Beruflich Dokumente
Kultur Dokumente
De San Marcos
FUNDADA EN 1551
(UNIVERSIDAD DEL PER, DECANA DE AMRICA)
E.A.P
CURSO
ING. ELCTRICA
:
SISTEMAS DE CONTROL II
PROFESOR :
TEMA
LABORATORIO N 5
ALUMNO
COD. DE MATRCULA:
12190194
Donde
Kp,
Ti y
Td son
parmetros
ajustables
del
sistema
APLICACIN:
Del siguiente Sistema:
Gp ( s ) =
1080
s ( s+6 )(s+ 18)
Programacin en Matlab
>>
>>
>>
>>
s=tf('s');
num=[1080];
den=[conv([1 0],conv([1 6],[1 18]))];
Gp=tf(num,den)
Transfer function:
1080
-------------------s^3 + 24 s^2 + 108 s
% PLANTA REALIMENTADA
>> Gp1=feedback(Gp,1)
Transfer function:
1080
--------------------------s^3 + 24 s^2 + 108 s + 1080
% CONTROLADOR 1
>> num1=[1 1];
>> den1=[1];
>> Gc1=tf(num1,den1)
Transfer function:
s+1
% PLANTA TOTAL 1
>> G1=Gc1*Gp
Transfer function:
1080 s + 1080
-------------------s^3 + 24 s^2 + 108 s
% PLANTA TOTAL 1 REALIMENTADA
>> Gpc1=feedback(G1,1)
Transfer function:
1080 s + 1080
---------------------------s^3 + 24 s^2 + 1188 s + 1080
% CONTROLADOR 2
>> num2=[0.1 1];
>> den2=[1];
>> Gc2=tf(num2,den2)
Transfer function:
0.1 s + 1
% PLANTA TOTAL 2
>> G2=Gc2*Gp
Transfer function:
108 s + 1080
-------------------s^3 + 24 s^2 + 108 s
% PLANTA TOTAL 2 REALIMENTADA
>> Gpc2=feedback(G2,1)
Transfer function:
108 s + 1080
--------------------------s^3 + 24 s^2 + 216 s + 1080
% CONTROLADOR 3
>> num3=[0.05 1];
>> den3=[1];
>> Gc3=tf(num3,den3)
Transfer function:
0.05 s + 1
% PLANTA TOTAL 3
>> G3=Gc3*Gp
Transfer function:
54 s + 1080
-------------------s^3 + 24 s^2 + 108 s
% PLANTA TOTAL 3 REALIMENTADA
>> Gpc3=feedback(G3,1)
Transfer function:
54 s + 1080
--------------------------s^3 + 24 s^2 + 162 s + 1080
>> figure(1)
>> step(Gp1)
>> hold on
>> step(Gpc1)
>> hold on
>> step(Gpc2)
>> hold on
>> step(Gpc3)
>> legend('Sistema sin compensar','Sist. comp. a=1','Sist. comp.
a=0.1','Sist. comp. a=0.05')
RESULTADOS GRAFICOS
Respuestas del Sistema
1.6
1.4
1.2
Amplitude
1
0.8
0.6
0.4
0.2
0
0.5
1.5
2
Time (sec)
2.5
3.5
100
Magnitude (dB)
50
-50
-100
-150
-45
Sistema sin compensar
Sist. comp. a=1
Sist. comp. a=0.1
Phase (deg)
-90
-135
-180
-225
-270
-2
10
-1
10
10
10
Frequency (rad/sec)
10
10