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Taller de Control I

This document contains three transfer functions (G, G1, G2) and the steps to design controllers for each using frequency response techniques. For G and G1, it calculates the controller gain Kp based on a specified error and bandwidth. It then designs a PI and PID controller respectively using quarter-amplitude method. For each, it simulates the closed loop response.

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Gustavo Andrés Ospino Reales
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51 views11 pages

Taller de Control I

This document contains three transfer functions (G, G1, G2) and the steps to design controllers for each using frequency response techniques. For G and G1, it calculates the controller gain Kp based on a specified error and bandwidth. It then designs a PI and PID controller respectively using quarter-amplitude method. For each, it simulates the closed loop response.

Uploaded by

Gustavo Andrés Ospino Reales
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

TALLER DE CONTROL I

GUSTAVO ANDRES OSPINO REALES


DISEO POR LUGAR DE LAS RAICES
1)

G=

2.2
1.2 S+1

EN ATRASO
Transfer function:
2.2
--------1.2 s + 1
>> step (G)

>> sisotool (G)

>> C
Zero/pole/gain from input "Input" to output "Output":
0.22699 (s+8.854)
----------------(s+0.3912)

G1=

2)

3
1.8 S +2.8 S +1
2

EN ADELANTO
Transfer function:
3
------------------1.8 s^2 + 2.8 s + 1
>> step(G1)

>> sisotool(G1)
Implementamos un integrador para colocar el error de espacio en cero (0)

>> C

Zero/pole/gain from input "Input" to output "Output":


3.3134 (s+0.8091)
----------------s (s+9.038)

3)

G2=

200
S +14 S+ 100
2

PID
Transfer function:
200
---------------s^2 + 14 s + 100
>> step (G2)

>> sisotool(G2)

>> C
Zero/pole/gain from input "Input" to output "Output":
3.8609 (s+2.897) (s+3.641)
-------------------------s (s+6.68)

DISEO POR FRECUENCIA


1)

G=

2.2
1.2 S+1

G=tf(2.2,[1.2 1]);
Ee=0.1;
MFd=50;
ang=6;
Kp=(1/Ee)-1
K=Kp/2.2
H=G*K
figure
margin(H)
QM=-180+96.4+8
Wn=3.25;
Wo=0.1*Wn;
B=1/(10^0.3495)
Wp=Wo/B
Kc=K/B
A=feedback(G*C,1)
figure
step(A)
figure
step(G)

Kp =
9
K=

4.0909
Transfer function:
9
--------1.2 s + 1
QM =
-75.6000
B=
0.4472
Wp =
0.7267
Kc =
9.1479
Transfer function:
9.148 s + 4.091
--------------s + 0.7267
Transfer function:
20.13 s + 9
---------------------1.2 s^2 + 22 s + 9.727

2)

G1=

3
1.8 S +2.8 S +1
2

G1=tf(3,[1.8 2.8 1]);


Ee=0.1;
MFd=50;
ang=6;
Kp=(1/Ee)-1
K=Kp/2.2
H=G1*K
figure
margin(H)
Qm=MFd-34.5+ang
alfa=0.4635
Gwm=-3.33;
Wm=3.06;
T=1/(Wm*sqrt(alfa))
Z=1/T
P=1/(alfa*T)
Kc=K/alfa
s=tf('s');
C=(Kc*(s+Z))/(s+P)
A=feedback(G1*C,1)

figure
step(A)
figure
step(G1)

Kp =
9
K =
4.0909
Transfer function:
12.27
------------------1.8 s^2 + 2.8 s + 1
Qm =
21.5000
alfa =
0.4635
T =
0.4800
Z =
2.0833

P =
4.4947
Kc =
8.8261
Transfer function:
8.826 s + 18.39
--------------s + 4.495
Transfer function:
26.48 s + 55.16
------------------------------------1.8 s^3 + 10.89 s^2 + 40.06 s + 59.66

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