Beruflich Dokumente
Kultur Dokumente
222
SSSuuummmááárrriiiooo
iii... LLLiiissstttaaa dddeee SSSiiiggglllaaasss qqquuueee ssseeerrrãããooo uuutttiiillliiizzzaaadddaaasss nnnooo dddeeecccooorrrrrreeerrr dddooo ppprrrooojjjeeetttooo ............................................................................................................................................. 444
iiiiii... LLLiiissstttaaa dddeee fffiiiggguuurrraaasss.................................................................................................................................................................................................................................................................................................................................................................. 444
111... TTTííítttuuulllooo ............................................................................................................................................................................................................................................................................................................................................................................................................... 555
222... OOObbbjjjeeetttiiivvvooosss dddooo PPPrrrooojjjeeetttooo....................................................................................................................................................................................................................................................................................................................................... 555
333... IIInnntttrrroooddduuuçççãããooo....................................................................................................................................................................................................................................................................................................................................................................................... 666
444... MMMooodddeeelllaaagggeeemmm dddooo PPPrrrooojjjeeetttooo........................................................................................................................................................................................................................................................................................................................... 777
444...111... MMMooodddeeelllaaagggeeemmm dddooo PPPêêênnnddduuulllooo ............................................................................................................................................................................................................................................................................................. 777
444...222... MMMooodddeeelllaaagggeeemmm dddooo CCCaaarrrrrrooo............................................................................................................................................................................................................................................................................................................ 999
444...333... MMMooodddeeelllaaagggeeemmm dddooo SSSiiisssttteeemmmaaa................................................................................................................................................................................................................................................................................................ 999
555... SSSiiimmmuuulllaaaçççãããooo.................................................................................................................................................................................................................................................................................................................................................................................... 111000
555...111... PPPaaarrrâââmmmeeetttrrrooosss dddooo MMMooodddeeelllooo............................................................................................................................................................................................................................................................................................. 111000
555...222... SSSiiisssttteeemmmaaa eeemmm MMMaaalllhhhaaa AAAbbbeeerrrtttaaa.............................................................................................................................................................................................................................................................................. 111000
555...222...111... RRReeessspppooossstttaaa aaaooo IIImmmpppuuulllsssooo................................................................................................................................................................................................................................................................................. 111111
555...222...222... RRReeessspppooossstttaaa aaaooo DDDeeegggrrraaauuu.................................................................................................................................................................................................................................................................................... 111222
555...222...333... RRReeessspppooossstttaaa eeemmm fffrrreeeqqqüüüêêênnnccciiiaaa ––– DDDiiiaaagggrrraaammmaaa dddeee BBBooodddeee......................................................................................................................................................... 111333
555...333... SSSiiisssttteeemmmaaa eeemmm MMMaaalllhhhaaa FFFeeeccchhhaaadddaaa cccooommm CCCooonnntttrrrooolllaaadddooorrr PPPIIIDDD ............................................................................................................................................................ 111444
555...333...111... RRReeessspppooossstttaaa aaaooo IIImmmpppuuulllsssooo................................................................................................................................................................................................................................................................................. 111555
555...333...222... RRReeessspppooossstttaaa aaaooo DDDeeegggrrraaauuu.................................................................................................................................................................................................................................................................................... 111666
555...333...333... RRReeessspppooossstttaaa eeemmm fffrrreeeqqqüüüêêênnnccciiiaaa ––– DDDiiiaaagggrrraaammmaaa dddeee BBBooodddeee......................................................................................................................................................... 111777
555...333...444... GGGrrráááfffiiicccooo dddooosss PPPóóólllooosss eee ZZZeeerrrooosss ......................................................................................................................................................................................................................................................... 111888
555...444... SSSiiisssttteeemmmaaa cccooommm CCCooommmpppeeennnsssaaadddooorrr LLLeeeaaaddd-‐-‐-lllaaaggg (((MMMééétttooodddooo dddooo LLLuuugggaaarrr dddaaasss RRRaaaííízzzeeesss))) ..................................................................... 111999
555...444...111... RRReeessspppooossstttaaa aaaooo IIImmmpppuuulllsssooo................................................................................................................................................................................................................................................................................. 222111
555...444...222... RRReeessspppooossstttaaa aaaooo DDDeeegggrrraaauuu.................................................................................................................................................................................................................................................................................... 222222
555...444...333... RRReeessspppooossstttaaa eeemmm FFFrrreeeqqquuuêêênnnccciiiaaa ––– DDDiiiaaagggrrraaammmaaa dddeee BBBooodddeee ...................................................................................................................................................... 222333
555...555... SSSiiisssttteeemmmaaa CCCooonnntttrrrooolllaaadddooo aaatttrrraaavvvééésss dddeee AAAlllooocccaaaçççãããooo dddeee PPPóóólllooosss ......................................................................................................................................................... 222444
555...555...111... RRReeessspppooossstttaaa aaaooo IIImmmpppuuulllsssooo................................................................................................................................................................................................................................................................................. 222666
555...555...222... RRReeessspppooossstttaaa aaaooo DDDeeegggrrraaauuu.................................................................................................................................................................................................................................................................................... 222666
555...555...333... RRReeessspppooossstttaaa eeemmm fffrrreeeqqqüüüêêênnnccciiiaaa ––– DDDiiiaaagggrrraaammmaaa dddeee BBBooodddeee......................................................................................................................................................... 222777
666... SSScccrrriiipppttt dddooo MMMAAATTTLLLAAABBB ............................................................................................................................................................................................................................................................................................................................................. 222888
777... CCCooonnncccllluuusssãããooo.................................................................................................................................................................................................................................................................................................................................................................................... 333111
888... RRReeefffeeerrrêêênnnccciiiaaasss ........................................................................................................................................................................................................................................................................................................................................................................... 333222
333
iii... LLLiiissstttaaa dddeee SSSiiiggglllaaasss qqquuueee ssseeerrrãããooo uuutttiiillliiizzzaaadddaaasss nnnooo dddeeecccooorrrrrreeerrr dddooo ppprrrooojjjeeetttooo
XXXcccggg === dddiiissstttââânnnccciiiaaa dddooo ccceeennntttrrrooo dddaaa ooorrriiigggeeemmm aaatttééé ooo ccceeennntttrrrooo dddeee mmmaaassssssaaa dddooo pppêêênnnddduuulllooo eeemmm rrreeelllaaaçççãããooo
aaaooo eeeiiixxxooo xxx
YYYcccggg === dddiiissstttââânnnccciiiaaa dddooo ccceeennntttrrrooo dddaaa ooorrriiigggeeemmm aaatttééé ooo ccceeennntttrrrooo dddeee mmmaaassssssaaa dddooo pppêêênnnddduuulllooo eeemmm rrreeelllaaaçççãããooo
aaaooo eeeiiixxxooo yyy
HHH === fffooorrrçççaaa nnnaaa dddiiirrreeeçççãããooo hhhooorrriiizzzooonnntttaaalll
VVV === fffooorrrçççaaa nnnaaa dddiiirrreeeçççãããooo vvveeerrrtttiiicccaaalll
mmm === mmmaaassssssaaa dddooo pppêêênnnddduuulllooo
222lll === cccooommmppprrriiimmmeeennntttooo dddooo pppêêênnnddduuulllooo
Ⱥсââânnnggguuulllooo dddooo pppêêênnnddduuulllooo eeemmm rrreeelllaaaçççãããooo ààà llliiinnnhhhaaa vvveeerrrtttiiicccaaalll
MMM===mmmaaassssssaaa dddooo cccaaarrrrrrooo
uuu === fffooorrrçççaaa aaapppllliiicccaaadddaaa aaaooo cccaaarrrrrrooo
iii === mmmooommmeeennntttooo dddeee iiinnnééérrrccciiiaaa dddooo pppêêênnnddduuulllooo (((mmmlll²²///333 pppaaarrraaa uuummmaaa hhhaaasssttteee uuunnniiifffooorrrmmmeee)))
iiiiii... LLLiiissstttaaa dddeee fffiiiggguuurrraaasss
444
111... TTTííítttuuulllooo
CCCooonnntttrrrooollleee dddeee uuummm pppêêênnnddduuulllooo iiinnnvvveeerrrtttiiidddooo aaatttrrraaavvvééésss dddeee uuummmaaa bbbaaassseee mmmóóóvvveeelll cccooonnntttrrrooolllaaadddaaa...
OOO ppprrrooojjjeeetttooo cccooonnnsssiiisssttteee eeemmm uuummm cccaaarrrrrrooo,,, qqquuueee ééé iiimmmpppuuulllsssiiiooonnnaaadddooo pppooorrr uuummmaaa fffooorrrçççaaa FFF,,, cccooommm uuummm
pppêêênnnddduuulllooo iiinnnvvveeerrrtttiiidddooo fffiiixxxaaadddooo pppeeelllaaa bbbaaassseee,,, cccooommmooo pppooodddeee ssseeerrr ooobbbssseeerrrvvvaaadddooo nnnaaa fffiiiggguuurrraaa aaabbbaaaiiixxxooo:::
FFFiiiggguuurrraaa 111
OOO ppprrriiimmmeeeiiirrrooo ooobbbjjjeeetttiiivvvooo ééé aaatttrrraaavvvééésss dddaaa fffooorrrçççaaa aaapppllliiicccaaadddaaa nnnooo cccaaarrrrrrooo,,, eeevvviiitttaaarrr qqquuueee ooo pppêêênnnddduuulllooo
cccaaaiiiaaa,,, eeennntttãããooo ssseee dddeeevvveee cccrrriiiaaarrr uuummmaaa ppplllaaannntttaaa qqquuueee mmmooodddeeellleee eeesssssseee sssiiisssttteeemmmaaa ttteeennndddooo cccooommm eeennntttrrraaadddaaa dddooo
sssiiisssttteeemmmaaa aaa fffooorrrçççaaa aaapppllliiicccaaadddaaa sssooobbbrrreee ooo cccaaarrrrrrooo,,, uuu,,, eee sssaaaííídddaaa ooo ââânnnggguuulllooo ɽ...
