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B2
KA
1 (t)
1 (t)
R1
M1
K2
R2
M2
2( t)
2 (t)
No=20:
Integrador
Mtodo de discretizacin
de la planta
En atraso
tustin
x=( x 1 x 2 x 3 x 4 )T =( 1 2 1 2 )T
u=( u1 u2 )T =( 1 2 )T , y=( y 1 y 2 )T = ( 1 2) T
Llevando el sistema a diferenciales de las magnitudes involucradas
tenemos:
1
2
1 = M 1 R1 . 1 ( t ) + B1 . 1 ( t )+ 1 ( t ) . K 1 + ( 12 ) . K A .( 1)
2
De manera similar para el cilindro 2:
1
2 = M 2 R22 . 2 ( t )+ B2 . 2 ( t )+ 2 ( t ) . K 2 + ( 21 ) . K A .(2)
2
x 3= x 1 1= 1
x 4= x2 2 = 2
Adems:
x 3= 1 = 1 y x4= 2= 2
Entonces ordenando las ecuaciones (1) y (2) segn las variables del
espacio de estado tenemos:
Para el cilindro 1:
K
1+
K
(
K .
A ). 1 (t )
+ A 2
1
1
M R2
M R2
2 1 1
2 1 1
1
B . (t )
1 =
1 1
1
1
M R2
M R2
2 1 1 2 1 1
K
2K A
2 B1
2( 1+ K A )
2
x1 +
x 2
x 3+
u 1 ..( )
2
2
2
M 1 R1
M 1 R1
M 1 R1
M 1 R 21
x3 =
K
2 B2
2( 2+ K A )
2
x 2
x 4 +
u2 ..( )
2
2
M 2 R2
M 2 R2
M 2 R 22
2KA
x 4=
x 1
M 2 R 22
Luego:
0
0
K
2 KA
M 1 R21
K
2 B 2
2( 2+ K A ) 0
M 2 R22
M 2 R22
1 0
0
0
0 1
2KA
2( 1+ K A )
2
M 1 R1
M 2 R22
0
x1
0
2 B1
0 x2
2
+ 2
M 1 R1
x3
M 1 R21
x4
0
( )(
x 1
x 2 =
x3
x 4
()
0
0
0
2
M 2 R22
)( )
u1
u2
x1
y1
1 0 0 0 x 2 0 0 u1
=
+
y2
0 1 0 0 x3 0 0 u2
x4
( )(
()
) ( )( )
x ( t )= A x ( t ) + Bu ( t )
y (t )=C x ( t )+ Du(t)
()(
)( ) ( )( )
0
0
1 0
x 1
0
0 1
x 2 = 0
x 3
55 30 8 0
24 44 0 6
x 4
x1
0 0
x 2 + 0 0 u1
x 3 10 0 u2
0 8
x4
x1
y1
1 0 0 0 x 2 0 0 u1
=
+
y2
0 1 0 0 x3 0 0 u2
x4
( )(
()
) ( )( )
)( )
0
0
1 0
0 0
0
0
0 1
0 0
1 0 0 0
A=
B=
C=
D= 0 0
0 0
10 0
0 1 0 0
55 30 8 0
0 8
24 44 0 6
) ( )
10 s^2 + 60 s + 440
------------------------------------s^4 + 14 s^3 + 147 s^2 + 682 s + 1700
#2:
240
------------------------------------s^4 + 14 s^3 + 147 s^2 + 682 s + 1700
240
------------------------------------s^4 + 14 s^3 + 147 s^2 + 682 s + 1700
#2:
8 s^2 + 64 s + 440
------------------------------------s^4 + 14 s^3 + 147 s^2 + 682 s + 1700
()
()
x ( t )= A x ( t ) + Bu ( t )
y (t )=C x ( t )
para el sistema
sobre-amortiguado:
Mp=15% y ts = 5seg
M P =e
1 2
=0.15 =0.516931
4
4
t S= =
=5 n =0.8
