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Parcial 1
Parcial 1
clearvars
syms k J b s
Gc=k; % Controlador
Gp=(1/s)*(1/(J*s + b) ) % Planta
Gp =
Lazo abierto
Gop= Gc*Gp % Lazo abierto
Gop =
ans =
Encontrar J,b,K
wn=pi*3;
wn2= wn^2;
E= 10/12;
k = 10*12;
ro=E*wn;
wd=wn*sqrt(1-E^2);
Polos=(ro+j*wd);
Polos1=(ro-j*wd);
J=k/wn2
J = 1.3509
bc= 2*sqrt(J*k);
b= bc*E
b = 21.2207
%Tiempo pico(tp)
tp = pi/wd
tp = 0.6030
1
c_tp = 1-(exp(-ro*tp)/sqrt(1-E^2))*sin(wd*tp+atan(sqrt(1-E^2)/E))
c_tp = 1.0088
c_inf = 1;
Mp = (c_tp-c_inf)/c_inf
Mp = 0.0088
%Tiempo de subida
betha = atan(wd/ro);
tr = (pi-betha)/wd
tr = 0.4906
ts = 0.5093
%Para un 5% (3T)
ts_5 = 3/ro
ts_5 = 0.3820
%Para un impulso
%Para C(t)max
ctmax=1+Mp
ctmax = 1.0088
%Para Tc(t)max
tctmax=(atan(sqrt(1-E^2)/E))/wd
tctmax = 0.1124
k=120;
J=1.35;
b=21.22;
Gcls=k /(J*s^2 + b*s+k)
Gcls =
2
ans = struct with fields:
RiseTime: 0.2757
SettlingTime: 0.4283
SettlingMin: 0.9044
SettlingMax: 1.0087
Overshoot: 0.8729
Undershoot: 0
Peak: 1.0087
PeakTime: 0.6035
hold on
stem(tr,1);
stem(tp,1.043);
stem(ts,1);
hold off
title('Respuesta escalon unitario')
subplot(212)
%Grafica del sistema ante un impulso unitario
impulse(sys,1.1);grid;
hold on
stem(tctmax,3.7)
stem(ctmax,0)
title('Respuesta impulso unitario')
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