DDDeeepppoooiiisss dddeee cccrrriiiaaadddooo aaa ppplllaaannntttaaa,,, fffaaazzzeeerrr uuummmaaa aaannnááállliiissseee dddeeesssssseee sssiiisssttteeemmmaaa cccooommm rrreeelllaaaçççãããooo àààsss
rrreeessspppooossstttaaasss aaaooo iiimmmpppuuulllsssooo,,, aaaooo dddeeegggrrraaauuu,,, fffaaazzzeeerrr ooo dddiiiaaagggrrraaammmaaa dddeee BBBooodddeee cccooommm eee ssseeemmm ooo cccooonnntttrrrooolllaaadddooorrr
!IIIDDD,,, pppaaarrraaa aaa pppaaarrrtttiiirrr dddaaaííí vvveeerrriiifffiiicccaaarrr ssseee hhhááá ooouuu nnnãããooo aaa nnneeeccceeessssssiiidddaaadddeee dddooo mmmeeesssmmmooo...
TTTaaammmbbbééémmm aaannnaaallliiisssaaarrr ooo ttteeemmmpppooo dddeee aaacccooommmooodddaaaçççãããooo (((SSSeeettttttllliiinnnggg TTTiiimmmeee))),,, ttteeemmmpppooo dddeee pppiiicccooo
(((!eeeaaakkk TTTiiimmmeee))),,, MMMáááxxxiiimmmooo sssooobbbrrreee-‐-‐-sssiiinnnaaalll,,, ooo gggaaannnhhhooo,,, ooosss lllooocccaaaiiisss dddaaa rrraaaííízzzeeesss,,, dddeeennntttrrreee ooouuutttrrraaasss
iiinnnfffooorrrmmmaaaçççõõõeeesss qqquuueee ssseeerrrãããooo dddiiissspppooossstttaaasss aaabbbaaaiiixxxooo...
555
333... IIInnntttrrroooddduuuçççãããooo
666
444... MMMooodddeeelllaaagggeeemmm dddooo PPPrrrooojjjeeetttooo
CCCooommmooo pppooodddeee ssseeerrr vvviiissstttooo nnnaaa FFFiiiggguuurrraaa 111,,, ooo mmmooodddeeelllooo eeemmm qqquuueeessstttãããooo pppooossssssuuuiii uuummm cccaaarrrrrrooo eee uuummm
pppêêênnnddduuulllooo,,, eeennntttãããooo aaa mmmooodddeeelllaaagggeeemmm pppooodddeee ssseeerrr fffeeeiiitttooo eeemmm ddduuuaaasss eeetttaaapppaaasss pppaaarrraaa fffaaaccciiillliiitttaaarrr ooo ppprrroooccceeessssssooo...
UUUmmmaaa pppaaarrraaa ooo cccaaarrrrrrooo,,, eee ooouuutttrrraaa pppaaarrraaa ooo pppêêênnnddduuulllooo,,, cccooonnnsssiiidddeeerrraaannndddooo qqquuueee aaa sssaaaííídddaaa dddaaa fffuuunnnçççãããooo dddooo
cccaaarrrrrrooo,,, ooo dddeeessslllooocccaaammmeeennntttooo xxx,,, ssseeerrrááá aaa eeennntttrrraaadddaaa dddaaa fffuuunnnçççãããooo dddooo pppêêênnnddduuulllooo...
FFFiiiggguuurrraaa 222
X cg X p l senT
Ycg Yp l cos T
d2
H m 2 X cg
dt
d2
V m Ycg mg
dt 2
777
FFFiiiggguuurrraaa 333
EEE aaagggooorrraaa,,, cccooonnnsssiiidddeeerrraaannndddooo ooo dddiiiaaagggrrraaammmaaa dddeee cccooorrrpppooo llliiivvvrrreee aaaccciiimmmaaa,,, fffiiiggguuurrraaa 333,,, ooo mmmooovvviiimmmeeennntttooo
rrroootttaaaccciiiooonnnaaalll dddaaa hhhaaasssttteee dddooo pppêêênnnddduuulllooo eeemmm tttooorrrnnnooo dddeee ssseeeuuu ccceeennntttrrrooo dddeee gggrrraaavvviiidddaaadddeee pppooodddeee ssseeerrr dddaaadddooo
cccooommmooo:::
d2
i 2T V l senT H l cos T
dt
***CCCooonnnsssiiidddeeerrraaannndddooo qqquuueee ooo ooobbbjjjeeetttiiivvvooo ééé mmmaaannnttteeerrr ooo pppêêênnnddduuulllooo nnnaaa pppooosssiiiçççãããooo vvveeerrrtttiiicccaaalll,,, ééé dddeee ssseee
iiimmmaaagggiiinnnaaarrr qqquuueee ooo ââânnnggguuulllooo ɽ nnnãããooo ssseeejjjaaa mmmuuuiiitttooo gggrrraaannndddeee,,, eee pppaaarrraaa ââânnnggguuulllooosss pppeeeqqquuueeennnooosss pppooodddeeemmmooosss
aaadddmmmiiitttiiirrr qqquuueee::: ssseeennn ɽ === ɽ͖ ĐŽƐ ɽ с ϭ͖ ƉŽƌƚĂŶƚŽ͕ Ă ƉĂƌƚŝƌ ĚĞ ĂŐŽƌĂ ĞƐƐĂ ƐƵďƐƚŝƚƵŝçççãããooo ssseeerrrááá
uuutttiiillliiizzzaaadddaaa pppaaarrraaa fffaaaccciiillliiitttaaarrr ooosss cccááálllcccuuulllooosss... AAA eeeqqquuuaaaçççãããooo dddooo mmmooovvviiimmmeeennntttooo rrroootttaaaccciiiooonnnaaalll fffiiicccaaarrrááá aaassssssiiimmm:::
d2
i T VlT Hl
dt 2
SSSuuubbbssstttiiitttuuuiiinnndddooo VVV eee HHH nnnaaa eeeqqquuuaaaçççãããooo:::
.. .. ..
iT mglT (m X cg ml T )l
.. .. ..
iT mglT m X cg l ml 2 T
.. ..
(i ml 2 ) T ml X cg mglT
AAA pppaaarrrtttiiirrr dddaaa eeeqqquuuaaaçççãããooo aaaccciiimmmaaa,,, pppooodddeeemmmooosss ooobbbttteeerrr aaa fffuuunnnçççãããooo tttrrraaannnsssfffeeerrrêêênnnccciiiaaa dddooo pppêêênnnddduuulllooo,,,
qqquuueee ééé fffeeeiiitttaaa aaassssssiiimmm:::
(i ml 2 )T ( s ) s 2 mlX cg ( s ) s 2 mglT ( s )
[(i ml 2 ) s 2 mgl ]T ( s ) mlX cg ( s ) s 2
[(i ml 2 ) s 2 mgl ]T ( s )
X cg ( s ) eeeqqquuuaaaçççãããooo III
mls 2
888
444...222...MMMooodddeeelllaaagggeeemmm dddooo CCCaaarrrrrrooo
AAA mmmooodddeeelllaaagggeeemmm dddooo cccaaarrrrrrooo ééé mmmaaaiiisss sssiiimmmpppllleeesss,,, pppoooiiisss cccooommmooo pppooodddeeemmmooosss ooobbbssseeerrrvvvaaarrr pppeeelllaaa
FFFiiiggguuurrraaa 333,,, aaasss fffooorrrçççaaasss aaapppllliiicccaaadddaaasss nnneeellleee sssãããooo aaa uuu eee HHH,,, eee dddeee aaacccooorrrdddooo cccooommm aaa ssseeeggguuunnndddaaa llleeeiii dddeee NNNeeewwwtttooonnn
ttteeemmmooosss:::
d2
M X cg uH
dt 2
SSSuuubbbssstttiiitttuuuiiinnndddooo HHH eee fffaaazzzeeennndddooo uuummm rrreeeaaarrrrrraaannnjjjooo dddaaa eeeqqquuuaaaçççãããooo:::
..
