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-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 0.2
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
System: g1
Gain: 20.4
Pole: -0.624 + 0.755i
Damping: 0.637
Overshoot (%): 7.44
Frequency (rad/s): 0.979
Root Locus
Real Axis (seconds
-1
)
I m
a
g
i n
a
r
y
A
x
i s
(
s
e
c
o
n
d
s
- 1
)
Respuesta en el tiempo, que cumple con las condiciones de diseo.
Discretizar el controlador:
% Controlador PI discreto
num=[0.04];
den=[1 1.2479 0.1436];
kp=3.192;
ti=3.8;
gc2=tf([kp (kp/ti)],[1 0])
g1=tf(num,den)
g2=feedback((gc2*g1),1)
figure(1)
step(g2)
ts=0.5;
gcd=c2d(gc2,ts,'tustin') %Transformacin BiLineal
gpd=c2d(g1,ts,'tustin')
g3=feedback((gcd*gpd),1)
figure(2)
step(g3)
Controlador
Transfer function:
3.402 z - 2.982
---------------
z - 1
Sampling time (seconds): 0.5
Planta
Transfer function:
0.001893 z^2 + 0.003785 z + 0.001893
------------------------------------
z^2 - 1.5 z + 0.5277
Sampling time (seconds): 0.5
Step Response
Time (seconds)
A
m
p
l i t
u
d
e
0 5 10 15 20 25 30 35 40
0
0.2
0.4
0.6
0.8
1
1.2
1.4
System: g3
Final Value: 1
System: g3
Settling Time (seconds): 29.7
System: g3
Peak amplitude: 1.1
Overshoot (%): 10.1
At time (seconds): 18