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Obtenga la funcin de transferencia Xo(s)/Xi(s) de cada uno de los tres sistemas mecnicos mostrados en la
figura. En los diagramas xi representa el desplazamiento de entrada y Xo denota el desplazamiento de salida.
(Cada desplazamiento se mide a partir de la posicin de equilibrio)
Fx=ma
mx i=b 1 ( x ix 0 )b 2 x 0
2
m S Xi=b 1 SXi+ b 1 S X 0 b 2 S X 0
Xi (m S2 +b 1 S )=X 0 ( b 1 Sb 2 S)
X 0 S (mS+b 1) ( mS+b 1 )
= =
Xi S (b 1b 2) (b 1b 2)
F 1=0 F 2=0
0=k 1 ( xix 0 )b ( x ix 0 ) 0=k 2 X 0
F 2=F 1
k 1 ( xix 0 )b ( x ix 0 )=k 2 X 0
k 1 Xi +k 1 X 0bSXi +bS X 0=k 2 X 0
X 0 (k 1+ bS+k 2)=Xi (bS +k 1)
X0 ( bS+k 1)
=
Xi (k 1+bS+ k 2)
F 1=0 F 2=0
0=k 1 ( xix 0 )b ( x ix 0 )
0=k 2 X 0
F2=F 1
k 1 ( xix 0 )b ( x ix 0 )=k 2 X 0
k 1 Xi +k 1 X 0bSXi +bS X 0=k 2 X 0
X 0 (k 1+ bS+k 2)=Xi (bS +k 1)
X0 (bS+k 1)
=
Xi (k 1+bS+ k 2)
2. Obtenga la funcin de transferencia Xo(s)=Xi(s) en el sistema mecnico mostrado en
la figura.
F_1=0
k 1 [ X i ( S ) X O ( S ) ]b [ S X i ( S ) S X O ( S ) ]=0
F2 =0
k 2 x 0 ( t ) =0
k 2 X 0 ( S )=0
0=0
k 1 [ X i ( S ) X O ( S ) ]b [ S X i ( S ) S X O ( S ) ]=k 2 X 0 ( S )
X O ( S ) ( k 1 +bS +k 2 ) X i ( S ) ( k 1+ bS ) =0
X O ( S ) ( k 1 +bS +k 2 ) =X i ( S ) ( k 1+ bS )
XO (S ) k + bS
= 1
X i ( S ) k 1+ bS+k 2
3. Simplifique el diagrama de bloque que aparece en la figura y obtenga la funcin de transferencia en lazo
cerrado.
4. Encontrar la funcin de transferencia del grafico de flujo de seal que se muestran en la figura.
T 1 =T 12 T 23 T 34
L1=T 23 T 32
=1T 23 T 32
1 = 1
T 12 T 23 T 34
F ( s )=
1T 23 T 32
T 1 =T 12 T 23 T 34 T 45
T 2 =T 12 T 24 T 45
L1=T 23 T 32
L2=T 34 T 43
=1L1L2
1 =1
2=1
T 12 T 23 T 34 T 45+ T 12 T 24 T 45
F ( s )=
1T 23 T 32T 34 T 43
T 1 =T 12 T 23 T 34 T 45 T 56
T 2 =T 12 T 25 T 56
L1=T 23 T 43
L2=T 31 T 43
L3=T 45 T 54
=1( L1+ L2 + L3 )
1 =1
2=1L2
T 12 T 23 T 34 T 45 T 56+ T 12 T 25 T 56 (1T 34 T 43 )
F ( s )=
1T 23 T 32T 34 T 43T 45 T 54
T 1 =G 1 G2 G3 G4
T 2 =F 2
L1=G2 G3 F 1
L2=G3 G 4 G5
=1+G2 G3 F1G 3 G4 G 5
1 =1
2=1+ G2 G3 F 1
G1 G 2 G3 G 4F 2 ( 1+G2 G3 F 1 )
F ( s )=
1+G2 G 3 F 1G 3 G4 G5
T 1 =G 1 G2 G3 G4 G 5
T 2 =G1 G6 G4 G5
T 3 =G 1 G2 G7
T 4=G1 F 2
=1+G 4 F1
1 =1
2=1
3 =1L1
4=1L1
T 1 =G 1 G2 G3 G4 G 5
T 2 =G 1 G 2 G 3 G 5
L1=G3 F 1
L2=G3 F 2
L3=G2 G3 G 5
L4=G2 G3 G4 G5
=1L1L2L3 L4 +G3 F 1 G 5 F 2
1 =1
2=1
G1 G2 G3 G4 G5+G 1 G2 G3 G5
F ( s )=
1+G3 F 1 +G5 F 2 +G2 G3 G5+ G 2 G3 G4 G5+G3 F 1 G 5 F 1
V a (S)
v a ( t )=k av i ( t ) laplace K A =
V i( S)
di ( t )
v a ( t )+ v b ( t )=Ri ( t )+ L laplace V a ( S )+ V b ( S )=RI ( S ) + LSI ( S )
dt
I ( S) 1
= ( 1)
K aV i ( S ) +V b ( S ) ( R+ LS )
Fc ( S )
K c= (2)
I (S)
F=ma
2
dx d x
f c ( t )K 1 x ( t )Kx ( t )B =m 2
dt dt
Fc ( S )=( m S2 + K 1+ K +BS ) X ( s )
X (S ) 1
= 2
(3)
F c ( S ) m S + K 1 + K + BS
7. El solenoide polarizado de la .gura produce una fuerza magntica proporcional a la corriente Fi = Kii(t). La
bobina tiene resistencia e inductancia.