Mxcg u mxcg ml T
..
u x ml T
( M m)
UUUtttiiillliiizzzaaannndddooo aaa TTTrrraaannnsssfffooorrrmmmaaadddaaa dddeee LLLaaappplllaaaccceee:::
CCCooommmooo fffoooiii dddiiitttooo aaannnttteeerrriiiooorrrmmmeeennnttteee ooo sssiiisssttteeemmmaaa cccooommmpppllleeetttooo cccooonnnsssiiisssttteee nnnaaa jjjuuunnnçççãããooo dddooo cccaaarrrrrrooo eee
dddooo pppêêênnnddduuulllooo,,, ooonnndddeee aaa eeennntttrrraaadddaaa dddooo sssiiisssttteeemmmaaa ééé aaa fffooorrrçççaaa uuu eee aaa sssaaaííídddaaa ééé ooo ââânnnggguuulllooo ɽ͘Ŷƚãããooo pppaaarrraaa
ooobbbttteeerrrmmmooosss aaa FFFuuunnnçççãããooo TTTrrraaannnsssfffeeerrrêêênnnccciiiaaa dddooo sssiiisssttteeemmmaaa,,, ttteeemmmooosss qqquuueee nnnooosss uuutttiiillliiizzzaaarrr dddaaa eeeqqquuuaaaçççãããooo III eee
sssuuubbbssstttiiitttuuuiiirrr nnnaaa eeeqqquuuaaaçççãããooo IIIIII:::
[(i ml 2 ) s 2 mgl ]T ( s ) ½
U ( s ) ( M m) s 2 ® ¾ mlT ( s ) s
2
2
¯ mls ¿
( M m)[(i ml ) s mgl ]T ( s ) (ml ) 2T ( s ) s 2
2 2
U (s)
ml
ª ( M m)(i ml ) s 2 ( M m)mgl (mls ) 2 º
2
U (s) T ( s) « »
¬ ml ¼
° ª( M m)(i ml 2 ) (ml )2 º s 2 ( M m)mgl ½°
U (s) T ( s) ® ¬ ¼
¾
°¯ ml °¿
T (s) ml
eeeqqquuuaaaçççãããooo IIIIIIIII
U ( s) s [( M m)(i ml ) (ml ) 2 ] ( M m)mgl
2 2
999
555... SSSiiimmmuuulllaaaçççãããooo
AAAsss eeetttaaapppaaasss dddeee sssiiimmmuuulllaaaçççãããooo cccooonnnsssiiisssttteeemmm nnnaaasss ssseeeggguuuiiinnnttteeesss::: ppprrriiimmmeeeiiirrraaammmeeennnttteee cccooommm aaa fffuuunnnçççãããooo
dddaaa ppplllaaannntttaaa (((eeeqqquuuaaaçççãããooo IIIIIIIII))) eeemmm mmmaaalllhhhaaa aaabbbeeerrrtttaaa,,, iiirrreeemmmooosss aaannnaaallliiisssaaarrr aaa rrreeessspppooossstttaaa dddeeesssssseee sssiiisssttteeemmmaaa aaa
eeennntttrrraaadddaaasss iiimmmpppuuulllsssooo,,, dddeeegggrrraaauuu eee aaannnaaallliiissseee dddaaa rrreeessspppooossstttaaa eeemmm fffrrreeeqqqüüüêêênnnccciiiaaa... EEEmmm ssseeeggguuuiiidddaaa ssseeerrrááá fffeeeiiitttooo ooo
cccooonnntttrrrooollleee !IIIDDD pppaaarrraaa aaa ppplllaaannntttaaa eee eeennntttãããooo rrreeepppeeetttiiirrreeemmmooosss aaasss mmmeeesssmmmaaasss aaannnaaallliiissseeesss pppaaarrraaa qqquuueee ssseee pppooossssssaaa
fffaaazzzeeerrr uuummm eeessstttuuudddooo cccooommmpppaaarrraaatttiiivvvooo eeennntttrrreee eeelllaaasss eee vvveeerrriiifffiiicccaaarrr aaa eeefffiiiccciiiêêênnnccciiiaaa dddooo cccooonnntttrrrooolllaaadddooorrr...
VVVaaallleee llleeemmmbbbrrraaarrr qqquuueee aaa sssiiimmmuuulllaaaçççãããooo rrreeeaaallliiizzzaaadddaaa nnneeesssssseee ppprrrooojjjeeetttooo fffoooiii tttooodddaaa fffeeeiiitttaaa nnnooo
MMMAAATTTLLLAAABBB...
!aaarrraaa aaa sssiiimmmuuulllaaaçççãããooo ooocccooorrrrrreeerrr cccooommm sssuuuccceeessssssooo,,, ééé ppprrreeeccciiisssooo dddeeefffiiinnniiirrr aaalllggguuunnnsss pppaaarrrâââmmmeeetttrrrooosss qqquuueee
nnnãããooo fffooorrraaammm dddeeefffiiinnniiidddooosss qqquuuaaannndddooo fffeeeiiitttaaa aaa fffuuunnnçççãããooo tttrrraaannnsssfffeeerrrêêênnnccciiiaaa...
OOO sssiiisssttteeemmmaaa dddeee mmmaaalllhhhaaa aaabbbeeerrrtttaaa pppooodddeee ssseeerrr rrreeeppprrreeessseeennntttaaadddooo pppeeelllooo ssseeeggguuuiiinnnttteee dddiiiaaagggrrraaammmaaa dddeee
bbblllooocccooosss:::
FFFiiiggguuurrraaa 444
OOOnnndddeee aaa ppplllaaannntttaaa ééé dddaaadddaaa pppeeelllaaa eeeqqquuuaaaçççãããooo IIIIIIIII,,, nnnaaa sssiiimmmuuulllaaaçççãããooo,,, ooo rrreeesssuuullltttaaadddooo ooobbbtttiiidddooo dddaaa
fffuuunnnçççãããooo tttrrraaannnsssfffeeerrrêêênnnccciiiaaa cccooommm ooosss pppaaarrrâââmmmeeetttrrrooosss iiinnnssseeerrriiidddooosss fffoooiii:::
TTTrrraaannnsssfffeeerrr fffuuunnnccctttiiiooonnn:::
000...222444
-‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐-
000...111444777222 sss^^^222 -‐-‐- 333...777666666
111000
555...222...111... RRReeessspppooossstttaaa aaaooo IIImmmpppuuulllsssooo
EEEmmm ppprrroooccceeessssssaaammmeeennntttooo dddeee sssiiinnnaaaiiisss,,, aaa rrreeessspppooossstttaaa aaaooo iiimmmpppuuulllsssooo dddeee uuummm sssiiisssttteeemmmaaa ééé aaa
sssaaaííídddaaa dddeeellleee qqquuuaaannndddooo eeemmm sssuuuaaa eeennntttrrraaadddaaa ééé cccooolllooocccaaadddooo uuummm iiimmmpppuuulllsssooo...
EEEmmm sssiiisssttteeemmmaaasss llliiinnneeeaaarrreeesss iiinnnvvvaaarrriiiaaannnttteeesss nnnooo ttteeemmmpppooo (((LLLIIITTT))) aaa rrreeessspppooossstttaaa aaaooo iiimmmpppuuulllsssooo ééé
uuummmaaa cccaaarrraaacccttteeerrríííssstttiiicccaaa iiimmmpppooorrrtttaaannntttíííssssssiiimmmaaa... EEElllaaa pppeeerrrmmmiiittteee cccaaalllcccuuulllaaarrr aaa sssaaaííídddaaa dddooo sssiiisssttteeemmmaaa pppaaarrraaa
qqquuuaaalllqqquuueeerrr sssiiinnnaaalll dddeee eeennntttrrraaadddaaa,,, aaatttrrraaavvvééésss dddaaa cccooonnnvvvooollluuuçççãããooo dddeeesssttteee cccooommm aaa rrreeessspppooossstttaaa aaaooo
iiimmmpppuuulllsssooo dddooo sssiiisssttteeemmmaaa...
5
x 10 Impulse Response
7
4
Amplitude
0
0 0.5 1 1.5 2 2.5 3
Time (sec)
FFFiiiggguuurrraaa 555
CCCooommmooo pppôôôdddeee ssseeerrr ooobbbssseeerrrvvvaaadddooo nnnaaa fffiiiggguuurrraaa,,, ooo rrreeesssuuullltttaaadddooo nnnãããooo fffoooiii ooo eeessspppeeerrraaadddooo,,, ooo
qqquuueee mmmooossstttrrraaa qqquuueee eeesssssseee sssiiisssttteeemmmaaa ééé aaallltttaaammmeeennnttteee iiinnnssstttááávvveeelll... IIIssssssooo dddeeemmmooonnnssstttrrraaa qqquuueee aaaooo aaapppllliiicccaaarrr
ooo iiimmmpppuuulllsssooo ssseeemmm cccooonnntttrrrooollleee ooo ââânnnggguuulllooo cccrrreeesssccceee ssseeemmm pppaaarrraaarrr...
111111
555...222...222... RRReeessspppooossstttaaa aaaooo DDDeeegggrrraaauuu
AAA rrreeessspppooossstttaaa dddeeegggrrraaauuu ééé aaa rrreeessspppooossstttaaa dddooo sssiiisssttteeemmmaaa aaa uuummmaaa eeennntttrrraaadddaaa cccooonnnssstttaaannnttteee,,, eee
cccooommmooo rrreeesssuuullltttaaadddooo eeessspppeeerrraaadddooo,,, ooo sssiiisssttteeemmmaaa dddeeevvveee ssseeeggguuuiiirrr eeessssssaaa eeennntttrrraaadddaaa...
