Beruflich Dokumente
Kultur Dokumente
Facultad de Ingeniera
Departamento de electricidad
Escuela de Electrnica.
Profesor:
ngel
Fernndez
Alumno:
Rodrigo
Mendoza
Fecha: 14 de julio de
2014
Contenido
Pregunta 1.
a) Supngase un sistema dinmico continuo discreto por la ecuacin
diferencial:
an
dn y ( t )
d n1 y ( t )
dy (t )
+a
++a 1
+ a0 y ( t )=u ( t )
n1
n
n1
dt
dt
dt
2
x ( t )= A x ( t ) + Bu ( t )
y (t )=Cx (t ) + Du ( t )
x 1 ( t )= y ( t )
x n1 ( t )=
x 2 ( t )=
dy ( t )
=x 1 ( t )
dt
d n2 y ( t )
= x n2 ( t )
d t n2
x n ( t )=
x 3 ( t )=
d2 y (t )
= x 2 ( t )
dt 2
d n1 y ( t )
= x n1 ( t )
dt n1
a0
a
a
1
x 1 ( t ) 1 x 2 ( t ) n1 x n ( t )+ u ( t )
an
an
an
an
[ ][
x 1 ( t )
0
x 2 ( t )
0
x 3 ( t ) = 0
a0
x n1 ( t )
an
x n ( t )
1
0
0
a1
an
0
1
0
a2
an
0
0
1
a 3
an
ak
an
][ ] [ ]
x1(t )
0
0
x
(
t
)
0
0
2
x3(t ) + 0 u (t )
1
an1 x ( t )
1
n1
an
an
xn(t )
[]
x1 ( t )
x2 ( t )
y (t )= [1 0 0 0 ] x3 ( t ) + [ 0 ] u ( t )
xn ( t )
b) Supngase un sistema dinmico continuo descrito por la ecuacin
diferencial
x 1 ( t )= y ( t )
x 2 ( t )=
dy ( t )
=x 1 ( t )
dt
x 3 ( t )=
d y (t )
= x 2 ( t )
dt2
x 4 ( t )=
d y (t )
= x 3 ( t )
d t3
x 3 ( t )+ 4 x 3 ( t ) +6 x 2 ( t ) +8 x 1 ( t )=20 u ( t )
x 3 ( t )=4 x 3 ( t ) 6 x2 ( t )8 x 1 ( t )+ 20u ( t )
[ ][
][ ] [ ]
x 1 ( t )
0
1
0 x1 ( t )
0
x 2 ( t ) = 0
0
1 x2 ( t ) + 0 u ( t )
x 3 ( t ) 4 6 8 x 3 ( t ) 20
[ ]
x1 ( t )
y (t )= [ 1 0 0 ] x2 ( t ) + [ 0 ] u ( t )
x3 ( t )
PREGUNTA 2.
Determine las matrices de estado A, B, C y D para la siguiente funcin de
transferencia
Y (s)
160( s 4)
3
U ( s ) s 18s 2 192s 640
[ ][
][ ] [ ]
x 1 ( t )
0
1
0 x1 (t ) 0
x 2 ( t ) = 0
0
1 x2 (t ) + 0 u (t )
x 3 ( t ) 640 192 18 x 3 ( t ) 1
[ ]
x1 ( t )
y (t )= [ 640 160 0 ] x2 ( t ) + [ 0 ] u ( t )
x3 ( t )
Pregunta 3
a)
E o (s)
Ei ( s)
d) Compruebe la funcin de transferencia obtenida en [c) utilizando
e)
[b].
Figura 1.
a) Utilizando las leyes de Kirchhoff, especficamente la ley de voltajes en el
circuito en serie se tiene :
e i ( t )=V R +V L +V C
e i ( t )=
di ( t )
1
i(t) dt+i ( t ) R+ L
c
dt
Derivando tenemos
d e i (t ) Rd i L ( t )
d iL ( t ) 1
=
+L
+ ic ( t )
2
dt
dt
C
dt
Se reescribe como:
2
1 d e i ( t ) R d iL ( t ) d iL ( t ) 1
=
+
+
i (t)
L dt
L dt
CL c
d t2
d i (t )
x 2= L =x 1
dt
x 1=i L ( t )
x 2=
d iL ( t )
dt
u (t)=
d ei(t )
dt
e 0 ( t )=L
d iL ( t )
=L x 2
dt
x 1=x 2
x 2=
1
R
1
x 1 x 2+ u
LC
L
L
Matriz de estado.
()(
0
x 1
= 1
x 2
LC
1
R
L
)( ) ( )
0
x1
+ 1 u (t )
x2
L
y=( 0 L )
x1
+ (0)u (t )
x2
()
c) De:
x 1=x 2
x 2=
1
R
1
x x+ u
LC 1 L 2 L
sx 1( s)=x 2(s)
x 2( s)
(1)
s
> x 1 ( s )=
s x 2 ( s)=
( sLC1 ) x ( s )( RL ) x ( s) +( 1L ) sU ( s )
s x 2 ( s )=
( LC1 ) x ( s )( RL ) s x ( s ) +( 1L ) s U ( s)
s 2 x 2 ( s )=
s 2+
s 2+
Puesto que:
u ( t ) =ei ( t ) U ( s )
e0 ( t )
=
ei ( t )
s
2
s+
e 0 ( t )=L
d iL ( t )
=L x 2
dt
R
1
s+
L
LC
d) Funcin transferencia
Por divisor de tensin.
e 0=
sL e i
R +sL+
1
sC
e0 ( t )
LssC
=
2
(
)
ei t LCs + RCs+ 1
e0 ( t )
=
ei ( t )
s
2
s+
R
1
s+
L
LC
Como se ve coinciden
e)
Pregunta 4
Para el diagrama de bloques de la figura 2, determine la funcin de
transferencia.
