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12 B IMC Con Retardos
12 B IMC Con Retardos
doc 1
ˆ − sTˆd
Ke
Gˆ ( s ) =
ˆs + 1
ˆ Kˆ
Gˆ ( s ) =
(Tˆ + ˆ ) s + 1
d
1 1
F= = 2 2
( s + 1) s + 2 s + 1
2
Q = FGˆ inv
C=
Q
=
FGˆ inv
aprox
=
( )
ˆTˆd s 2 + 2ˆ + Tˆd s + 2
1 − QGˆ aprox 1 − FGˆ aprox Gˆ
inv aprox ( (
s 2 Kˆ 2 s + 4 Kˆ + KT
ˆˆ
d ))
K dp =
( Tˆ + 4Tˆ − 4 )(Tˆ ˆ + 4Tˆ − 2 )
d
2
d
2
d d
2
Kˆ ( 4 + Tˆ )
3
d
Tˆd
=
2
e u + y
r +
Q G
− +
+
−
Ĝ
Ĝ
Q = FGˆ inv
aprox
e u + y
r +
Q = FGˆ inv
lin
G
− +
+
−
Gˆ no lineal
+
−
+
Ĝ −
Ĝ * Ĝ
a
+
+
Ĝ *
u + y
e
r +
C = PID G
− + + +
+
Ĝ *
−
Ĝ
P. Smith o DTCU
do
u + y
e
r +
C = PID G
− + − +
+
Ĝ *
−
Ĝ
P. Smith o DTCU
ˆ − sTˆd
Ke
Gˆ ( s ) =
ˆs + 1
Kˆ
Gˆ * ( s ) =
ˆs + 1
Y (s) C ( s)G ( s)
=
R(s) 1 + C ( s ) G ( s ) − Gˆ ( s ) + C ( s ) Gˆ * ( s )
ˆ − sTˆd
Ke
Gˆ ( s ) =
ˆs + 1
Kˆ
Gˆ * ( s ) =
ˆs + 1
K ip
C = CPI = K + p
p
s
u + y
e
r + ˆ 1
C= + G
− Kˆ Kˆ s +
+ +
+ Kˆ
Gˆ * =
ˆs + 1
−
ˆ Ke − sTd
G=
s +1
P. Smith o DTCU
+
−
Ĝ * Ĝ
ˆ − sTˆd
Ke
Gˆ ( s ) =
ˆs + 1
Kˆ
Gˆ * ( s ) =
ˆs + 1
1
F=
2 s 2 + 2 c s + 1
Gˆ inv
aprox
(s) =
(
ˆTˆd s 2 + 2ˆ + Tˆd s + 2)
2 Kˆ
Q = FGˆ inv
aprox
=
( )
ˆTˆd s 2 + 2ˆ + Tˆd s + 2
=
C
2 Kˆ 2 s 2 + 4 Kˆ s + 2 Kˆ 1 + CGˆ *
2 + Tˆdˆ
c =
4 ˆ
C (s)
C ( s)G ( s)
T (s) =
1+ C ( s)G ( s)
T (s) 1
C (s) =
1− T (s) G (s)
1
T (s) = e − sL
s + 1
= 0,5 5
s +1 U (s)
C (s) = =
K ( s + 1 − e − sL ) E ( s )
s=0
1 1
U (s) = +
K s
1 E ( s ) −
K
s +1
(1 − e − sL
) U ( s )
L=0
Pr ed =
K
s +1
(1 − e − sL )U ( s )
1 1
U (s) = 1 +
K s E ( s ) −
1
s
(1 − e − sL )U ( s )
e u
Kp
+ +
a
1
1
s +1
Ki
1 − sL
e
s +1
1 − Ls
T (s) =
s + 1
1 U (s)
C (s) = 1 + =
K ( + L ) s E ( s )
1 − Ls e − sL
T (s) = =
s + 1 s + 1
K 1 Ls L
4 1 1
C s G s
s 1 K L s
4
L s 1
1 Ls 4
s 1 s
L s L L s2 1
T 4 4
s 1 s 1 Ls L s 1
4