4
x 10 Step Response
14
12
10
8
Amplitude
0
0 0.5 1 1.5 2 2.5 3
Time (sec)
FFFiiiggguuurrraaa 666
MMMaaaiiisss uuummmaaa vvveeezzz pppuuudddeeemmmooosss ooobbbssseeerrrvvvaaarrr qqquuueee ooo gggrrráááfffiiicccooo dddooo sssiiisssttteeemmmaaa eeemmm mmmaaalllhhhaaa
aaabbbeeerrrtttaaa nnnãããooo cccooorrrrrreeessspppooonnndddeee cccooommm ooo eeessspppeeerrraaadddooo,,, mmmooossstttrrraaannndddooo nnnooovvvaaammmeeennnttteee aaa sssuuuaaa
iiinnnssstttaaabbbiiillliiidddaaadddeee... MMMooossstttrrraaa qqquuueee tttaaammmbbbééémmm ooo ââânnnggguuulllooo cccrrreeesssccceee ssseeemmm pppaaarrraaarrr cccooommm rrreeessspppooossstttaaa aaa
eeennntttrrraaadddaaa dddeeegggrrraaauuu... IIIssssssooo pppooodddeee ssseeerrr ooobbbssseeerrrvvvaaadddooo aaatttrrraaavvvééésss dddaaa fffuuunnnçççãããooo !ttteeepppiiinnnfffooo dddooo MMMAAATTTLLLAAABBB,,,
qqquuueee rrreeetttooorrrnnnaaa ooosss pppaaarrrâââmmmeeetttrrrooosss dddaaa rrreeessspppooossstttaaa aaaooo dddeeegggrrraaauuu... !oooiiisss ooo sssiiisssttteeemmmaaa nnnãããooo cccooonnnssseeeggguuueee
eeessstttaaabbbiiillliiizzzaaarrr,,, nnnãããooo ooobbbttteeennndddooo aaassssssiiimmm,,, nnneeennnhhhuuummm pppaaarrrâââmmmeeetttrrrooo...
pppaaarrraaammmeeetttrrrooosss___dddeeegggrrraaauuu___mmmaaalllhhhaaa___aaabbbeeerrrtttaaa ===
RRRiiissseeeTTTiiimmmeee::: NNNaaaNNN
SSSeeettttttllliiinnngggTTTiiimmmeee::: NNNaaaNNN
SSSeeettttttllliiinnngggMMMiiinnn::: NNNaaaNNN
SSSeeettttttllliiinnngggMMMaaaxxx::: NNNaaaNNN
OOOvvveeerrrssshhhoooooottt::: NNNaaaNNN
UUUnnndddeeerrrssshhhoooooottt::: NNNaaaNNN
!eeeaaakkk::: IIInnnfff
!eeeaaakkkTTTiiimmmeee::: IIInnnfff
111222
555...222...333... RRReeessspppooossstttaaa eeemmm fffrrreeeqqqüüüêêênnnccciiiaaa ––– DDDiiiaaagggrrraaammmaaa dddeee BBBooodddeee
RRReeessspppooossstttaaa eeemmm fffrrreeeqqquuuêêênnnccciiiaaa ééé aaa aaannnááállliiissseee dddooo cccooommmpppooorrrtttaaammmeeennntttooo dddeee uuummm sssiiisssttteeemmmaaa
qqquuuaaannntttooo aaaooo ssseeeuuu gggaaannnhhhooo nnnuuummmaaa ccceeerrrtttaaa fffaaaiiixxxaaa dddeee fffrrreeeqqquuuêêênnnccciiiaaa (((ooouuu eeemmm aaalllggguuunnnsss cccaaasssooosss,,,
vvveeellloooccciiidddaaadddeee aaannnggguuulllaaarrr)))...
OOO gggrrráááfffiiicccooo ooonnndddeee ééé aaannnaaallliiisssaaadddaaa aaa rrreeessspppooossstttaaa eeemmm fffrrreeeqqquuuêêênnnccciiiaaa dddeee uuummmaaa rrreeedddeee ééé
gggeeerrraaalllmmmeeennnttteee uuummmaaa cccuuurrrvvvaaa dddeee BBBooodddeee... AAA cccuuurrrvvvaaa dddeee BBBooodddeee cccooonnnsssiiisssttteee dddeee uuummm dddiiiaaagggrrraaammmaaa cccooommm
uuummmaaa eeessscccaaalllaaa llliiinnneeeaaarrr dddeee gggaaannnhhhooo nnnaaa ooorrrdddeeennnaaadddaaa (((eeemmm dddeeeccciiibbbéééiii! (((dddBBB))) ooouuu eeemmm VVVooolllttt pppooorrr VVVooolllttt
(((VVV///VVV)))... AAA uuunnniiidddaaadddeee mmmaaaiii! uuutttiiillliiizzzaaadddaaa ééé dddBBB))) eee uuummmaaa eeessscccaaalllaaa lllooogggaaarrrííítttiiimmmiiicccaaa nnnaaa aaabbbccciiissssssaaa dddeee
fffrrreeeqqquuuêêênnnccciiiaaa (((eeemmm HHHeeerrrtttzzz (((HHHzzz))) ooouuu eeemmm vvveeellloooccciiidddaaadddeee aaannnggguuulllaaarrr (((rrraaaddd///sss))))))...
NNNooo dddiiiaaagggrrraaammmaaa dddeee BBBooodddeee sssãããooo aaappprrreeessseeennntttaaadddaaasss ddduuuaaasss cccuuurrrvvvaaasss,,, aaa CCCuuurrrvvvaaa dddeee GGGaaannnhhhooo,,,
qqquuueee ééé uuummmaaa rrreeeppprrreeessseeennntttaaaçççãããooo dddaaa eeevvvooollluuuçççãããooo dddeee GGG(((jjjwww))) eeemmm eeessscccaaalllaaa lllooogggaaarrrííítttmmmiiicccaaa dddooo sssiiisssttteeemmmaaa,,,
eee aaa CCCuuurrrvvvaaa dddeee FFFaaassseeesss,,, rrreeeppprrreeessseeennntttaaaçççãããooo dddaaa eeevvvooollluuuçççãããooo eeemmm eeessscccaaalllaaa lllooogggaaarrrííítttmmmiiicccaaa dddaaa
fffrrreeeqqqüüüêêênnnccciiiaaa...
Bode Diagram
-20
-30
Magnitude (dB)
-40
-50
-60
-70
-80
-179
-179.5
Phase (deg)
-180
-180.5
-181
0 1 2
10 10 10
Frequency (rad/sec)
FFFiiiggguuurrraaa 777
AAAnnnaaallliiisssaaannndddooo ooo gggrrráááfffiiicccooo dddeee mmmaaagggnnniiitttuuudddeee ssseee pppeeerrrccceeebbbeee ooo qqquuuãããooo iiinnnssstttááávvveeelll ééé ooo sssiiisssttteeemmmaaa,,,
pppoooiiisss aaa cccuuurrrvvvaaa eeessstttááá tttooodddaaa aaabbbaaaiiixxxooo dddaaa fffrrreeeqqqüüüêêênnnccciiiaaa dddeee cccooorrrttteee (((-‐-‐-333dddBBB)))... EEE aaa cccuuurrrvvvaaa dddeee fffaaassseee
mmmooossstttrrraaa qqquuueee nnnãããooo hhhooouuuvvveee dddeeefffaaasssaaammmeeennntttooo...
111333
555...333...SSSiiisssttteeemmmaaa eeemmm MMMaaalllhhhaaa FFFeeeccchhhaaadddaaa cccooommm CCCooonnntttrrrooolllaaadddooorrr PPPIIIDDD
OOO sssiiisssttteeemmmaaa dddeee mmmaaalllhhhaaa aaabbbeeerrrtttaaa pppooodddeee ssseeerrr rrreeeppprrreeessseeennntttaaadddooo pppeeelllooo ssseeeggguuuiiinnnttteee dddiiiaaagggrrraaammmaaa dddeee
bbblllooocccooosss:::
FFFiiiggguuurrraaa 888
AAA fffuuunnnçççãããooo tttrrraaannnsssfffeeerrrêêênnnccciiiaaa dddeeesssssseee sssiiisssttteeemmmaaa ééé ooobbbtttiiidddooo aaatttrrraaavvvééésss dddaaa fffuuunnnçççãããooo fffeeeeeedddbbbaaaccckkk dddooo
MMMAAATTTLLLAAABBB... EEEssssssaaa fffuuunnnçççãããooo fffaaazzz eeexxxaaatttaaammmeeennnttteee ooo qqquuueee aaa fffiiiggguuurrraaa 888 mmmooossstttrrraaa,,, aaa cccooonnnvvvooollluuuçççãããooo dddooo
CCCooonnntttrrrooolllaaadddooorrr !IIIDDD cccooommm aaa !lllaaannntttaaa dddooo sssiiisssttteeemmmaaa cccooommm rrreeeaaallliiimmmeeennntttaaaçççãããooo uuunnniiitttááárrriiiaaa... FFFooorrraaammm
eeexxxeeecccuuutttaaadddooosss vvvááárrriiiooosss ttteeesssttteeesss cccooommm aaasss cccooonnntttaaannnttteeesss dddooo cccooonnntttrrrooolllaaadddooorrr pppaaarrraaa qqquuueee hhhooouuuvvveeesssssseee uuummmaaa
rrreeessspppooossstttaaa sssaaatttiiisssfffaaatttóóórrriiiaaa tttaaannntttooo pppaaarrraaa aaasss aaalllooocccaaaçççõõõeeesss dddaaasss rrraaaííízzzeeesss cccooommmooo pppaaarrraaa ooosss pppaaarrrâââmmmeeetttrrrooosss dddooo
dddeeegggrrraaauuu (((ttteeemmmpppooo dddeee pppiiicccooo,,, ttteeemmmpppooo dddeee aaacccooommmooodddaaaçççãããooo,,, eeetttccc...)))...