x 1=4 u+ 3 x 1 +2 x2
x 2=3 u4 x 14 x 2
y=2 x 1+2 x 2
Matricialmente:
[][
][ ] [ ]
x 1
2 x1 + 4 u
= 3
x 2 4 4 x 2 3
y=[ 2 2 ]
[]
x1
+0 u
x2
Matlab entrega:
num =
0
14
-6
den =
1
-4
y ( s ) 14 s6
=
u ( s ) s 2+ s4
Matricialmente:
10
Y ( s)
=C ( sI A )1 B+ D
U ( s)
( )(
s3
4
(
2 =
s+ 4 )
det ( s3
4
2
s+ 4
)(
adj s3
4
)
2
s+ 4 )
2
adj s3 2 = s+ 4
4
s+ 4
4 s3
Badj ( sI A )=[ 2 2 ] s +4
4
)(
2 = s3 2
s 1 0 3
0 1 4 4
4
s+ 4
det s3
4
2 =( 2 s 2 s2 )
s3
()
T
C ( sI A ) B=( 2 s 2 s2 ) 4 =8 s+6 s6=14 s6
3
Y ( s ) C ( sI A )T B 14 s6
=
= 2
det sI A
U ( s)
s + s4
PREGUNTA 5.
Para el sistema indicado en la figura 3, determine:
a)
b)
c)
d)
11
Figura 3
x1 ( s )
1
=
x 4 ( s ) s +4
s x 1 ( s ) +4 x 1 ( s )=x 4 ( s )
s x 3 ( s ) + x 3 ( s ) =x1 ( s )
x 1 ( s )=4 x 1 ( s ) + x 4 ( s )
x 3 ( s )=x 3 ( s )+ x 1 ( s )
x 4 ( s )=2 x 4 ( s ) + x 2 ( s )
x 2 ( s )=10 U ( S )10 x 3 ( s )
x2 ( s)
10
=
U ( S ) x3 ( s ) s
x4 ( s)
1
=
x2 ( s ) s +2
x3 ( s )
1
=
x 1 ( s ) s+1
s x 4 ( s ) +2 x 4 ( s )=x 2 ( s )
sx 2 ( s )=10 U ( S )10 x 3 ( s )
12
( )(
x 1 ( s ) 4
x 2 ( s )
0
=
x 3 ( s )
1
0
x 4 ( s )
0
0 1
0 10 0
0 1 0
1 0 2
)( ) ( )
x1 ( s)
0
x 2 ( s ) 10
+
u ( s)
0
x3 ( s )
0
x4 ( s )
()
x1 ( s)
x ( s)
y ( s )=( 1 0 0 0 ) 2 +0 U ( s )
x3 ( s)
x4 ( s )
Y ( s)
=C ( sI A )1 B+ D
U ( s)
( )(
0
0 1
s+ 4 0
0 1
0 10 0
0
s
10 0
=
0 1 0
1
0 s+1
0
1 0 2
0 1 0
s+ 2
s+ 4 0
0 1
0
s
10 0
1
0 s+ 1 0
0 1 0
s+2
(
)
(
1 0
1
s 0
0 0
0 0
0
0
1
0
0 4
0
0
1
0
0
1
)(
s +4 0
0 1
s
10 0
adj 0
1
0 s+1
0
0 1 0
s +2
s +4 0
0 1
0
s
10 0
det
1
0 s+1
0
0 1 0
s+ 2
)
)
13
)(
s ( s+ 1 )( s+2 )
s +1
10 s ( s+1 )
s+ 4 0
0 1
0
s
10 0
10 s20 ( s+ 1 )( s+2 ) ( s +4 )
10 ( s+2 ) ( s +4 ) 10
adj
=
1 0 s +1 0
1
s
s ( s+2 )
s ( s+2 ) ( s +4 )
0 1
0 s+2
( s+1 ) ( s+ 4 )
10
10 s40 ( s+1 ) ( s +4 ) ( s )
s+4 0
0 1
s
10 0 =s4 +7 s 3+14 s 2+ 8 s+ 10
det 0
1 0 s+ 1 0
0 1 0
s +2
)( )
s ( s +1 ) ( s+ 2 )
s+1
10 s ( s +1 )
0
10 ( s+ 2 )( s+ 4 ) 10
10
( 1 0 0 0 ) 10 s20 ( s +1 ) ( s+ 2 )( s+ 4 )
0
1
s
s ( s +2 )
s ( s+ 2 )( s+ 4 )
( s +1 )( s+ 4 )
10
10 s40 ( s+ 1 )( s+ 4 ) ( s ) 0
s4 + 7 s 3+ 14 s 2+ 8 s +10
Y ( s)
10 s+ 10
=
U ( s ) s 4 +7 s3 +14 s 2+ 8 s+10
c) del diagrama en bloques queda:
14
10
10
Y ( s)
s ( s+ 2 )( s+ 4 )
s ( s+2 )( s+ 4 )
=
=
10
U ( s)
+1 10+ s ( s+1 ) ( s +2 )( s+ 4 )
s ( s+1 ) ( s +2 ) ( s+ 4 )
s ( s+ 1 )( s+2 ) ( s +4 )
Y ( s)
10 ( s +1 )
10 s+10
=
= 4
3
U ( s ) 10+ s ( s +1 )( s+2 )( s+ 4 ) s +7 s +14 s2 +8 s+10
d) tanto la funcin de transferencia calculada desde las matrices de
estados y la funcin de transferencia calculada del diagrama de bloques
son la misma.
15