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Control 2
CTR2-EEE-DRAFT
Grupo 1
Enrique Estupiñán E.
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
Marzo - 2023
Realización de Controladores
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
−m −m−1
U ( z) b m z +b m−1 z
+⋯+b1 z+b0
= −n
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
−n −n+1 −m −m+1
[a n z +a n−1 z +⋯+a 1 z+a0 ]U ( z)=[b m z +b m−1 z
CTR2-EEE-DRAFT +⋯+b1 z+b 0 ] E ( z)
CTR2-EEE-DRAFT
n m CTR2-EEE-DRAFT
m n
1 1
u(k )=
a0
∑ b j e(k − j)−
CTR2-EEE-DRAFT
∑
a 0 i=1
ai u(k −i )
j=0
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
-a n
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
−m −m−1
U ( z) b m z +b m−1 z +⋯+b1 z+b0 U ( z) H ( z ) U (z ) H ( z)
= −n −n−1
= =
E ( z) a n z +a n−1 z +⋯+a 1 z+a0 E ( z) H ( z ) H ( z) E ( z)
CTR2-EEE-DRAFT
−m −m−1
U ( z) b m z +b m−1 z +⋯+b1 z+b0 1
= ⋅ −n −n−1
E ( z)CTR2-EEE-DRAFT
1 an z +a n−1 z +⋯+a1 z+a0 CTR2-EEE-DRAFT
−m −m−1
U ( z) b m z +b m−1 z +⋯+b1 z+b0
CTR2-EEE-DRAFT
1 CTR2-EEE-DRAFT
= ⋅ −n
E ( z) 1 an z +an−1 z−n−1+⋯+a1 z+a0
m
u(k )=∑ b j h(k − j)
CTR2-EEE-DRAFT
j=0
n
a0 h(k )+∑ a i h(k −i )=e(k )
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
i=1
−m −m−1
U ( z) b m z +b m−1 z +⋯+b1 z+b0 1
= ⋅ −n
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
n
1
CTR2-EEE-DRAFT
1
h(k )= e(k )−
a0 a0
∑ ai h(k −i)
CTR2-EEE-DRAFT
i=1
CTR2-EEE-DRAFT
e(k) CTR2-EEE-DRAFT
h(k-n)
CTR2-EEE-DRAFT
h(k)
a n
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
1
G (z )= CTR2-EEE-DRAFT
( z−1)( z−0.5)
1
G LC (z )= 2
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
( z −1.5z+0.5)+ K
2
Δ ( z)=z −1.5z+(0.5+K )=0
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
1
G LC (z )= 2
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
( z −1.5z+0.5)+ K
CTR2-EEE-DRAFT
1) ωd =5 rad / s
2) τ=0.5s
CTR2-EEE-DRAFT
1 ) ω d =5 rad / s
ω d T =5⋅0.1 rad≡28.65˚
CTR2-EEE-DRAFT
2 2 −ζ ω n T −2 ζ ω n T
z −1.5z+K +0.5=z −2cos(ω d T )e
CTR2-EEE-DRAFT z+e
−ζ ωn T
1.5=2cos(ω d T )e
−2 ζ ω n T
K +0.5=e CTR2-EEE-DRAFT
ζ ωn=
1
T
ln
(1.5
CTR2-EEE-DRAFT
=
1
2cos(ω d T ) 0.1
ln
1.5
) ∣(
2cos(0.5)
=1.571
)∣ CTR2-EEE-DRAFT
2 2 2
ωd =ω n (1−ζ )
CTR2-EEE-DRAFT
2
ω d 2
2
=(1−ζ )
ω n
2 2
ζ ωd
2
2 ωd (1−ζ 2 )
2
⋅ 2
=(1−ζ ) de donde 2
= 2
ζ ωn
CTR2-EEE-DRAFT (ζ ωn ) ζ
CTR2-EEE-DRAFT
2 2
(ζ ω n) (1.571) ζ
−2 ζ ωCTR2-EEE-DRAFT
nT −2∗1.571∗0.1
K =e −0.5=e −0.5=0.23
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
−ζ ω n T −0.2
e =e =0.82
CTR2-EEE-DRAFT −ζ ωn T
1.5=2cos(ω d T )e
( )=4.127 rad / s
ζ ωn T
1 −1 1.5 e
ωd = ⋅cos
T 2
2 2 CTR2-EEE-DRAFT
ω d (1−ζ ) 4.1272
2
= 2 = 2 entonces ζ=0.436 y ωn=4.586 rad / 2 CTR2-EEE-DRAFT y K =0.17
(ζ ω n) ζ 2
CTR2 Ingeniería Electrónica Enrique Estupiñán E. Marzo 2023
3) ζ=0.7 rad / s
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
¿?
ωd =ω n √(1−ζ 2) CTR2-EEE-DRAFT
ωd =ω n √(1−0.49)=ω n 0.714
CTR2-EEE-DRAFT
−0.07 ωn
1.5=2cos(0.0714 ωn )e CTR2-EEE-DRAFT
¿Dudas? CTR2-EEE-DRAFT
CTR2-EEE-DRAFT CTR2-EEE-DRAFT