AAAssssssiiimmm,,, ooosss vvvaaalllooorrreeesss dddeee KKK dddooo cccooonnntttrrrooolllaaadddooorrr sssãããooo:::
kp = 140;
kd = 20;
ki = 180;
Ki
FT _ controlador Kp Kd s
s
FFFaaazzz-‐-‐-ssseee aaa cccooonnnvvvooollluuuçççãããooo cccooommm aaa FFFuuunnnçççãããooo TTTrrraaannnsssfffeeerrrêêênnnccciiiaaa dddaaa !lllaaannntttaaa aaatttrrraaavvvééésss dddaaa fffuuunnnçççãããooo
fffeeeeeedddbbbaaaccckkk:::
FT_malha_fechada = feedback(FT_malha_aberta*FT_controlador,1)
EEE aaassssssiiimmm,,, ooobbbtttêêêmmm-‐-‐-ssseee aaa FFFuuunnnçççãããooo TTTrrraaannnsssfffeeerrrêêênnnccciiiaaa dddeee MMMaaalllhhhaaa FFFeeeccchhhaaadddaaa dddooo SSSiiisssttteeemmmaaa:::
TTTrrraaannnsssfffeeerrr fffuuunnnccctttiiiooonnn:::
444...888 sss^^^222 +++ 333333...666 sss +++ 444333...222
-‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐--‐-‐-
000...111444777222 sss^^^333 +++ 444...888 sss^^^222 +++ 222999...888333 sss +++ 444333...222
111444
555...333...111... RRReeessspppooossstttaaa aaaooo IIImmmpppuuulllsssooo
AAAgggooorrraaa cccooommm aaa eeennntttrrraaadddaaa dddooo CCCooonnntttrrrooolllaaadddooorrr !IIIDDD,,, pppooodddeeemmmooosss aaannnaaallliiisssaaarrr aaa rrreeessspppooossstttaaa aaaooo
IIImmmpppuuulllsssooo nnnooo SSSiiisssttteeemmmaaa dddeee MMMaaalllhhhaaa FFFeeeccchhhaaadddaaa eee cccooommmpppaaarrraaarrr cccooommm ooo SSSiiisssttteeemmmaaa dddeee MMMaaalllhhhaaa
AAAbbbeeerrrtttaaa...
Impulse Response
35
30
25
20
Amplitude
15
10
-5
0 0.5 1 1.5 2 2.5 3
Time (sec)
FFFiiiggguuurrraaa 999
CCCooommmpppaaarrraaannndddooo aaa fffiiiggguuurrraaa 999 cccooommm aaa fffiiiggguuurrraaa 555,,, vvveeemmmooosss aaa mmmeeelllhhhooorrraaa qqquuueee hhhooouuuvvveee nnnooo
sssiiisssttteeemmmaaa,,, rrreeessspppooonnndddeeennndddooo dddeee fffooorrrmmmaaa eeessstttááávvveeelll ààà eeennntttrrraaadddaaa iiimmmpppuuulllsssooo...
111555
555...333...222... RRReeessspppooossstttaaa aaaooo DDDeeegggrrraaauuu
CCCooommmooo dddiiitttooo aaannnttteeerrriiiooorrrmmmeeennnttteee,,, aaagggooorrraaa ssseeerrrááá fffeeeiiitttaaa aaa cccooommmpppaaarrraaaçççãããooo eee aaannnttteeesss eee dddeeepppoooiiisss
dddaaa eeennntttrrraaadddaaa dddooo cccooonnntttrrrooolllaaadddooorrr !IIIDDD...
Step Response
1.4
1.2
0.8
Amplitude
0.6
0.4
0.2
0
0 0.5 1 1.5 2 2.5 3
Time (sec)
FFFiiiggguuurrraaa 111000
CCCooonnnsssiiidddeeerrraaannndddooo aaa iiinnnssstttaaabbbiiillliiidddaaadddeee qqquuueee eeerrraaa ooo sssiiisssttteeemmmaaa aaannnttteeesss,,, fffiiiggguuurrraaa 666,,, pppooodddeee-‐-‐-ssseee
pppeeerrrccceeebbbeeerrr qqquuueee hhhooouuuvvveee uuummm cccooonnnsssiiidddeeerrrááávvveeelll aaajjjuuusssttteee,,, qqquuueee aaapppeeesssaaarrr dddeee aaappprrreeessseeennntttaaarrr uuummm MMMppp
(((mmmáááxxxiiimmmooo sssooobbbrrreee-‐-‐-sssiiinnnaaalll))) uuummm pppooouuucccooo gggrrraaannndddeee,,, cccooommmpppaaarrraaannndddooo cccooommm aaa sssiiisssttteeemmmaaa eeemmm mmmaaalllhhhaaa
aaabbbeeerrrtttaaa,,, pppooodddeee-‐-‐-ssseee dddiiizzzeeerrr qqquuueee ooo sssiiisssttteeemmmaaa ssseee tttooorrrnnnooouuu eeessstttááávvveeelll...
!ooodddeeemmmooosss ooobbbttteeerrr ooosss vvvaaalllooorrreeesss dddooosss pppaaarrrâââmmmeeetttrrrooosss dddaaa rrreeessspppooossstttaaa aaaooo dddeeegggrrraaauuu mmmaaaiiisss uuummm
vvveeezzz uuutttiiillliiizzzaaannndddooo aaa fffuuunnnçççãããooo !ttteeepppiiinnnfffooo dddooo MMMAAATTTLLLAAABBB...
pppaaarrraaammmeeetttrrrooosss___dddeeegggrrraaauuu___mmmaaalllhhhaaa___fffeeeccchhhaaadddaaa ===
RRRiiissseeeTTTiiimmmeee::: 000...000444666777
SSSeeettttttllliiinnngggTTTiiimmmeee::: 111...222222777333
SSSeeettttttllliiinnngggMMMiiinnn::: 111...000000000000
SSSeeettttttllliiinnngggMMMaaaxxx::: 111...111999999000
OOOvvveeerrrssshhhoooooottt::: 111999...999000333111
UUUnnndddeeerrrssshhhoooooottt::: 000
!eeeaaakkk::: 111...111999999000
!eeeaaakkkTTTiiimmmeee::: 000...111666999888
111666
555...333...333... RRReeessspppooossstttaaa eeemmm fffrrreeeqqqüüüêêênnnccciiiaaa ––– DDDiiiaaagggrrraaammmaaa dddeee BBBooodddeee
Bode Diagram
10
System: FT_malha_fechada
Frequency (rad/sec): 38.5
0 Magnitude (dB): -3
Magnitude (dB)
-10
-20
-30
45
0
Phase (deg)
-45
-90
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
FFFiiiggguuurrraaa 111111
OOO dddiiiaaagggrrraaammmaaa mmmooossstttrrraaa qqquuueee hhhááá uuummm dddeeefffaaasssaaammmeeennntttooo nnnaaa fffaaassseee dddooo sssiiisssttteeemmmaaa eee mmmooossstttrrraaa
tttaaammmbbbééémmm qqquuueee ooo sssiiisssttteeemmmaaa aaagggeee cccooommmooo uuummm pppaaassssssaaa-‐-‐-bbbaaaiiixxxaaa tttrrraaabbbaaalllhhhaaannndddooo cccooommm gggaaannnhhhooo uuunnniiitttááárrriiiooo
ooouuu ppprrróóóxxxiiimmmooo dddeeellleee aaatttééé aaatttiiinnngggiiirrr sssuuuaaa fffrrreeeqqqüüüêêênnnccciiiaaa dddeee cccooorrrttteee eeemmm 333888...555 rrraaaddd///ssseeeggg...