a) Obtenga el diagrama de bloques del sistema, e identifique claramente la entrada y salida
b) Simplifique el diagrama de bloques
c) Transforme el diagrama de bloques a una gra.ca de flujo de seal, aplique la frmula de Mason
para encontrar la ganancia total y compare con el resultado del literal anterior
di
v ( t )=iR+ L laplace V ( S )=I ( S ) R+ LSI ( S ) (1)
dt
d x1 d2 x 1
Fi B1 F 1=M
dt dt2
2
d x1 dx
Fi F 1=M 2
+B 1 1
dt dt
2
Fi F 1=M S X 1 ( S ) + B1 S X 1 ( S )
d2 x1
Fi F BiF 1=M 2
Fi F 1=(M S + B1 S) X 1 ( S ) (3)
d t2
Fuerza transmitida
F1 ( t ) a=F 2 ( t ) b
a
F2 ( S )= F 1 ( S ) (4 )
b
x2 x1
sen = =
b a
5
b Fuerzas sobre el bloque de masa M1
X 2 (S)= X 1 ( S )
a
2
d x
F2 F K 1F K 2F B=M 1 22
dt
d x 2 dx d2 x
F2 K 1 X 2K 2 ( X 2X 3 ) B ( dt
)
dt
=M 1 22
dt
d2 x2 d x2 dx
F2 =M 1 2 + B
dt dt
dt ( )
+ K 2 ( X 2 X 3 ) + K 1 X 2
M
2
( 1 s + Bs+ K 1+ K 2 ) X 2 ( S )BSX ( S )K 2 X 3 (S) ( 6 )
F2 ( S )=
Para el punto 0:
dx 3
B3 + K 2 ( x 3 (t) x2 (t ) )=0
dt
B 3 S X 3 ( S ) + K 2 X 3 ( S )K 2 X 2 ( S )=0
K2
X 3 ( S )= X ( S ) (7)
B 3 S+ K 2 2
dx dx 2 dx 2
B2
dx
dt
B (
dt dt
=M 2
dt )
M S2 X ( S ) + B2 SX ( S )+ BSX ( S )BS X 2 (S)=0
B
( 2+ B) S
M S 2 +
BS X 2 (S)=X ( S )
B
2
M S +( 2+B) S X 2 ( S)(8)
BS
X ( S )=
M
2
( 1 s + Bs+ K 1+ K 2 ) X 2 ( S )BSX ( S )K 2 X 3 (S)
b b
F 1 ( S )= F 2=
a a
M
B
2 K 22 X 2 ( S )
M S +( 2+ B)S
B 3 S+ K 2
B2 S 2 X 2 (S)
( 1 s 2+ Bs+ K 1+ K 2 ) X 2 ( S )
b
F 1 ( S )=
a
B
2 K 22
M S +( 2+B ) S
B3 S+ K 2
B2 S 2
M 1 s 2 +Bs+ K 1+ K 2
b
F1 ( S )=
a
a) DIAGRAMA DE BLOQUES
Representaremos:
B
2
2 K2
M S +( 2+B ) S
B3 S+ K 2
B2 S 2
M 1 s 2 +Bs+ K 1+ K 2
b
F1 ( S )=
a
Por G1
T ii
G= i=1
K=1
1
K i1
R+ LS
b
M s 2 +B 1 s
Bs
a
T1=
M s 2 + ( B2+ B ) s
K i bBs
T1=
a ( R+ LS ) ( M s + B1 s ) [ M s2 + ( B2 + B ) s ]
2
1
2
b
M s + B1 s
L1 = G 1
a
bG1
L1 =
a( M s 2+ B1 s )
1 =1
bG 1 a ( M s 2 +B 1 s ) + bG1
=1+ =
a(M s 2+ B1 s) a ( M s2 + B1 s)
K i bBs
a ( R+ Ls ) ( M s + B1 s ) [ M s 2+ ( B2 + B ) s ]
2
G=
a ( M s 2+ B1 s ) +bG 1
a( M s2 +B 1 s)
K i bBs
G=
( R+ Ls ) [a ( M s2 + B1 s ) +bG 1] [ M s2 + ( B2 +B ) s ]
T 2 =G 6 G5
L1=G1 H 1
L2=G 2 H 2
L3=G3 H 3
L4=G4 G5 H 4
L5=H 6
L6=G2 G3 G 4 G5 H 3
L7=G6 G5 H 1 H 5
L8=G6 G5 H 4 H 6 H 2 H 1
1 = 1
2=1(L2+ L3 )
