Ley de Hooke

z
⃗
F res =−K ⃗x

Fres (i) = - K*x (i)

Evacuadores de Energía

Roce Seco (Ley de Coulomb)

F roce=−μ|⃗
⃗ N| ⃗v /¿ ⃗v ∨¿
K
Froce(i) = - µ*N v/|v| (No lineal, Opera como relay) r⃗
B M
Roce Viscoso (Newton) x
⃗
F roce=−B ⃗v x0

Froce = - B v (lineal)

Froce(i) = -B*v (i)

Roce Turbulento

Froce = - B1 * |v| * v (No es lineal)

Froce (i) = - B1 * v2 (i) (No es lineal)

Ecuación de la Dinámica de cuerpos:

r(t) + Fres + Froce = M*a(t)

Reemplazando:

r(t) – Kx(t) – Bv(t) = M*a(t)

r(t)(i) – Kx(t)(i) – Bv(t)(i) = M*a(t)(i)

r(t) – Kx(t)– Bv(t) = M*a(t)

r(t) – Kx(t)– Bdx(t)/dt = M*d2x(t)/dt2

r(t) = Kx(t) + Bdx(t)/dt + M*d2x(t)/dt2

Laplace:

R(s) = KX(s) + BsX(s) – Bx(0) + Ms2X(s) - Msx(0) – Mv(0)

Condiciones iniciales:

R(s) = 0 v(0) = 0 x(0) = x0

K X(s) + s B X(s) + s2 M X(s) = B x(0) + s M x(0)

X(s) = x(0) (B + s M)/(M s2 + B s + K)

Dividido entre M:

X(s) = x(0) (s + B/M)/(s2 + B/M s + K/M)

Ejemplo:

K/M = 2

B/M = 3

X(s) = x(0) (s + 3)/(s2 + 3 s + 2)

Raíces de s2 + 3s + 2

s1, s2 = (-b ± (b2 – 4ac)½ )/2a ; con a = 1; b = 3 ; c = 2

s1, s2 = (-3 ± (9 – 8)½ )/2

s1 = -1 ; s2 = -2

X(s) = x(0)(s+3)/((s+1)(s+2))
Teoría de los Residuos:

Sea F(s) = p(s)/q(s) En todo sistema Real es de esperar que el polinomio p(s) sea de menor grado que q(s)

Donde: q(s) = ∏i(s+pi) = (s+p1)(s+p2)(s+p3)…….(s+pi)……(s+pn)

Entonces: F(s) = Ski/(s+pi) = k1/(s+p1) + k2/(s+p2) + … + ki/(s+pi) + ….. + kn/(s+pn)

Con ki = lim (s+pi)*p(s)/q(s)

s -pi
En nuestro ejemplo:

k1 = lim (s+1)*x(0)(s+3)/(s+1)(s+2)
s -1
k1 = 2*x(0)

Con k2 = lim (s+2)*x(0)(s+3)/(s+1)(s+2)

s -2
k2 = -1*x(0)

X(s) = 2x(0)/(s+1) - x(0)/(s+2)

Anti transformada de Laplace:

x(t) = 2x(0)*e-t – x(0) e-2t

x(0) = 5 (Ejemplo)

x(t) = 10*e-t – 5 e-2t

Teorema del Valor Final

lim x(t) = lim s X(s)

t∞ s0

X(s) = x(0)(s+3)/((s+1)(s+2))  sX(s) = x(0)s(s+3)/((s+1)(s+2))

lim s X(s) = x(0) *0 *(0+3)/((0+1)(0+2)) = x(0)* 0*3/(1*2) = 0

s0

Y(s) = F(s) * R(s)  lim y(t) = lim sY(s) = lim sF(s)R(s)

t∞ s 0 s0

X(s) = x(0) (s + B/M)/(s2 + B/M s + K/M)

s2 + B/M s + K/M = (s2 + 2xwns + wn2)