111777
555...333...444... GGGrrráááfffiiicccooo dddooosss PPPóóólllooosss eee ZZZeeerrrooosss
Pole-Zero Map
1
0.999 0.998 0.996 0.99 0.976 0.9
0.8
1
0.6
0.4 1
0.2
Imaginary Axis
20 15 10 5
0
-0.2
-0.4 1
-0.6
1
-0.8
0.999 0.998 0.996 0.99 0.976 0.9
-1
-25 -20 -15 -10 -5 0
Real Axis
FFFiiiggguuurrraaa 111222
AAAtttrrraaavvvééésss dddaaa fffuuunnnçççãããooo [[[zzz ppp]]] fffoooiii pppooossssssííívvveeelll ooobbbttteeerrr ooosss vvvaaalllooorrreeesss dddooosss pppóóólllooosss eee zzzeeerrrooosss:::
UUUtttiiillliiizzzaaammmooosss ooosss vvvaaalllooorrreeesss dddaaa FFFTTT dddeee mmmaaalllhhhaaa fffeeeccchhhaaadddaaa eee aaapppllliiicccaaammmooosss aaa fffuuunnnçççãããooo:::
num2 = [4.8 33.6 43.2];
den2 = [0.1472 4.8 29.83 43.2];
[z p]=tf2zp(num2,den2)
-‐-‐-555...333000222888
-‐-‐-111...666999777222
ppp ===
-‐-‐-222444...999666111111
-‐-‐-555...555111666111
-‐-‐-222...111333111555
111888
555...444...SSSiiisssttteeemmmaaa cccooommm CCCooommmpppeeennnsssaaadddooorrr LLLeeeaaaddd-‐-‐-lllaaaggg (((MMMééétttooodddooo dddooo LLLuuugggaaarrr dddaaasss RRRaaaííízzzeeesss)))
OOO mmmééétttooodddooo rrreeeppprrreeessseeennntttaaa gggrrraaafffiiicccaaammmeeennnttteee ooosss pppóóólllooosss dddaaa fffuuunnnçççãããooo dddeee tttrrraaannnsssfffeeerrrêêênnnccciiiaaa eeemmm
mmmaaalllhhhaaa fffeeeccchhhaaadddaaa eee aaasss sssuuuaaasss vvvááárrriiiaaasss lllooocccaaallliiizzzaaaçççõõõeeesss,,, eeemmm fffuuunnnçççãããooo dddaaa vvvaaarrriiiaaaçççãããooo dddeee aaalllggguuummm
pppaaarrrâââmmmeeetttrrrooo ppprrreeessseeennnttteee nnnaaa fffuuunnnçççãããooo dddeee tttrrraaannnsssfffeeerrrêêênnnccciiiaaa (((ooo gggaaannnhhhooo KKK)))...
OOO llluuugggaaarrr dddaaasss rrraaaííízzzeeesss (((rrroooooottt lllooocccuuu!))) nnnooosss dddááá aaa tttrrraaajjjeeetttóóórrriiiaaa qqquuueee aaasss rrraaaííízzzeeesss vvvãããooo ttteeerrr qqquuuaaannndddooo
nnnóóósss fffeeeccchhhaaarrrmmmooosss aaa mmmaaalllhhhaaa dddeee cccooonnntttrrrooollleee,,, ooouuu ssseeejjjaaa,,, aaa mmmiiigggrrraaaçççãããooo dddaaasss rrraaaííízzzeeesss dddaaa mmmaaalllhhhaaa aaabbbeeerrrtttaaa
pppaaarrraaa aaa mmmaaalllhhhaaa fffeeeccchhhaaadddaaa cccooommm ooo cccooommmpppeeennnsssaaadddooorrr llleeeaaaddd-‐-‐-lllaaaggg...
TTTeeemmmooosss qqquuueee aaa FFFuuunnnçççãããooo TTTrrraaannnsssfffeeerrrêêênnnccciiiaaa dddooo CCCooommmpppeeennnsssaaadddooorrr llleeeaaaddd-‐-‐-lllaaaggg ééé dddaaadddaaa pppooorrr:::
k ( s a )( s c)
FT _ comp
( s b)( s c)
!ooodddeeemmmooosss ooobbbssseeerrrvvvaaarrr qqquuueee kkk ssseeerrrááá aaa vvvaaarrriiiááávvveeelll nnnooo gggrrráááfffiiicccooo eee dddeeefffiiinnniiimmmooosss ooosss ooouuutttrrrooosss
pppaaarrrâââmmmeeetttrrrooosss eeemmm:::
a = 7; b = 1; c = 6; d = 300;
UUUtttiiillliiizzzaaammmooosss aaa fffuuunnnçççãããooo rrrlllooocccuuu! dddooo MMMAAATTTLLLAAABBB dddaaa cccooonnnvvvooollluuuçççãããooo FFFTTT (((FFFuuunnnçççãããooo
TTTrrraaannnsssfffeeerrrêêênnnccciiiaaa))) dddooo sssiiisssttteeemmmaaa eeemmm mmmaaalllhhhaaa aaabbbeeerrrtttaaa cccooommm aaa FFFTTT dddooo cccooommmpppeeennnsssaaadddooorrr llleeeaaaddd-‐-‐-lllaaaggg pppaaarrraaa
ooobbbssseeerrrvvvaaarrr ooo gggrrráááfffiiicccooo dddaaasss rrraaaííízzzeeesss:::
rlocus(FT_comp*FT_malha_aberta)
Root Locus
300
200
100
Imaginary Axis
-100
-200
-300
-1200 -1000 -800 -600 -400 -200 0 200
Real Axis
FFFiiiggguuurrraaa 111333
111999
EEE aaappprrroooxxxiiimmmaaannndddooo aaa fffiiiggguuurrraaa pppaaarrraaa pppeeerrrtttooo dddaaa ooorrriiigggeeemmm,,, ttteeemmmooosss:::
Root Locus
10
2
Imaginary Axis
-2
-4
-6
-8
-10
-10 -8 -6 -4 -2 0 2 4 6 8 10
Real Axis
FFFiiiggguuurrraaa 111444
NNNaaa fffiiiggguuurrraaa 111333,,, uuutttiiillliiizzzaaammmooosss aaa fffuuunnnçççãããooo rrrlllooocccfffiiinnnddd pppaaarrraaa ooobbbttteeerrr ooo vvvaaalllooorrr dddooo gggaaannnhhhooo eeemmm uuummmaaa
dddeeettteeerrrmmmiiinnnaaadddaaa pppooosssiiiçççãããooo,,, eee ooo vvvaaalllooorrr ooobbbtttiiidddooo fffoooiii:::
[k]=rlocfind(FT_comp*FT_malha_aberta)
k =
3.98e+003
OOObbbtttiiidddooo ooo gggaaannnhhhooo,,, pppooodddeee-‐-‐-ssseee fffaaazzzeeerrr aaa MMMaaalllhhhaaa fffeeeccchhhaaadddaaa cccooommm ooo cccooommmpppeeennnsssaaadddooorrr llleeeaaaddd-‐-‐-lllaaaggg eee
rrreeeaaallliiimmmeeennntttaaaçççãããooo uuunnniiitttááárrriiiaaa,,, dddaaa mmmeeesssmmmaaa fffooorrrmmmaaa qqquuueee fffiiizzzeeemmmooosss pppaaarrraaa ooo cccooonnntttrrrooolllaaadddooorrr !IIIDDD:::
FT_MF_comp=feedback(FT_malha_aberta,k*FT_comp)
CCCooommm FFFTTT dddooo cccooommmpppeeennnsssaaadddooorrr llleeeaaaddd-‐-‐-lllaaaggg eeemmm mmmaaalllhhhaaa fffeeeccchhhaaadddaaa,,, jjjááá ééé pppooossssssííívvveeelll ooobbbttteeerrr aaa
rrreeessspppooossstttaaa aaaooo iiimmmpppuuulllsssooo eee aaaooo dddeeegggrrraaauuu dddooo sssiiisssttteeemmmaaa...
222000
555...444...111... RRReeessspppooossstttaaa aaaooo IIImmmpppuuulllsssooo
Impulse Response
0.35
0.3
0.25
0.2
Amplitude
0.15
0.1
0.05
0
0 5 10 15 20 25 30 35 40 45 50
Time (sec)
FFFiiiggguuurrraaa 111555
CCCooommmpppaaarrraaadddaaa ààà rrreeessspppooossstttaaa aaaooo iiimmmpppuuulllsssooo dddooo cccooonnntttrrrooolllaaadddooorrr !IIIDDD (((fffiiiggguuurrraaa 999))),,,
ooobbbssseeerrrvvvaaa-‐-‐-ssseee qqquuueee eeelllaaa pppooossssssuuuiii uuummm ttteeemmmpppooo dddeee aaacccooommmooodddaaaçççãããooo mmmuuuiiitttooo mmmaaaiiiooorrr...
222111
555...444...222... RRReeessspppooossstttaaa aaaooo DDDeeegggrrraaauuu
Step Response
1
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 5 10 15 20 25 30 35 40 45 50
Time (sec)
FFFiiiggguuurrraaa 111666
aaannnsss ===
RRRiiissseeeTTTiiimmmeee::: 555...666000444000
SSSeeettttttllliiinnngggTTTiiimmmeee::: 111000...111555333888
SSSeeettttttllliiinnngggMMMiiinnn::: 000...888777888444
SSSeeettttttllliiinnngggMMMaaaxxx::: 000...999777555222
OOOvvveeerrrssshhhoooooottt::: 000
UUUnnndddeeerrrssshhhoooooottt::: 000
!eeeaaakkk::: 000...999777555222
!eeeaaakkkTTTiiimmmeee::: 222555...111555444444
EEE mmmaaaiiisss uuummmaaa vvveeezzz,,, aaassssssiiimmm cccooommmooo nnnooo iiimmmpppuuulllsssooo,,, ooobbbssseeerrrvvvaaammmooosss qqquuueee ooo ttteeemmmpppooo dddeee
aaacccooommmooodddaaaçççãããooo ééé mmmuuuiiitttooo mmmaaaiiiooorrr qqquuueee eeemmm rrreeelllaaaçççãããooo aaaooo dddeeegggrrraaauuu dddooo cccooonnntttrrrooolllaaadddooorrr !IIIDDD,,, eee aaallleeemmm
dddeeellleee,,, ooo ttteeemmmpppooo dddeee pppiiicccooo eee ooo ttteeemmmpppooo dddeee sssuuubbbiiidddaaa tttaaammmbbbééémmm...