n
Resolviendo ambos tenemos:
=0.516931 y n=1.5476
d = n 1 2=1.32479
Luego : s 8 d
2
10.59832 T S 0.592847
TS
( )(
0.6878
0.1521 0.0791
x 1 (k +1)
0.7205 0.0063
x 2 (k +1) = 0.1342
x 3 (k +1) 4.1626 2.0274 0.0549
1.7897 3.7268 0.0839
x 4 ( k +1)
0.0079
0.0890
0.1049
0.1865
)( ) (
)( )
x 1 (k )
y 1 (k )
0.1266 0.0114 0.0059 0.0006 x 2 (k ) 0.0297 0.0024 u1 (k )
=
+
y 2 (k )
0.0101 0.1290 0.0005 0 .0067 x 3 (k ) 0.0024 0.0267 u2 (k )
x 4 (k )
( )(
( )(
)( )
0.6878
0.1521
0.1342
0.7205
G=
4.1626 2.0274
1.7897 3.7268
( 0.1266
0.0101
C=
0.0791
0.0063
0.0549
0.0839
)(
0.0079
0.3956 0.0315
0.0890
0.0315 0.3560
H=
5.2744 0.4195
0.1049
0.4195 4.7462
0.1865
) (
x ( k + 1 )=G x ( k ) + H u ( k )
y ( k )=C x ( k ) + D u ( k )
#1:
#1:
(
()
)( )
Km
y ( k )=C x ( k ) + D u ( k )
( (( )))
y ( k )=( C 0 )
x k
+D u (k )
vk
u ( k )=K I v ( k )Kx ( k )
Del sistema:
( )
u ( k )=( K K I )
x (k )
v (k )
Km=
( )
12
12
(3.8197
0
0
3.8197
( )
^x (k )= x ( k )
v (k )
0.6878
0.1521
0.0791 0.0079 0 0
0.1342
0.7205
0.0063 0.0890 0 0
G
0 = 4.1626 2.0274
0.0549
0.1049 0 0
^=
G
KmC I
1.7897 3.7268 0.0839
0.1865 0 0
0.4835 0.0436 0.0227 0.0023 1 0
0.0385 0.4929 0.0018 0.0255 0 1
0.3956
0.0315
0.0315
0.3560
H
0.4195
^
H=
= 5.2744
KmD
0.4195
4.7462
0.1133 0.0090
0.0090 0.1020
0
0
0=0
H=
I
0
1
0
()
0
0
0
0
0
1
()
(
^
D=D= 0.0297 0.0024
0.0024 0.0267
^
K=( K K I )
Tenemos:
^ x (k )+^
( k ) ...( )
^x ( k + 1 )=G^
H u ( k ) + Hr
^ x (k )+^
y ( k )=C^
D u ( k ) .. ...( )
u ( k )=^
K^x (k )
( ) tenemos:
^ ^
^ )^x ( k )+ Hr
(k )
^x ( k + 1 )=( G
HK
^ ^
^ )^x ( k )
y ( k )=(C
DK
0.1521
0.0791
0.0079
0.1342
0.7205
0.0063
0.0890
-4.1626
2.0274
0.0549
0.1049
1.7897
-3.7268
0.0839
0.1865
-0.4835
-0.0436
-0.0227
-0.0023
1.0000
-0.0385
1.0000
-0.4929
-0.0018
-0.0255
0
0
0
0
0
>> H1
H1 =
0.3956
0.0315
5.2744
0.4195
-0.1133
-0.0090
0.0315
0.3560
0.4195
4.7462
-0.0090
-0.1020
>> C1
C1 =
0.1266
0.0114
0.0059
0.0006
0.0101
0.1290
0.0005
0.0067
0
0
>> R
R =
1
1
0
1
>> K=dlqr(G1,H1,Q1,R)
K =
-0.6471
0.4011
0.0219
0.0137
-0.0179
0.4173
-0.2126
0.0151
0.0773
0.0026
0.013
-0.1675
>> [K P E]=dlqr(G1,H1,Q1,R)
P =