wn= (K/M)1/2

2xwn = B/M  x = B/2M *1/(K/M)1/2

x = B/(2*(KM)1/2)  x=0 Oscilación permanente

0 < x < 1 Subamortiguado

x=1 Amortiguación Crítica

x>1 Sobreamortiguado

x = Relación de Amortiguamiento s1 wnSenθ

wn = Frecuencia natural de oscilación wn (1 - x2)1/2 wn
s1 - s2 S1 + 2xwn = wnejQ
θ
X(s) = x(0) (s + B/M)/(s2 + B/M s + K/M) wnCosθ 2xwn
xwn
X(s) = x(0) (s + 2xwn)/(s2 + 2xwns + wn2)

s1, s2 = - 2xwn/2 ± ((2xwn)2-4 wn2)1/2/2 -(1 - x2)1/2 wn

s2
s1, s2 = - xwn ± (4x2wn2 -4 wn2)1/2/2

s1, s2 = - xwn ± (x2 - 1)1/2* wn xwn +j(1-x2)0.5wn =M e^(jθ )

s1, s2 = - xwn ± j(1 - x2)1/2* wn M =((xwn)2 + ((1-x2)0.5wn)2)0.5
x = Cosθ M2 = x2wn2 + (1-x2) wn2 = x2wn2 + wn2 - x2wn2
X(s) = x(0) (s + 2xwn)/(s - s1) (s - s2) M = wn
Teorema de los Residuos θ = Cos-1(xwn/wn) = Cos-1(x)
k1 = lim (s-s1)*x(0)(s+2xwn)/(s-s1)(s-s2)

s s1

k1 = x(0)(s1+2xwn)/(s1-s2)

s1-s2 = 2 j (1 - x2)1/2 wn

k1 = x(0)(wnejQ)/ 2 (1 - x2)1/2 wnejp/2

k1 = x(0) ej(Q-p/2)(wn)/ (2 (1 - x2)1/2 wn)

k1 = x(0) ej(Q-p/2)/2 (1 - x2)1/2 NOTE: k2 = k1*

k2 = x(0) ej(p/2 -Q)/2 (1 - x2)1/2

b=(1 - x2)1/2

k1 = x(0) ej(Q-p/2)/2 b

k2 = x(0) ej(p/2 -Q)/2b

Por el teorema de los residuos:

X(s) = k1/(s-s1) + k2/(s-s2)

La Anti transformada de Laplace:

x(t) = k1es1t + k2es2t

x(t) = (x(0)/ 2b) [ej(Q-p/2)e- xwnt e +j(1 - x2)^(1/2)* wn)t+ ej(p/2 -Q)e- xwnt e- j(1 - x2)^(1/2)* wnt

x(t) = (x(0)/ 2b) e- xwnt [ej(Q-p/2) e j(1 - x2)^(1/2)* wnt+ ej(p/2 -Q)e- j(1 - x2)^(1/2)* wnt]

Cos x = (ejx+e-jx)/2

x(t) = (x(0)/ b) e- xwnt [ej(Q-p/2) e jbwnt+ ej(p/2 -Q)e- jbwnt]/2

u= (Q-p/2) +bwnt

-u = (p/2-Q) -bwnt = -[(Q-p/2) -bwnt]

[ej(Q-p/2) e jbwnt+ e-j(Q-p/2)e- jbwnt]/2 = [eju+ e-ju]/2

[eju+ e-ju]/2 = Cos u = Cos (θ -p/2 +bwnt) = Cos (bwnt + θ -p/2)

Cos (a – p/2) = Sen a

x(t) = (x(0)/ b) e- xwnt * Cos[ (θ -p/2) +bwnt ]

Cos (x – 90) = Sen x

x(t) = (x(0)/ b) e- xwnt * Sen[ bwnt + θ ]

b=(1 - x2)1/2

θ=(Cos-1x)

Ejemplo con x(0) =5

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B r
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