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R
-
1
Kc 1 +
I s
1
0.25s + 1
1
4s 2 + 16s + 1
1
0.1s + 1
[5 pts]
Root Locus
SOLUCIN
10
( s + 10 )( s + 4 )( s + 3.936 )( s + 0.0635)
6
4
Imaginary Axis
FTLA =
[5 pts]
-2
-6
-8
-12
-10
-8
-6
-4
-2
Real Axis
Bode Diagram
10
Magnitude (abs)
-2
10
-4
10
-6
10
-8
10
0
-45
Phase (deg)
0.5e0.1s
G ( s) =
(2s +1)(0.5s 2 + 0.1s + 2)
-4
-90
-135
-180
-225
SOLUCIN
Arreglando la FTLA:
0.25e0.1s
G ( s) =
(2s +1)(0.25s 2 + 0.05s +1)
-2
10
-1
10
10
Frequency (rad/sec)
10
10
180
0.05
0.1
2
1 0.25
= a tan(2 ) + a tan
21/11/2008
1+
2
1
2
(1 0.25 ) + ( 0.05 )
2 2
e s
P ( s) =
12 s 3 + 11s 2 + 11s + 6
SOLUCIN
FTLA =
Diagrama de Bode
e s
e s
=
12s 3 + 11s 2 + 11s + 6 ( 3s + 2 ) ( 4 s 2 + s + 3)
Relacion de Amplitudes
0.25
AR =
10
X: 0.8478
Y: 0.3607
10
-1
10
-2
10 -2
10
-1
10
10
10
10
100
0
-100
-200
-300 -2
10
-1
10
10
Frecuencia, rad/min
10
10
0.1666e s
(1.5s + 1) (1.33s 2 + 0.33s + 1)
AR =
0.1666
1 + 1.52 2
(1 1.33 ) + ( 0.33 )
2 2
180
0.33
1 1.33
= a tan(1.5 ) + a tan
R(s)
G c 1 0 e 0 . 5 s Q(s)
( s + 1)( s + 5 )
SOLUCIN
Diagrama de Bode
Relacion de Amplitudes
10e0.5 s
2e0.5 s
FTLA =
=
( s + 1)( s + 5) ( s + 1) ( 0.2 s + 1)
2
AR =
2
1 + 1 + 0.22 2
= a tan( ) + a tan(0.2 ) 0.5 180 /
Para = -180.0000 u = 2.8044, AR = 0.5858
Ku =1.7068 ; Pu = 2.2405
Parametros PID: Kc, Ti, Td
Kc = 1.024 I = 1.1202 D = 0.2800
El Diagrama de Bode de cada problema vale
1 punto cada uno.
[Duracin de la Prueba: 110 minutos. Sin
libros ni copias de ningn tipo.]
10
10
-1
10
-2
10 -2
10
-1
10
10
10
10
100
0
-100
-200
-300 -2
10
-1
10
10
Frecuencia, rad/min
10
10
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