222222
555...444...333... RRReeessspppooossstttaaa eeemmm FFFrrreeeqqquuuêêênnnccciiiaaa ––– DDDiiiaaagggrrraaammmaaa dddeee BBBooodddeee
Bode Diagram
0
System: FT_MF_comp
Frequency (rad/sec): 0.371
-50
Magnitude (dB): -3.04
Magnitude (dB)
-100
-150
-200
0
-45
Phase (deg)
-90
-135
-180
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (rad/sec)
FFFiiiggguuurrraaa 111777
OOO sssiiisssttteeemmmaaa cccooonnntttiiinnnuuuaaa aaagggiiinnndddooo cccooommm uuummm pppaaassssssaaa-‐-‐-bbbaaaiiixxxaaa aaatttééé aaatttiiinnngggiiirrr sssuuuaaa fffrrreeeqqqüüüêêênnnccciiiaaa
dddeee cccooorrrttteee dddeee 000...333777111 rrraaaddd///ssseeeggg...
222333
555...555...SSSiiisssttteeemmmaaa CCCooonnntttrrrooolllaaadddooo aaatttrrraaavvvééésss dddeee AAAlllooocccaaaçççãããooo dddeee PPPóóólllooosss
OOO ppprrrooojjjeeetttooo dddeee uuummm cccooonnntttrrrooolllaaadddooorrr pppooorrr aaalllooocccaaaçççãããooo dddeee pppóóólllooosss vvviiisssaaa uuutttiiillliiizzzaaarrr uuummmaaa
lllóóógggiiicccaaa dddeee cccooonnntttrrrooollleee qqquuueee eeessstttaaabbbiiillliiizzzeee uuummm sssiiisssttteeemmmaaa,,, aaa ppprrriiinnncccííípppiiiooo iiinnnssstttááávvveeelll... AAAssssssiiimmm,,, ééé
pppooossssssííívvveeelll dddeeessslllooocccaaarrr ooosss pppóóólllooosss dddaaa mmmaaatttrrriiizzz dddeee tttrrraaannnsssfffeeerrrêêênnnccciiiaaa dddaaa pppaaarrrttteee pppooosssiiitttiiivvvaaa dddooo ppplllaaannnooo
RRReeeaaalll pppaaarrraaa aaa pppaaarrrttteee nnneeegggaaatttiiivvvaaa,,, eeessstttaaabbbiiillliiizzzaaannndddooo ooo sssiiisssttteeemmmaaa...
!rrriiimmmeeeiiirrraaammmeeennnttteee uuutttiiillliiizzzaaammmooosss aaa fffuuunnnçççãããooo [[[zzz ppp]]] nnnaaa FFFTTT dddaaa ppplllaaannntttaaa pppaaarrraaa ooobbbttteeerrr ooosss
vvvaaalllooorrreeesss dddooosss pppóóólllooosss qqquuuaaannndddooo ooo sssiiisssttteeemmmaaa aaaiiinnndddaaa ééé eeessstttááávvveeelll...
zzz ===
ppp ===
555...000555777999
-‐-‐-555...000555777999
DDDaaaííí,,, pppeeerrrccceeebbbeeemmmooosss qqquuueee aaa ppplllaaannntttaaa nnnãããooo pppooossssssuuuiii zzzeeerrrooosss eee qqquuueee tttaaammmbbbééémmm pppooossssssuuuiii uuummm pppóóólllooo
pppooosssiiitttiiivvvooo,,, ooo qqquuueee fffaaazzz ooo sssiiisssttteeemmmaaa ssseee tttooorrrnnnaaarrr iiinnnssstttááávvveeelll... EEEllleeesss tttaaammmbbbééémmm pppooodddeeemmm ssseeerrr ooobbbssseeerrrvvvaaadddooosss
pppeeelllaaa fffiiiggguuurrraaa aaabbbaaaiiixxxooo:::
Pole-Zero Map
1
0.98 0.96 0.91 0.7
0.8 0.99
0.6
0.996
0.4 0.998
0.2 1
Imaginary Axis
6 5 4 3 2 1
0
-0.2 1
-0.4 0.998
0.996
-0.6
-0.8 0.99
0.98 0.96 0.91 0.7
-1
-6 -4 -2 0 2 4 6
Real Axis
FFFiiiggguuurrraaa 111888
222444
AAA pppaaarrrtttiiirrr dddaaaííí,,, dddeeevvveee-‐-‐-ssseee cccrrriiiaaarrr uuummm cccooonnntttrrrooolllaaadddooorrr qqquuueee fffaaaçççaaa cccooommm qqquuueee ooo pppóóólllooo pppooosssiiitttiiivvvooo vvvááá
pppaaarrraaa ooo eeeiiixxxooo nnneeegggaaatttiiivvvooo,,, eeennntttãããooo,,, pppooorrr ttteeennntttaaatttiiivvvaaasss fffoooiii ooobbbtttiiidddooo aaa FFFTTT dddooo cccooonnntttrrrooolllaaadddooorrr:::
TTTrrraaannnsssfffeeerrr fffuuunnnccctttiiiooonnn:::
555000 sss +++ 111000000000
NNNooosss uuutttiiillliiizzzaaannndddooo mmmaaaiiisss uuummmaaa vvveeezzz dddaaa fffuuunnnçççãããooo fffeeeeeedddbbbaaaccckkk,,, cccrrriiiaaammmooosss uuummmaaa FFFTTT dddeee mmmaaalllhhhaaa
fffeeeccchhhaaadddaaa pppaaarrraaa eeesssssseee sssiiisssttteeemmmaaa:::
FT_MF_aloc = feedback(FT_malha_aberta*FT_aloc,1)
Transfer function:
12 s + 240
-------------------------
0.1472 s^2 + 12 s + 236.2
DDDeeepppoooiiisss dddeee cccrrriiiaaadddaaa aaa nnnooovvvaaa FFFTTT,,, uuutttiiillliiizzzaaammmooosss aaa fffuuunnnçççãããooo pppzzzmmmaaappp,,, qqquuueee ooorrriiigggiiinnnaaa uuummm gggrrráááfffiiicccooo,,,
pppaaarrraaa lllooocccaaallliiizzzaaarrr ooosss pppóóólllooosss eee zzzeeerrrooosss dddaaa nnnooovvvaaa fffuuunnnçççãããooo:::
Pole-Zero Map
1
1 0.999 0.999 0.998 0.994 0.97
0.8
1
0.6
-0.2
-0.4 1
-0.6
1
-0.8
1 0.999 0.999 0.998 0.994 0.97
-1
-50 -45 -40 -35 -30 -25 -20 -15 -10 -5 0
Real Axis
FFFiiiggguuurrraaa 111999
AAAgggooorrraaa cccooommm eeesssssseee sssiiisssttteeemmmaaa mmmaaaiiisss eeessstttááávvveeelll,,, vvvaaammmooosss ppprrrooocccuuurrraaarrr aaasss rrreeessspppooossstttaaasss aaaooo iiimmmpppuuulllsssooo,,,
dddeeegggrrraaauuu eee eeemmm fffrrreeeqqqüüüêêênnnccciiiaaa...
222555
555...555...111... RRReeessspppooossstttaaa aaaooo IIImmmpppuuulllsssooo
Impulse Response
90
80
70
60
50
Amplitude
40
30
20
10
-10
0 0.05 0.1 0.15
Time (sec)
fffiiiggguuurrraaa 222000
OOObbbssseeerrrvvvaaa-‐-‐-ssseee qqquuueee eeessssssaaa rrreeessspppooossstttaaa ééé tttãããooo rrrááápppiiidddaaa qqquuuaaannntttooo aaaooo dddooo cccooonnntttrrrooolllaaadddooorrr !IIIDDD...
Step Response
1.4
1.2
0.8
Amplitude
0.6
0.4
0.2
0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18
Time (sec)
FFFiiiggguuurrraaa 222111
DDDooosss cccooonnntttrrrooolllaaadddooorrreeesss,,, ééé ooo qqquuueee aaappprrreeessseeennntttaaa aaa rrreeessspppooossstttaaa mmmaaaiiisss rrrááápppiiidddaaa,,, ooobbbssseeerrrvvveee ooosss
pppaaarrrâââmmmeeetttrrrooosss:::
222666
aaannnsss ===
RRRiiissseeeTTTiiimmmeee::: 000...000111888555
SSSeeettttttllliiinnngggTTTiiimmmeee::: 000...111333333888
SSSeeettttttllliiinnngggMMMiiinnn::: 000...999666333222
SSSeeettttttllliiinnngggMMMaaaxxx::: 111...111444111666
OOOvvveeerrrssshhhoooooottt::: 111222...333666888111
UUUnnndddeeerrrssshhhoooooottt::: 000
!eeeaaakkk::: 111...111444111666
!eeeaaakkkTTTiiimmmeee::: 000...000555111000
Bode Diagram
5
0
Magnitude (dB)
-5
System: FT_MF_aloc
Frequency (rad/sec): 100
-10
Magnitude (dB): -3
-15
-20
-25
0
Phase (deg)
-45
-90
0 1 2 3
10 10 10 10
Frequency (rad/sec)
FFFiiiggguuurrraaa 222222
AAAtttuuuaaa mmmaaaiiisss uuummmaaa vvveeezzz cccooommmooo fffiiillltttrrrooo pppaaassssssaaa-‐-‐-bbbaaaiiixxxaaa aaatttééé sssuuuaaa fffrrreeeqqqüüüêêênnnccciiiaaa dddeee cccooorrrttteee dddeee
111000000 rrraaaddd///ssseeeggg ssseee tttooorrrnnnaaannndddooo ooo qqquuueee tttrrraaabbbaaalllhhhaaa eeemmm mmmaaaiiisss fffrrreeeqqqüüüêêênnnccciiiaaasss dddooo qqquuueee ooosss ooouuutttrrrooosss...