K =
-0.6471
0.4011
0.0219
0.0137
0.4173
-0.2126
0.0151
0.0773
-0.0179
0.0026
0.013
-0.1675
672.0282
-0.6590
-0.6590
48.0581
0.0120
-71.3337
-0.4745
25.4892
-0.0157
1.6330
0.0732
-8.1861
0.0006
-5.0005
-0.0333
48.0581
-0.0157
103.4976
0.0120
1.6330
0.0006
1.1189
0.0022
-0.5154
-71.3337
0.0732
-5.0005
0.0022
17.3053
-0.0693
-0.4745
-8.1861
-0.0333
-0.5154
-0.0693
6.3783
E =
0.0001
0.0213
0.9306
0.9306
0.7796
0.7796
+
+
-
0.0566i
0.0566i
0.1441i
0.1441i
^
K=( 0.6471 0.4011 0.0219 0.01370.01790.013 )
0.41730.2126 0.01510.0773 0.00260.1675
De:
^
K=( K K I )
K=
tenemos:
(0.6471
0.4173
K I = + 0.0179 0.013
0.0026 +0.1675
^ ^
^ )^x ( k )
y ( k )=(C
DK
Asignamos otras matrices que se obtiene de la realimentacin:
^x ( k + 1 )=Gr^x ( k ) + Hrr ( k )
y ( k )=Cr^x ( k ) + Drr ( k )
^ H
^ ^
^^
Cr=C
Gr=G
K Hr= H
D^
K Dr=0
>> Gr=G1-H1*K
Gr =
0.9307
0.0001
0.0060
0.0592
-0.9246
0.0006
0.0805
0.7896
-0.5531
-0.0000
-0.0018
0.9830
0.0001
0.0699
0.0000
0.0070
0.7836
0.0002
0.0610
-0.0004
0.0008
-0.0672
0.0000
0.0933
-2.8859
0.0029
-0.1861
-0.0050
-0.0001
-0.0201
-0.0000
0.9980
-0.5110
-0.0001
-0.0175
0.0001
Hr=
0
0
0
0
1
1
0
0
0
0
0
1
>> Cr=C1-D*K
Cr =
0.1448
0.0000
-0.0000
0.0052
0.0000
0.0005
0.0005
0.1337
0.0000
0.0046
-0.0000
0.0044
Dr=
0
0
0
0
#1:
-0.02016 z^5 + 0.03195 z^4 + 0.04177 z^3 - 0.06234 z^2 - 0.0214 z + 0.0306
-------------------------------------------------------------------------z^6 - 4.02 z^5 + 6.702 z^4 - 5.925 z^3 + 2.927 z^2 - 0.7657 z + 0.08291
-0.0001939 z^5 - 0.003614 z^4 + 0.0005077 z^3 + 0.007455 z^2 - 0.0001018 z 0.003628
#2:
------------------------------------------------------------------------------------z^6 - 4.02 z^5 + 6.702 z^4 - 5.925 z^3 + 2.927 z^2 - 0.7657 z + 0.08291
e ( kT ) =r ( kT )Kmy (kT )
y ( kT )=Cx ( kT ) + Du ( kT )
u ( kT )=D ( y ( kT )Cx ( kT ))
u ( kT )=K Iv ( kT ) Kx ( kT )
v ( kT )=K 1
I (u ( kT ) + Kx ( kT ) )
60
50
40
x(kT)
30
20
10
0
-10
0
5
kT(seg)
10
2.5
1.5
0.5
10
kT(seg)
12
14
16
18
20
12
10
8
e(kT)
6
4
2
0
-2
-4
0
6
kT(seg)
10
12
12
10
8
u(kT)
6
4
2
0
-2
-4
0
6
kT(seg)
10
12
60
50
v(kT)
40
30
20
10
0
0
5
kT(seg)
10