∗𝑖𝑓 𝐿𝑓
𝜙𝑒 = 𝐵 ∗ 𝐴 = ---> = 𝑢𝑓 − 𝑅𝑓 ∗ 𝑖𝑓
𝐿𝑓 𝑑𝑡

𝑑𝑖𝑓
𝐿𝑓 = 𝑢𝑓 − 𝑅𝑓 ∗ 𝑖𝑓
𝑑𝑡

𝑢𝑓 𝑅𝑓 ∗ 𝑖𝑓
𝐼𝑓̇ = − (3)
𝐿𝑓 𝐿𝑓

Po r u l ti m o
𝜀̇ = 𝜔 (4 )

La r ep r es en ta ció n en e s p acio s d e e stad o q u ed a :

𝒙𝟏 = 𝝐 − − − −−→ 𝒙̇ 𝟏 = 𝝎
𝒅𝒊𝝎
𝒙𝟐 = 𝝎 − − − −→ 𝒙𝟐̇ =
𝒅𝒕

𝒅𝒊𝒂
𝒙𝟑 = 𝒊𝒂−−−−−−−− → 𝒙𝟑̇ =
𝒅𝒕
𝒅𝒊𝒇
𝒙𝟒 = 𝒊𝒇 − − − −→ 𝒙𝟒̇ =
𝒅𝒕

0 1 0 0
𝑥1̇ −
𝑘
−
𝐵 𝐾2 ∗𝜙𝑒
0 ⌉ 𝑥1 0 0
⌈ 𝑗
𝑥2 ⌈ 0 ⌉
𝑗 𝑗
𝑥̇ 0
𝑥̇ = ⌊ 2 ⌋= ⌈ 0 −
𝐿𝑎𝑓 ∗𝜙𝑒 −𝑅𝑎 ⌉ ⌈ ⌉
0 * [𝑥3 ]+ ⌈ 0 ⌉* 𝑈𝑓 + ⌈ 1 ⌉* 𝑈𝑎
𝑥3̇ ⌈ 𝐿𝑎 𝐿𝑎 ⌉ ⌈1⌉ 𝐿𝑎
𝑥4̇ ⌈ 𝑅𝑓 ⌉ 𝑥4 [𝐿𝑓 ] [0]
0 0 0 −
⌈ 𝐿𝑓 ⌉

Re em p l azam o s p o r lo s v alo r e s n u m éri co s :

Prim ero h a ll ar em o s la in d u ctan c ia d el d ev an ad o d e arm ad u r a sin sa tu rar

𝑉𝑎 ∗ sin (𝜃)
𝐿𝑎𝑞 =
𝑖𝑎 ∗ 2𝜋 ∗ 𝑓

Su p o n d rem o s u n F P= 0 . 9 at y su p o n d r em o s co rr ien t e y t en sió n sin u so id ale s p ar a en to n ce s :

𝑃
𝐶𝑜𝑠 𝜃 = − −−→ 𝐶𝑜𝑠 −1 0.9 = 25.84°
𝑆
En to n ce s 𝐿𝑎𝑞 = 73.0253𝑚𝐻= in d u ctan ci a d el d ev an ad o d e arm ad u ra s in sa tu rar

Se p r o ced e a c alcu lar la in d u ct an ci a m u t u a 𝐿𝑎𝑓 = 𝐾 ∗ √𝐿𝑎𝑞 ∗ 𝐿𝑒

Do n d e su p o n d rem o s el f acto r d e a co p la m ien to K =1

𝐿𝑎𝑓 = 𝐾 ∗ √𝐿𝑎𝑞 ∗ 𝐿𝑒 = 3.783247 𝐻

𝐾2 = 𝐾𝑇

𝐾 = 𝐾𝑣

Tal q u e
𝑥1̇ 0 1 0 0 𝑥1 0 0
𝑥2̇ −12.60776 −0.05388 8.78233 ∗ 𝜙𝑒 0 𝑥2 0 0
𝑥̇ = ⌊ ⌋=⌈ ⌉* [𝑥 ]+ [ ]*(2 4 0 /1 2 0 ) + [ ]*2 4 0
𝑥3̇ 0 −51.79671 ∗ 𝜙𝑒 −55.00833 0 3 0 13.69390
𝑥4̇ 0 0 0 −1.98980 𝑥4 0.00510 0
 5 . Par tien d o d el ej er c icio a n ter io r d ef in im o s

