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CURSO 2015
EJERCICIOS PROPUESTOS.
Con ZOH:
Gp2 ( s )=
Y ( S)
Gp(S)
z1 ) Z{
=(1}
X ( S)
s
Gp(s )
G(S)
=
S
S
1
0.15 S
e
e' S =
s (s +1)
-> G2(s)=
1
1
N
=
z G 2(z , m)
s (s +1) s (s+a) , Gp2(z)=
'
{}
'
0.15
'
, N =Parte Entera
=
=0.3 N =0, = =0.15,
T
T
0.5
Luego :m=1
Gp(z)
G(z , m)
0.15
=0.7 ;
=
=G2(z,0.7)=
0.5
s
s
Como X(z)=
Y(z,m)=
1
1
1z
1
( 1z 1 )z { 0.2953 z+ 0.0982 }
1
2
1z
0.2953 z + 0.0982 z
= 2
( z 1 )( z0.6065 )
z 1.6065 z+ 0.6065
0.2953+0.0982 z1
11.6065 z 1 +0.6065 z2
num=[0.2953 0.0982 0];
den=[1 -1.6065 0.6065];
num=conv(num,[1 -1]); % Multiplicamos por el numerado del ZOH
r=ones(1,21);
v=[0 20 0 1.8];
axis(v)
k=0:20;
c=filter(num,den,r);
plot(k,c,o)
grid
title(Respuesta Escalon Unitario)
xlabel(k)
ylabel(c(k))
[numd,dend]=ss2tf(Ad,Bd,Cd,Dd);
figure(2)
dstep(numd,dend)
y (t t )
2.Calcular la salida
G (s)
1
s ( s 1)
En el que
R (s )
,y
1
s
T 0.25
( 1es )
G(z)=Z{
1z1 {
1
s ( s+1 )
}=(
1
1
1
1
1z Z { 2 +
}=
(
s+1
s
s
Tz
z
z
+
}
2
T
z1 =
( z1 ) ze
2
T
0.25
=0.75
=1T
1
=( 1z
z1 z (z1)(ze )
}
Tz ( zeT ) + z
G(z,m)= Zm{
1
1z {
( 1es )
s
1
s ( s+1 )
}=(
1
1
1
1
1z Zm { 2 +
}=
(
s s+1 s
mT
mTz
Tz
ze
z
+
+
}=
2
T
(
z1 ( z1 )
z1
ze
z1 2 (zeT )
T
mTz
(
z1
)
(
ze
)
+Tz
( zeT ) z (z1)( zeT )
1z1 {
G ( z ,m )
G ( z , m) 1
R
(
z
)
=
C(z,m)= 1+G ( z )
1+G ( z ) 1z 1 =
2
z1 ( ze )
2
T
z1 z(z 1)(ze )
1
Tz ( z eT ) + z
1z1
1+ ( 1z1 )
mTz ( z1 ) ( zeT ) +Tz ( zeT ) z ( z1 ) ( zeT )
( 1z1 )
z1 z( z 1)( ze )
Tz ( zeT ) + z
2
C(z,m)=
( z1 ) ( zeT ) + ( 1z1)
( 1z1) {mTz ( z1 ) ( zeT ) +Tz ( zeT )z ( z 1 ) ( zeT ) }
C(z,m)=
z1 (z1)( ze )
T ( zeT ) +
2
( z1 ) ( zeT ) + ( z 1 )
1
( 1z 1 ){( mT 1)z ( z 1 ) ( zeT ) +Tz ( zeT ) }
1
1z
C(z,0.75)=
C(z,0.75)=
z1 2(z 1)(z0.3679)
( z0.3679 )+
2
( z1 ) ( z0.3679 ) + ( z1 )
1
( 1z 1 ){0.25 z ( z1 ) ( z0.3679 ) + z ( z0.3679 ) }
1
1z
z1 2(z 1)(z0.3679)
( z0.3679 )+
2
( z1 ) ( z0.3679 ) + ( z1 )
1
( 1z 1 ){0.25 z ( z1 ) ( z0.3679 ) + z ( z0.3679 ) }
1
1z
