Informe - 08 Variables Fisicas
Informe - 08 Variables Fisicas
Informe - 08 Variables Fisicas
LABORATORIO N°|8
VARIABLES FISICAS
MOTOR CONTROLADO POR ARMADURA.
1
Laboratorio Sistema de Control II
(s) kt
H(s) = = =
e( s ) JLa S ( La Ra J ) S 2 ( Ra k v k t ) S
3
X1 ´
X2 I
b K
X j J X
' 0
' 1 * u
1 1
X 2 K R X 2
L
L L
2
Laboratorio Sistema de Control II
En Matlab:
>> Ra=12.2; b=
>> La=0.31*10^(-3);
>> kv=0.024; 1
>> kt=0.024; 0
>> J=1.01*10^(-6); 0
>> B=1.81*10^(-6);;
>> num=[kt];
>> den=[J*La (La*B+Ra*J) (Ra*B+kv*kt) 0]; c=
>> Gp=tf(num,den)
1.0e+007 *
Transfer function:
0.024 0 0 7.6653
---------------------------------------------
3.131e-010 s^3 + 1.232e-005 s^2 + 0.0005981 s
d=
>> [a b c d]=tf2ss(num,den)
0
a= >> numr=[1];
>> denr=[1];
1.0e+006 * >> Gr=tf(numr,denr);
40
System: G
35 Settling Time (sec): 0.0805
30
25
Amplitude
20
15
10
0
0 0.02 0.04 0.06 0.08 0.1 0.12
Time (sec)