𝜔0 = 𝑣𝑒𝑙𝑜𝑐𝑖𝑑𝑎𝑑 𝑎𝑔𝑢𝑙𝑎𝑟 𝑛𝑜𝑚𝑖𝑛𝑎𝑙 = 89.0117918517 rad/sec

Su p o n i en d o 𝐶1 = 𝐶2 = 𝐶
𝑒 ∗ 𝑖𝑎 = 𝜔 ∗ 𝑇𝑚
𝑒0 ∗𝑖𝑎0
𝑇𝑚0 = = 10.245834 N ∗ m
𝜔0
∅𝑒 = 𝐹𝑙𝑢𝑗𝑜 𝑛𝑜𝑚𝑖𝑛𝑎𝑙 = 0.61538
𝑃̅ = 1𝐾𝑊

̅̅̅̅̅
𝑢𝑎0 = 240 [𝑉}

𝑇0 = ∅𝑒 ∗ 𝑖𝑎0 = 10.245834 N ∗ m par extrapolado de rotor bloqueado

𝑢𝑓0 = 240 [𝑉} = Voltaje de Campo Nominal

𝑢𝑓0
𝑖𝑓0 = = 0.61538462 [𝐴} = Corriente de Campo Nominal
𝑅𝑓

Pr o ced em o s co n la s e cu acio n e s.

𝑑𝑖𝑎
𝑢𝑎 = 𝑒 + 𝑅𝑎 ∗ 𝑖𝑎 + 𝐿𝑎 ∗ − −→ 𝑒𝑞 𝐶𝑖𝑟. 𝑑𝑒 𝑎𝑟𝑚𝑎𝑑𝑢𝑟𝑎
𝑑𝑡

𝑑 𝐿𝑎𝑞 𝑁𝑓 ∗𝜙𝑒0 𝐽∗𝜔0

𝑢𝑎 − 𝑖̅𝑎 − 𝜔
̅̅̅ ̅𝑒 = 𝜏𝑎 ∗
̅∗∅ ̅̅̅
𝑖𝑎 − −→ 𝜏𝑎 = (𝑅 − −→ 𝜏𝑓0 = − −→ 𝜏𝑚𝑛 =
𝑑𝑡 𝑎 +𝑅𝐶 ) (𝑢𝑓0 ) 𝑇0

co n lo q u e ( 1 ) , ( 2 ) , ( 3 ) y ( 4 ) q u ed a :

𝑑 ̅̅̅
𝑖𝑎 ̅̅̅̅
𝜙𝑒 ∗𝜔̅ ̅̅̅̅
𝑢𝑎 𝐿𝑎𝑞
𝑖̅ =− − + (1) −−→ 𝜏𝑎 = (𝑅
𝑑𝑡 𝑎 𝜏𝑎 𝜏𝑎 𝜏𝑎 𝑎 +𝑅𝐶 )

𝑑 ̅̅̅̅
𝜙𝑒 ∗𝑖̅̅̅
𝑎 ̅̅̅̅
𝑇𝐿 𝐽∗𝜔0
𝜔
̅= − (2 ) −−→ 𝜏𝑚𝑛 =
𝑑𝑡 𝑇𝑚𝑛 𝑇𝑚𝑛 𝑇0

̅̅̅̅
𝑢 ̅̅̅̅) 𝑁 ∗𝜙𝑒0
𝑑 ̅̅̅ 𝑓 (𝜙
𝜙̇𝑒 = 𝑓 − 𝑒 𝑒 (3) −−→ 𝜏𝑓0 = 𝑓
𝑑𝑡 𝜏𝑓 𝜏𝑓 (𝑢𝑓0 )