1
1
3
2
( 1z )0.25 z +1.3420 z 0.4599 z
1
C(z,0.75)= 1z
=
( z22 z +1 ) ( z0.3679 ) + ( z1 ) ( 0.3679 z +0.2642 )
C ( z ,0.75 )=
g (t ) 3 e 2t
3.Dada la seal
, demostrar que su funcin transformada en Z
correspondiente a un periodo T se puede expresar como suma de funciones
transformadas en Z correspondientes a periodos NT:
a) Para N=2
b) Para N=3
1
Solucin: Sea Entrada un Escaln Unitario, entonces: R(z)= 1z1
Sea
Sea
z n=e
Ts/n
z =zn R ( z )=R (z n )
1
3
,G ( s )=
,
Sea R(s)= s
s+2 T=1, n=3
Gp ( z )=
3z
ze2 T
Luego tenemos:
2
3 zn
1
3
z
=
z
z
=
=
n
n
n
1
2
T
/
n
1
2T / n
C(
R(
) G(
1z n 1e
zn
(z n1)(z n e
)
Reemplazando:
2
3 z3
3 z3
z
=
=
3
2
C(
( z 31)(z3 0.5134) z 3 1.5134 z 3 +0.5134
d zn
1
1
C(
z
)
n
n
1
Tambin: C(z)= 2 j
1z n z z n
de todos los polos de C(
n 1
el factor ( 1z n z
z n /z n
3 z n2
d zn
1
1
C(z)= 2 j (z 21.5134 z + 0.5134) (1z n z1 ) z
n
n
n
n
3 zn
1
1
dz
3(0.5134)
6.1652 z
3.1652 z
3 z 2+ 2.3310 z
=
( z 1) ( z0.1353 ) z 21.1353 z+ 0.1353
3+2.3310 z 1
C(z) 11.1353 z 1 +0.1353 z2
C(
z 2 =
3 z2
( z 21 ) z2 e
2 T
2
3 z 22
=
( z21 ) ( z2 eT )
-> C(z)=
3 z2
1
1
dz
3(0.3679)
3
1
1
4.7461 z
1.7461 z
3 z 2 +1.1035 z
+
=
=
(10.3679) (1z1 ) (0.36791) (10.3679 2 z1) (z1) ( z0.1354 ) z 21.1354 z +0.1354
Para el caso n=1, T=1 se tiene:
1
3
3 z2
3 z2
=
C(z)= 1z1 1e2 T z1 = (z1)(ze2T ) z 21.1353 z+ 0.1353
T
, K=0.7, 0 m 1 ; R(z)=
T
1
1z1
Donde:
G(z,m)= Zmod{
K (9 5+ 25) K (9 5+27)
K
8
4
+
s
3 5
3+ 5
s +(
)
s +( )
2
2
K 5 .6406 K 11.7812 K
+
s s +0.3820 s +2.6180
}= Zmod{
G(z,m)= z1 +
=
ze0.3820 T
ze2.6180T
C (z , m)
G(z ,m)
=
R( z )
1+G( z , m)
p( z)
q ( z)
M(z)=(
0.3820T
Kz( ze
)( ze
0.3820 m T
2.6180T
2.6180T
2.
)+5.6406 K z e
( z1)( ze
)11. 7812 K z e
0.3820T
2.6180 T
( z1)( ze
)( z e
)
0.3820 T
2.6180T
0.3820T
2.6180 T
0.3820 m T
( z 1)(ze
)( ze
)+ Kz ( ze
)( ze
)+5.6406 K z e
( z1)(ze2.6180 T )
0.3820T
( z1)( ze
)( z e
2.6180 T
)
M(z)=
Kz ( ze0.3820T )(z e2.6180 T )+5.6406 K z e0.3820m T (z1)(z e2.6180 T )11. 7812 K z e2.
