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Control 2
CTR2-EEE-DRAFT
Grupo 1
Enrique Estupiñán E.
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
Marzo - 2023
CONTROLADORES EN ATRASO O EN ADELANTO-FRECUENCIALES
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
GC(z)
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
K c ( z− z 1 )
G c ( z)=
CTR2-EEE-DRAFT
( z− p1 )
z−1
r=
z+1
CTR2-EEE-DRAFT
por lo tanto
m m−1 m−1 m
c m ( z−1) +c m−1 ( z−1) ( z+1)+⋯+c 1 ( z−1)( z+1) +c 0 ( z+1)
D ( z)= n n−1 n−1 n
( z+1)(n−m)
d n ( z−1) +d n−1 ( z−1)
CTR2-EEE-DRAFT
( z+1)+⋯+d 1 ( z−1)( z+1)
CTR2-EEE-DRAFT
+d 0 ( z+1)
ATRASO
CTR2-EEE-DRAFT ADELANTO
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
Ejercicio :
39.45 CTR2-EEE-DRAFT
essv ≤ 0.01
Δ G ≥ 10 dB CTR2-EEE-DRAFT
Δ ϕ ≥ 45 ˚
CTR2-EEE-DRAFT
1+sen(ϕm )
a=
1−sen(ϕm )
5) Corregir la frecuencia de corte y por lo tanto Φm, conociendo la nueva atenuación
de la siguiente formula:
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
M atenuacion=−10log(a)
CTR2 Ingeniería Electrónica Enrique Estupiñán E. Marzo 2023
CONTROLADORES EN ADELANTO
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
7) Verificar
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
0.001916( z+0.9708)
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
G ZAS ( z )=
( z−1)( z−0.915)
T (
1 ( z−1)0.001916( z+0.9708)
KV= ⋅
( z−1)( z−0.915)
CTR2-EEE-DRAFT
) z=1
1 1
= ≤ 0.01
K V 4.44K SS
K SS =22.5 ;
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
0.0431( z+0.9708)
G ZAS ( z)=
( z−1)( z−0.915)
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
1+r
Al usar la transformación CTR2-EEE-DRAFT
Obtenemos el sistema :
1−r CTR2-EEE-DRAFT
0.4995(0.014816 r+1)(1−r)
G (r)=
CTR2-EEE-DRAFT
r (22.529r+1)
CTR2 Ingeniería Electrónica Enrique Estupiñán E. Marzo 2023
CONTROLADORES EN ADELANTO
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
volviendo a calcular :
CTR2-EEE-DRAFT
ϕm =41.34+7.66=49 ˚CTR2-EEE-DRAFT
1+sen(ϕm )
4) Calcular a de la siguiente formula
CTR2-EEE-DRAFT
a= =7.1536
CTR2-EEE-DRAFT
1−sen(ϕm )
1 1 1 1
ωcorte = De donde T = = = =1.6767
√(a)T
CTR2-EEE-DRAFT
√(7.1536)∗0.223 2.6746∗0.223 0.5964 CTR2-EEE-DRAFT
22.5∗(11.9944r+1)
G c (r)=
CTR2-EEE-DRAFT
(1.6767r+1)
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
22.5∗(11.9944r+1)
G c (r )=
(1.6767r+1)
CTR2-EEE-DRAFT
22.5∗(12.9944z−10.9944)
CTR2-EEE-DRAFT
G c ( z)=
(2.6767z−0.6767)
CTR2-EEE-DRAFT
0.001916( z+0.9708)
G ZAS ( z)=
( z−1)( z−0.915)
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
0.0431( z+0.9708)(12.9944z−10.9944)
G LA ( z)=
( z−1)( z−0.915)(2.6767z−0.6767)
'
1 ωc
= CTR2-EEE-DRAFT
aT 10
6) Verificar
CTR2 Ingeniería Electrónica Enrique Estupiñán E. Marzo 2023
CONTROLADORES EN ATRASO
ω=0.0288 ; ϕ=235+6=241
4) Calcular la atenuación para que el nuevo corte se de en la frecuencia esperada:
CTR2-EEE-DRAFT
−23.2/20
a=10 =0.0692
5) Encontrar T de la siguiente formula:
'
1 ωc 10 10
= de donde T = = =5000
aT 10
CTR2-EEE-DRAFT
0.0692∗0.0288 0.002 CTR2-EEE-DRAFT
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
CTR2-EEE-DRAFT
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
22.5∗(346r+1)
G c (r)=
(5000r+1) CTR2-EEE-DRAFT
CTR2-EEE-DRAFT CTR2-EEE-DRAFT
22.5∗(346r+1)
G c (r )= CTR2-EEE-DRAFT
(5000r+1)
CTR2-EEE-DRAFT
22.5∗(347z−345)
G c ( z)=
(5001z−4999) CTR2-EEE-DRAFT
0.001916( z+0.9708)
G ZAS ( z)=
( z−1)( z−0.915)
CTR2-EEE-DRAFT
0.0431( z+0.9708)(347z−345)
G LA ( z)=
( z−1)( z−0.915)(5001z−4999)
CTR2-EEE-DRAFT
¿Dudas? CTR2-EEE-DRAFT
CTR2-EEE-DRAFT CTR2-EEE-DRAFT