222777
666... SSScccrrriiipppttt dddooo MMMAAATTTLLLAAABBB
clear all
clc
% Parâmetros do Sistema
M = 1;
m = 0.6;
l = 0.4;
I = 0.032;
g = 9.80665;
num = [m*l];
den = [x 0 -(M+m)*m*g*l];
kp = 140;
kd = 20;
ki = 180;
FT_controlador=tf([kd kp ki],[1 0]);
t=0:0.01:3;
222888
% Resposta ao impulso do Sistema em Malha fechada do controle PID
figure(4)
impulse(FT_malha_fechada,t)
grid on
% Determinação do ganho K
figure(9)
rlocus(FT_comp*FT_malha_aberta)
axis([-10 10 -10 10])
%[k]=rlocfind(FT_comp*FT_malha_aberta)
k=3.98e+003
FT_MF_comp=feedback(FT_malha_aberta,k*FT_comp)
t2=0:0.01:50;
222999
% Resposta em frequencia do Sistema em Malha fechada do compensador
lead-lag
figure (12)
bode(FT_MF_comp)
grid on
333000
777... CCCooonnncccllluuusssãããooo
AAAtttrrraaavvvééésss dddeeesssssseee ppprrrooojjjeeetttooo dddeee cccooonnntttrrrooollleee,,, fffoooiii pppooossssssííívvveeelll pppooorrr eeemmm ppprrrááátttiiicccaaa,,, pppeeelllooo mmmeeennnooosss
aaatttrrraaavvvééésss dddaaa sssiiimmmuuulllaaaçççãããooo ooo cccooonnnttteeeúúúdddooo eeessstttuuudddaaadddooo nnnaaa cccaaadddeeeiiirrraaa dddeee CCCooonnntttrrrooollleee III... EEEllleee tttaaammmbbbééémmm nnnooosss
“““fffooorrrçççooouuu””” aaa eeessstttuuudddaaarrr mmmaaaiiisss aaa fffuuunnndddooo sssiiisssttteeemmmaaasss iiinnnssstttááávvveeeiiisss pppaaarrraaa pppooodddeeerrr eeennnfffiiimmm eeessstttaaabbbiiillliiizzzááá-‐-‐-lllooosss
aaatttrrraaavvvééésss dddeee cccooonnntttrrrooolllaaadddooorrreeesss eee cccooommmpppeeennnsssaaadddooorrreeesss...
ÉÉÉ ccclllaaarrrooo qqquuueee ooo eeessstttuuudddooo dddeee cccooonnntttrrrooolllaaadddooorrreeesss !IIIDDD,,, cccooommmpppeeennnsssaaadddooorrreeesss llleeeaaaddd-‐-‐-lllaaaggg,,, eee aaalllooocccaaaçççãããooo
dddeee pppóóólllooosss tttaaammmbbbééémmm fffooorrraaammm bbbaaassstttaaannnttteee aaappprrrooofffuuunnndddaaadddooosss,,, dddaaannndddooo pppaaarrraaa ooo eeessstttuuudddaaannnttteee uuummm bbbooommm
eeemmmbbbaaasssaaammmeeennntttooo ppprrraaatttiiicccooo,,, pppoooiiisss aaatttrrraaavvvééésss dddaaasss sssiiimmmuuulllaaaçççõõõeeesss fffeeeiiitttaaasss eeemmm MMMAAATTTLLLAAABBB,,, fffoooiii pppooossssssííívvveeelll
aaannnaaallliiisssaaarrr aaasss rrreeessspppooossstttaaasss dddeeesssssseee sssiiisssttteeemmmaaasss qqquuueee sssãããooo uuummmaaa aaappprrroooxxxiiimmmaaaçççãããooo dddooo qqquuueee aaacccooonnnttteeeccceee nnnaaa
rrreeeaaallliiidddaaadddeee,,, dddeeeiiixxxaaannndddooo ooo aaallluuunnnooo mmmaaaiiisss mmmoootttiiivvvaaadddooo pppaaarrraaa aaappprrreeennndddeeerrr...
!ooorrrtttaaannntttooo,,, aaacccrrreeedddiiitttooo qqquuueee eeesssttteee ppprrrooojjjeeetttooo fffoooiii dddeee fffuuunnndddaaammmeeennntttaaalll iiimmmpppooorrrtttââânnnccciiiaaa pppaaarrraaa ooo
aaappprrreeennndddiiizzzaaadddooo iiinnnttteeellleeeccctttuuuaaalll dddooosss aaallluuunnnooosss... EEE tttaaammmbbbééémmm aaacccrrreeedddiiitttooo qqquuueee ssseeeuuusss rrreeesssuuullltttaaadddooosss fffooorrraaammm
bbbaaassstttaaannnttteee sssaaatttiiisssfffaaatttóóórrriiiooosss...
333111
888... RRReeefffeeerrrêêênnnccciiiaaasss
x hhhttttttppp::://////wwwwwwwww...dddeeelll...uuufffmmmsss...bbbrrr///DDDEEELLL///pppeeettt///aaapppooossstttiiilllaaasss///MMMAAATTTLLLAAABBB///CCCooonnntttrrrooollleee%%%222000cccooommm%%%222000MMMAAA
TTTLLLAAABBB...dddoooccc
x hhhttttttppp::://////wwwwwwwww...uuufffsssmmm...bbbrrr///gggeeepppoooccc///rrreeennneeesss///TTTeeemmmppplllaaattteeesss///aaarrrqqquuuiiivvvooosss///eeelllccc111000333111///EEELLLCCC111000333111...LLL777...333...
pppdddfff
x hhhttttttppp::://////wwwwwwwww...mmmeee...cccmmmuuu...eeeddduuu///ccctttmmmsss///cccooonnntttrrrooolllsss///ccctttmmmsss///eeexxxaaammmpppllleeesss///pppeeennnddd///iiinnnvvvrrrlll...hhhtttmmm
x hhhttttttppp::://////wwwwwwwww...mmmeee...cccmmmuuu...eeeddduuu///ccctttmmmsss///cccooonnntttrrrooolllsss///ccctttmmmsss///eeexxxaaammmpppllleeesss///pppeeennnddd///iiinnnvvvpppiiiddd...hhhtttmmm
x hhhttttttppp::://////mmmeeemmmbbbeeerrrsss...fffooorrrtttuuunnneeeccciiitttyyy...cccooommm///cccaaammmuuusssppp///rrreeelllaaatttooorrriiiooosss///cccooonnntttrrrooollleee222///TTTrrraaabbbaaalllhhhooo%%%222000ddd
eee%%%222000CCCooonnntttrrrooollleee...dddoooccc
x aaadddmmm-‐-‐-nnneeettt-‐-‐-aaa...uuunnniiifffeeeiii...eeeddduuu...bbbrrr///ppphhhlll///pppdddfff///000000333000777111444...pppdddfff
x BBBOOOLLLTTTOOONNN,,, WWW... EEEnnngggeeennnhhhaaarrriiiaaa dddeee CCCooonnntttrrrooollleee,,, MMMaaakkkrrrooonnn BBBooooookkksss dddooo BBBrrraaasssiiilll,,, SSSãããooo !aaauuulllooo,,, 111999999333...
x FFFRRRAAANNNKKKLLLIIINNN,,, GGG... FFF...;;; !OOOWWWEEELLLLLL,,, JJJ... DDD...;;; EEEMMMAAAMMMIII-‐-‐-NNNAAAEEEIIINNNIII,,, AAA... FFFeeeeeedddbbbaaaccckkk CCCooonnntttrrrooolll ooofff
DDDyyynnnaaammmiiiccc SSSyyysssttteeemmmsss,,, AAAddddddiiisssooonnn-‐-‐-WWWeeesssllleeeyyy !uuubbbllliiissshhhiiinnnggg CCCooommmpppaaannnyyy,,,222ªªª EEEdddiiitttiiiooonnn,,,
MMMaaassssssaaaccchhhuuussseeettttttsss,,, 111999999111...
x OOOGGGAAATTTAAA,,, KKK... EEEnnngggeeennnhhhaaarrriiiaaa dddeee CCCooonnntttrrrooollleee MMMooodddeeerrrnnnooo,,, !eeeaaarrrsssooonnn EEEddduuucccaaatttiiiooonnn dddooo BBBrrraaasssiiilll,,, SSSãããooo
!aaauuulllooo,,, 222000000333...
333222