Beruflich Dokumente
Kultur Dokumente
Controlador (proporcional)
50 1 0.016
.Kc 0
Ecuación característica:
1 . .
30.s 1 10.s 1 3.s 1
10.s 1. 30.s 1. 3.s 1 0.80.Kc 0 900.s 3 420.s 2 43.s (1 0.80.Kc) 0
900.s 3 420.s 2 43.s (1 0.80.Kc) 0
(420. u 1 0.80.Kcu ) 0
2
(900. u 43 u ) 0
3
%
u 0 Kcu 1.25
%
%
u 0.22rad / seg Kcu 23.8
%
Efecto del tiempo muerto:
Aproximacion de Pade:
K .e t 0 s
1 G.Kc 0 1 . Kc 0
.s 1
t0 s
K
1
1 2 .Kc 0
t0 s
.s 1 1 t 0 s
K .Kc(1 ) 2
1 2 0
t s
( .s 1)(1 0 )
2 1 / 2.t0 .s 2 ( 1 / 2.t0 1 / 2.K .Kc.t0 ) s 1 K .Kc 0