𝑑
𝜀̅ = 𝜔
̅ (4 )
𝑑𝑡

𝑥1 = 𝜖̅ − − − −−→ 𝑥̇1 = 𝜔
𝑑𝑖𝜔
𝑥2 = 𝜔
̅ − − − −→ 𝑥2̇ =
𝑑𝑡

𝑑𝑖𝑎
𝑥3 = 𝑖̅𝑎 − − − −→ 𝑥3̇ =
𝑑𝑡
𝑑𝜙𝑒
𝑥4 = ̅̅̅
𝜙𝑒 − − − −→ 𝑥4̇ =
𝑑𝑡
 0 1 0 0
̅̅̅̅
𝜙𝑒 0 0 0
𝑥1̇
⌈0 0 0 ⌉ 𝑥1 1
𝑥2̇ ⌈
𝑇𝑚𝑛
𝑥 0 0
𝑥̇ = ⌊ ⌋= 0 ̅̅̅̅
𝜙𝑒 1 ⌉* [ 2 ] − ⌈𝑇𝑚𝑛 ⌉* 𝑇𝐿 + ⌈ 1 ⌉* 𝑈𝑎 + ⌈ 0 ⌉* 𝑈𝑓
𝑥3̇ ⌈ − − 0 ⌉ 𝑥3 ⌈ ⌉
𝜏𝑎 𝜏𝑎 ⌈ 0 ⌉ ⌈𝜏𝑎 ⌉ ⌈ 1⌉
𝑥4̇ ⌈ 1 ⌉ 𝑥4 [ 0 ] [0] [𝜏𝑓 ]
0 0 0 −
⌈ 𝜏𝑓 ⌉

6 . To m am o s l as ecu acio n es d if er en ci ale s, p ero so lo u sar em o s l a n u m ero 1 , co m o e st am o s u s an d o

co n tro l p o r ar m ad u r a p r o ced em o s a ig u a l ar la d eriv ad a a cero y d esp ej a r 𝑣𝑎 en fu n c ió n d e 𝜔𝑛

𝑖𝑎 1 1 1
𝑑 = 𝑣 − 𝑖 − ∅ 𝜔
𝑑𝑡 𝜏𝑎 𝑎 𝜏𝑎 𝑎 𝜏𝑎 𝑒 𝑛

∅𝑒 1 1
𝑑 = 𝑣𝑒 − 𝑓𝑒 (∅𝑒 )
𝑑𝑡 𝜏𝑒 𝜏𝑒

𝜔𝑛 1 1
𝑑 = ∅𝑒 𝑖𝑎 − 𝑇
𝑑𝑡 𝜏𝑚 𝜏𝑚 𝐿

Tal q u e:

0 = 𝑣𝑎 − 𝑖𝑎 𝑅𝑎 − ∅𝑒 𝜔𝑛 * C1

Do n d e 𝑖𝑎 = 18.4484[𝐴] ; 𝑅𝑎 = 4,017 𝑜ℎ𝑚𝑠 ; 𝜙𝑒 = 0.6154

0 = 𝑣𝑎 − 𝑖𝑎 𝑅𝑎 − ∅𝑒 𝜔𝑛 ∗ 𝐶1
0 = 𝑣𝑎 − 18.4484 ∗ 4.017 − 0.61𝜔𝑛 ∗ 𝐶1

𝑣𝑎 = 18.44484 ∗ 4.077 + 0.61𝜔𝑛 ∗ 𝐶1 - →p u n to s d e eq u il ib rio

7.