( z1)(ze0.3820T )( ze2.6180 T )+ Kz( ze0.3820 T )( ze2.6180T )+5.6406 K z e0.3820m T ( z1)( z e2.6180T )
De la funcin de transferencia M(z) se obtiene la ecuacin caracterstica:
q(z)=
q(z)=(z-1)(
z 2(e0.3820 T +e2.6180T ) z+ e3 T
5.6406 K e0.3820 m T
z 2(e0.3820 T +e2.6180T ) z+ e3 T
)+Kz(
z(
)+
11. 7812 K e2.6180 m T z ( z 2(1+e0.3820T )z +e0.3820T )=z 3(e0.3820T + e2.6180 T ) z 2 +e3 T zz 2+(e0.3820T + e
+
0.3820 m T 3
5.6406 K e
0.3820 m T
z 5.6406 K e
2.6180T
(1+e
2.6180T 0.3820m T
) z +5.6406 K e
2.6180 m
z11. 7812 K e
0.3820 m T
q(z)=(1+K+
5.6406 K e
2.6180 m T
11. 7812 K e
0.3820 T
2.6180T
z +(1( K + 1)( e
+e
0.3820m T
)5.6406 K e
2.6180T
(1+e
2.6180 m T
)+11. 7812 K e
3 T
( K +1)e
0.3820T
+(e
2.6180 T
+e
2.6180T 0.3820m T
)+5.6406 K e
0.3820 T2.6180 m T
11. 7812 K e
3 . 9484 e
)(
1+ W
1W
8. 2468 e
0.0498
Routh-Hurwitz tenemos:
2.6180 m T
1+ W
para aplicar criterio
1W
z=
0.3820m T
q(W)= (1.7 +
3 T
)z + (
1+W
1W
1+W
1W
- ( 2.2843
+ ( 0.8401+0.2880
e0.3820m T
5.6284
0.3820T
(1+e
)) z
0.3820m T
q(W)= (1.7 +
3 .9484 e
2.6180 m T
8. 2468 e
)(
1+W
1+W 2 (1W )+
3(2.2843+4.2365 e0.3820 mT 13.8753 e2.6180mT )
2
1W
2.6180 m T
5.6284 e
)(1+W )
0.3820m T
(0.8401+0.2880 e
q(W)= (1.7 +
0.0498
1W
3
)(
0.0498
W 3+ 3W 23 W +1
q(W)=
(1.7+3 .9484 e0.3820m T 8. 2468 e2.6180m T + 2.2843+ 4.2365 e0.3820m T 13.8753 e2.6180 m T +0.8401+0.2880 e
(3(1.7+ 3.9484 e0.3820 m T 8.2468 e2.6180m T )+(2.2843+4.2365 e0.3820 mT 13.8753 e2.6180m T )(0.8401+0.
0.3820 m T
(3(1.7+ 3.9484 e
0.3820m T
(1.7 +
3 .9484 e
2.6180m T
8.2468 e
0.3820 m T
)(2.2843+ 4.2365 e
2.6180 m T
13.8753 e
)( 0.8401+ 0
2.6180 m T
8. 2468 e
)-
(1.7
0.04982.2843+0.8401+(13.8753 5.62848.2468)e
+(3 .94844.2365+ 0.2880) e0.3820m T
q(W)=
0.3820m T
(4 .8244 +8.4729 e
2.6180 m T
27 . 7505 e
2.6180 m T
0.3820 m T
+15 . 7937 e
)W +
2.6180 mT
(2 .12505 .2367 e
0.0001 e0.3820m T
q(W)=ao
W 3 +
a1
a0
0.3820 m T
+7 . 3207 e
)W
+(
0. 2060+0 . 0001e2.6180m T
W 2 +a 2 W
+ a3=
a2
a1
a3
a3
Es decir: a0>0,
a1>0,
Luego:
1.
< 0.6909
2.
< 0.8312
3.
>0
0.0001e0.3820m T >0
< 3. 0885
4.
(6.394832.9873e
(
2.6180 m T
+15.7937 e
0.2060+0.0001 e2.6180m T
0.3820m T
0.0001e0.3820m T
=0.6909
2.6180 m T
)(2.12505.2367 e
+7.3207 e
0.3820m T
)>(4.8244
Calcular la salida
1
s ( s 1)
G (s)
En el que
R (s )
1
s
,y
T 0.25
sT/ 3
sT /2
]{ Z[ G(s)
sT /2
esT /3
} +
] + Z[ G(s)
esT /3
e sT /2
sT /2
] e
+
2 sT / 3
Z[ R( s) e
}
]{ Z[ G(s)
e2 sT /3
] + Z[ G(s)
e2 sT /3
e sT /2
sT /2
] e