Y7 G1 G2 G3 G 4 G5 +G 6 G5 G1+G2 H 2+ G3 H 3
=
Y 1 1+G1 H 1 +G2 H 2+G 3 H 3 +G4 G5 H 4 + H 6 +G2 G3 G4 G 5 H 5 G6 G5 H 1 H 5 G6 G5 H 1 H 5 G6 G5 H 4 H 3 H 2 H 1G
T 1 1+T 2 2
G=
T 1 =G1 G2 G 3
T 2 =G 4
1 =1
L1=G 1G 2G 3
L2=G2 H 1
L3=G2 G 3 H 2
T 1 1+T 2 2 +T 3 3
G=
T 1 =G1 G2 G 3G 4 G5 G 6
T 2 =G1 G 2G 6 G7
T 3 =G1 G 2G 3 G 4 G 8
L1=G5 G 6 H 1
L2=G2 G 3G 4 G5 H 2
L3=G1 G 2G 3 G 4 G5 G 6 H 3
L4=G 4 H 4
L5=G8 H 1
L6=G1 G 2G 6 G7 H 3
L7=G2 G 7 H 2
L8=G1 G 2G 3 G 4 G 8 H 3
L9=G 1G 2 G 4 G 6G 7 H 3 H 4
L10=G2 G 4 G 7 H 2 H 4
1 =1
2=1L4
3 =1L4
G 1G 2 G3 G 4 G 5 G6 +G1 G 2G 6 G7 ( 1+G 4 H 4
G=
1+G5 G 6 H 1+G 2 G3 G 4 G 5 H 2+G 1G 2 G3 G 4 G 5 G 6 H 3+G 4 H 4+G 8 H 1+G 1 G2 G 6G 7 H 3+G2 G 7 H 2+G
10. simplifique los diagramas de bloques de la figura y encuentre la funcin de transferencia C(s)/R(s).
1(G 2 H 2)
(1+G1 H 1)
G1 G 2
C (S )
=
R (S)
C (S) G 1 G2
=
R (S) (1+G 1 H 1 ) ( 1+ G2 H 2 )+ G1 G2
C (S) G1 G 2
=
R (S) 1+G 2 H 2+G 1 H 1+G 1G 2 H 1 H 2+G 1G 2
G 1G 2H 1 (G 2+1 ) G3
C (S) 1G3 H 1 H 2G2 G3 H 1 H 2
=
R (S) ( G 1 G2H 1 ( G 2+ 1 ) ) G 3
1+
1G 3 H 1 H 2G 2G 3 H 1 H 2
C (S) G 1G 2 G3G2 G 3 H 1G 3 H 1
=
R (S) 1G3 H 1 H 2G 2 G3 H 1 H 2+G 1G 2G 3G2 G 3 H 1G 3 H 1
3.
4.
11. Encuentre la funcin de transferencia C(s)/R(s) utilizando Mason
K=2
T 1=G 1 G2 G3
T 2=G 4
L1=G 2 H 1
L2=G 2 G3 H 1
L3=G 1G 2 H 1
=1( L 1+ L2+ L 3 )
1=1
2=1( L1+ L 2+ L3 )
K=2
T 1=G 1 G2 G3
T 2=G 4
L1=G 4
L2=G 1 G2 H 1
L3=G2 G3 H 2
L 4=G 4 H 2G 2 H 1
L5G1 G 2G 3
=1( L 1+ L2+ L 3+ L 4+ L 5 )
1=1
2=1
n
Pi i G1 G2 G 3+G 4
G= =
i=1 1(G 4G1 G2 H 1G 2G 3 H 2+G 4 H 2 G 2 H 1G 1G 2 G3 )
n
Pi i G 1G 2G 3+G 4
G= =
i=1 1+G 4+G 1G 2 H 1+G 2G 3 H 2G 4 H 2G 2 H 1+G 1G 2 G3
e ( t )=Kp( r ( t ) c (t ) ) E ( S )=Kp( r ( S ) c ( S ) )
KaKf K K
e a ( t )=K a e ( t ) = ( r ( t ) c (t ) ) Ea ( S )=K a E ( S ) = a f (r ( S ) c ( S ) )
k k
e o (t )=K f ( r ( t ) c (t ) ) Eo ( S )=K f ( r ( S ) c ( S ) )
d i0 ( t )
e a ( t )R a i 0 ( t ) K a vb ( t ) =0 Ea ( S )Ra I 0 ( S )K a S I 0 ( S)Vb ( S )=0
dt
vo (t )=K b i 0 ( t ) Vo ( S )=K b I 0 ( S )
d
( t )= ( S )=S( S)
dt
T ( t)=K T i a ( t ) T (S )=K T i a ( S )
d d 2 2
Tm ( t )=Jm +fm=Jm Tm ( S )=Jm S (S)+ Fm(S )=Jm S (S )
dt dt
T 1 ( t ) N 2=T 2 ( t ) N 1T 1 ( S ) N 2=T 2 ( S ) N 1