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m(t):Velocidad Motor de CC
Jm: Momento de Inercia Rotorica
Jc: Momento de Inercia rotor de contrapesos
m3: Masa Rotorica de contrapesos
r: Radio de rotor de contrapesos
Kf: Constante de cupla motor
Tm(t): Cupla traccin motor
T m ( t )=K fi f ( t )i a (t )
x (t )
Finalmente queda
PV
T (t ) m1 x (t ) B x(t ) 0 0
x (t )
m(t ) (t )
1 Grad _ lib Z (t )
2 Grad _ lib (t )
3 Grad _ lib m(t )
T1 (t ) m1 g m1 Z (t ) 0
Z Z
T2 (t ) m2 g m2 Z (t ) 0
Entonces queda:
T1 (t ) m1 g m1 Z (t ) 1
T2 (t ) m2 g m 2 Z (t ) 2
Mex
d (ctd _ de _ Mov)
Z
dt
R
Z (t )
p ( ) Z (t ) R * p
R
T1 (t ) * R T2 (t ) * R TJC (t ) TBC (t ) T (t ) 0
Se sabe que:
TJC (t ) J c * p (t )
; reemplaza en la ecuacion por los valores de proporcionalidad
TBC (t ) Bc * p (t )
;
T1 (t ) m1 g m1 Z (t )
T2 (t ) m2 g m2 Z (t )
TJC (t ) m3 * R * p (t )
2
T1 (t ) m1 g m1 * R * p (t )
paso que no hay que hacer porque aca pone t1 en funcion de
el desplaz
angular, cosa no necesaria en mi caso
T2 (t ) m2 g m2 * R * p (t )
m1 g m1 * R * p (t ) * R m2 g m2 * R * p (t ) * R J c * p (t ) Bc * p (t ) T (t ) 0
T (t ) (m1 m2 ) * R 2 * p (t ) m1 m2 * gR J c * p (t ) Bc * p (t )
Aslo el eje
TKA (t ) K a ( m(t ) p (t )
T (t ) TkA (t ) 0
K a ( m(t ) p (t )) (m1 m2 ) * R * p (t ) m1 m2 * gR J c * p (t ) Bc * p (t ) 0
2
K a m(t ) (( m1 m2 ) * R J c ) * p (t ) Bc * p (t ) K a p (t ) (m1 m2 ) gR 0
2
Aslo el motor
TM (t ) J m * (t ) Bm * (t ) K a ( m(t ) p (t ))
m m
gR( m1 m2 )
El termino para Laplace es un aporte cte. y se considera como
una funcin impulso unitario
Aplicando Laplace
TM ( s ) J m S 2 * m ( s ) Bm S * m ( s ) K a m( s ) K a p ( s )
K a m( s) (( m1 m2 ) * R 2 J c ) * S 2 * p ( s ) Bc * S * p ( s ) K a p ( s ) 0
( j ms2 + Bms + K a )
( K a )
( K a )
m ( 1 R +m2 R + J C )s2 + ( BC )s + ( K a )
2 2
( ] [ ] = [ 0]
m
( 1 R +m2 R + J C )s 2+ ( BC )s+ ( K a )
2 2
m1s2 + ( )
m
( 1 R 2 +m2 R 2+ J C )s 2+ ( BC )s+ ( K a )
( j ms 2 +B ms+ K a)
m ( s )=
K
m
2 2
( 1 R +m2 R + J C )s 2+ ( BC )s+ ( K a )
2
( j ms +B ms+ K a)
( a)
s ( s ) =
m
( 1 R +m2 R + J C )s 2+ ( BC )s+ ( K a )
2 2
m ( s )
=
T M ( s)
m
( 1 R +m2 R + J C )s 2+ ( BC )s+ ( K a )K a
2 2
( jms2 + Bms+ K a )
s ( s ) (( K a ) )
=
T M( s)
(1 / s ) * 15
p (t )
5,6 * s 1,28 * s 3 158,45 * s 2 9 * s
4
Las frecuencias que maximizan los desplazamientos son (obtenidas por MATLAB):
>> num1=[0.56,0.15,15];
>> den=[5.6,1.28,158.45,9,0];
>> roots(den)
Pole-Zero Mapa Om(t)
6
Imaginario
>> roots(num1) Frequency (rad/sec): 0.0568
0
ans =
-0.1339 + 5.1738i -2
-0.1339 - 5.1738i System: sis System: sis
Zero: -0.134 - 5.17i Pole: -0.0859 - 5.32i
Damping: 0.0259 Damping: 0.0161
-4
Overshoot (%): 92.2 Overshoot (%): 95.1
Frequency (rad/sec): 5.18 Frequency (rad/sec): 5.32
-6
-0.6 -0.4 -0.2 0 0.2 0.4 0.6
Real
System: sis1
Pole: -0.0859 + 5.32i
4 Damping: 0.0161
Overshoot (%): 95.1
Frequency (rad/sec): 5.32
System: sis1
2 Pole: -0.0568
Damping: 1
Overshoot (%): 0
Imaginario
-2
System: sis1
Pole: -0.0859 - 5.32i
-4 Damping: 0.0161
Overshoot (%): 95.1
Frequency (rad/sec): 5.32
-6
-0.6 -0.4 -0.2 0 0.2 0.4 0.6
Real
m (t ) (0,56 * s 2 * 0,1 * s 15)
Tm (t ) 10 * s 2 0,5 * s 210
p (t ) 15
Tm (t ) 5,6 * s 1,28 * s 158,45 * s 2 9 * s 15
4 3
0.8
RESPUESTA
0.6
0.4
0.2
System: sys
0 DC gain: -0.0714
-0.2
0 0.1 0.2 0.3 0.4 0.5 0.6
Tiempo (sec)
System: sys
1.6 Peak amplitude: 1.75
Overshoot (%): 75.1
At time: 10.3
1.4
1.2
System: sys
Settling Time: 135
System: sys
RESPUESTA
1
Rise Time: 3.53
System: sys
DC gain: 1
0.8
0.6
0.4
0.2
0
0 20 40 60 80 100 120 140 160 180 200
Tiempo (sec)