Se d ecid e e leg i r co m o p u n to d e tr ab a jo ( e a=2 4 0 y 𝜔𝑛 =89.01)

De sarro llad a l a m a tr i z e n u n p u n to an ter io r:

0 1 0 0
̅̅̅̅
𝜙𝑒 0 0 0
𝑥1̇
⌈0 0 0 ⌉ 𝑥1 1
𝑥2̇ ⌈
𝑇𝑚𝑛
𝑥2 0 0
̅̅̅̅ ⌉ ⌈𝑇𝑚𝑛 ⌉ ⌈1⌉ ⌈ ⌉
𝑥̇ = ⌊ ⌋= 0 −
𝜙𝑒
−
1
0 ⌉* [𝑥3 ] − ⌈ 0 ⌉* 𝑇𝐿 + ⌈ ⌉* 𝑈𝑎 + ⌈ 01 ⌉* 𝑈𝑓
𝑥3̇ ⌈ 𝜏𝑎 𝜏𝑎 𝜏𝑎 ⌈ ⌉
𝑥4̇ ⌈ 1 ⌉ 𝑥4 [ 0 ] [0] [𝜏𝑓 ]
0 0 0 −
⌈ 𝜏𝑓 ⌉

8 . G WV =

1
-------------------------
0 .0 2 9 3 1 s ^2 + 1 .6 1 2 s + 1

𝑆 = −2.7661329

Co n K=1

Lu g ar g eo m étr ico d e l as r aíc es

Vari an d o k =1 0

Se au m en t a n o t ab l em en t e la v elo cid ad , p er o se p ro d u ce u n co m p o rta m ien to d e s u b a m o rt ig u am ien to .

Lu g ar g eo m étr ico d e l as r aíc es p ar a K=1 0

Se v aria k <1

Se p u ed e o b serv ar q u e l a r e sp u e st a e s m u c h o m á s l en t a q u e el si s tem a in ici al, car act erí st ic a d e u n

si s tem a so b r e am o r tig u a d o .

Lu g ar g eo m étr ico d e l as r aíc es

9 . Se n ece si ta p r im e r o ca lc u lar la s co n st an t es d e t i em p o ta l q u e :

𝐿𝑎 73.0253𝑚𝐻
𝑇𝑎 = = = 0.01817906𝑠
𝑅𝑎 4.017
𝐿𝑓 196𝐻
𝑇𝑓 = = = 0.50256 𝑠
𝑅𝑓 390
𝐽 ∗ 𝑤𝑜 0.1856 ∗ 89.0118
𝑇𝑚 = = = 1.6124202 𝑠
𝑇𝑜 10.245834

Co n t r o l d e co rr ien t e:

(𝑇1𝑆 + 1)(𝑇2𝑆 + 1) 𝑘𝑠 𝑇𝑚 ∗ 𝑆 1
𝐺𝐻𝐼(𝑆) = 𝐾𝑝𝑖 ′
∗ ∗ 2
∗
𝑇1𝑆(𝑇2 𝑆 + 1) 𝑇𝑠𝑆 + 1 𝑇𝑎 ∗ 𝑇𝑚 ∗ 𝑆 + 𝑇𝑚 ∗ 𝑆 + 1 𝑇𝑓 ∗ 𝑆 + 1

𝑘𝑖
𝐺𝐻𝐼(𝑆) =
𝑇𝑖 𝑆 + 1
Tal q u e

𝑇𝑖 = 𝑇𝑓

Do n d e: 𝑇𝑓 = 2 − 5 𝑚𝑠
𝑘𝑠
=1
0+1
𝑘𝑖 = 𝑘𝑠 ∗ 𝑘𝑝𝑖 = 𝑘𝑝𝑖
𝑘𝑝𝑖
𝐺𝐻𝐼(𝑆) =
𝑇𝑖 𝑆 + 1
Rem p la zan d o v a lo r e s, te n em o s :
 1
𝐺𝐻𝐼(𝑆) =
0,50256 𝑆 + 1