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Laboratorio de Control Discreto: Ncontrar El Equivalente Discreto Del Ejercicio Del Trabajo Preparatorio Si

This document discusses discretizing continuous-time transfer functions with different sampling periods and analyzing the effects. It provides the continuous and discrete transfer functions for several systems, including a DC motor model and another generic system. It samples the generic system with periods of 0.00426, 0.01, and 0.0001 seconds, obtaining the discrete transfer functions and step responses. It concludes that the sampling period must be chosen carefully based on the system's settling time, as it directly impacts the discrete output signal.

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Luis Edison Toca
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56 views11 pages

Laboratorio de Control Discreto: Ncontrar El Equivalente Discreto Del Ejercicio Del Trabajo Preparatorio Si

This document discusses discretizing continuous-time transfer functions with different sampling periods and analyzing the effects. It provides the continuous and discrete transfer functions for several systems, including a DC motor model and another generic system. It samples the generic system with periods of 0.00426, 0.01, and 0.0001 seconds, obtaining the discrete transfer functions and step responses. It concludes that the sampling period must be chosen carefully based on the system's settling time, as it directly impacts the discrete output signal.

Uploaded by

Luis Edison Toca
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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LABORATORIO DE CONTROL DISCRETO

4.1 ENCONTRAR EL EQUIVALENTE DISCRETO DEL EJERCICIO 3.3 DEL TRABAJO PREPARATORIO SI:

G1

1 e Ts
s

G2

1
H(s)= 1
s ( s 2)

Utilice el rltool de Matlab


>> g2=tf([1],[1 2 0])
g2 =
1
--------s^2 + 2 s
Continuous-time transfer function.
>> gt=feedback(g2,1)
gt =
1
------------s^2 + 2 s + 1
Continuous-time transfer function.
>> step(gt)

Tiempo de muestreo 3.36/10 ) 0.336


>> gd=c2d(g2,0.336,'zoh')
gd =
0.04567 z + 0.03653
---------------------z^2 - 1.511 z + 0.5107
Sample time: 0.336 seconds
Discrete-time transfer function.

>> gdz=c2d(g2,0.336,'impz')
gdz =
0.0822 z + 1.825e-17
---------------------z^2 - 1.511 z + 0.5107
Sample time: 0.336 seconds
Discrete-time transfer function.
>> fun_z=gd/(1+gd+gdz)

fun_z =
0.04567 z^5 - 0.1015 z^4 + 0.0405 z^3 + 0.05022 z^2 - 0.04446 z + 0.009528
-------------------------------------------------------------------------z^6 - 4.404 z^5 + 8.029 z^4 - 7.765 z^3 + 4.202 z^2 - 1.205 z + 0.1427
Sample time: 0.336 seconds
Discrete-time transfer function.

.4.2 OBTENER LA FUNCIN DE TRANSFERENCIA EN LAZO ABIERTO Y LAZO CERRADO DEL MOTOR DC T=0.1 Y 0.01S
Kb

i
+

e
-

ROC

+
K

+
-

1
Ls R

Ka

1
Js

1
s

1
N

Ki

Kt

R=0.4 () L=0.04 (H), J=0.0010 oz-in-s2, N=100 ,Ka=10 oz-in/A ,Kb=0.7 (V/rad/s), Kt=0.0005 (V/rad/s),
Ki=1 (V/A) K=20, (Utilice Matlab)

>> g1=tf([1],[0.04 0.4])


g1 =
1
-----------0.04 s + 0.4
Continuous-time transfer function.
>> g2=feedback(g1,1);
>> a=tf([1],[0.001 0])
a=
1
------0.001 s
Continuous-time transfer function.
>> g3=series(g2,0.0005,a)
Error using InputOutputModel/series (line 83)
When using I/O names to connect systems, all I/O names of all systems must be defined.
>> g3=series(g2,0.0005)
g3 =
0.0005
-----------0.04 s + 1.4

Continuous-time transfer function.


>> g4=series(g3,a);
>> g3=series(g2,10)
g3 =
10
-----------0.04 s + 1.4
Continuous-time transfer function.
>> g4=series(g3,a)
g4 =
10
-------------------4e-05 s^2 + 0.0014 s
Continuous-time transfer function.
>> g5=feedback(g4,0.0005);
>> g6=feedback(g5,0.7);
>> b=tf([1],[1 0]);
>> g7=series(g6,b);
>> g8=series(g7,(1/100));

PERIODO DE MUESTRE DE 0.1


>> gd=c2d(g8,0.1,'zoh')
gd =
0.001429 z^2 + 0.0002732 z + 4.835e-05
-------------------------------------z^3 - 0.8037 z^2 - 0.1661 z - 0.0302
Sample time: 0.1 seconds
Discrete-time transfer function.
>> gt=feedback(gd,1)
gt =

0.001429 z^2 + 0.0002732 z + 4.835e-05


-------------------------------------z^3 - 0.8023 z^2 - 0.1658 z - 0.03015
Sample time: 0.1 seconds
Discrete-time transfer function.
>> step(gt)

PERIODO DE MUESTREO 0.01


>> gd=c2d(g8,0.01,'zoh')
gd =
0.0001633 z^2 + 7.302e-05 z + 0.0001284
--------------------------------------z^3 - 0.1494 z^2 - 0.1459 z - 0.7047
Sample time: 0.01 seconds
Discrete-time transfer function.
>> gt=feedback(gd,1)
gt =
0.0001633 z^2 + 7.302e-05 z + 0.0001284

--------------------------------------z^3 - 0.1493 z^2 - 0.1458 z - 0.7046


Sample time: 0.01 seconds
Discrete-time transfer function.
>> step(gt)

4.4 PARA EL SIGUIENTE SISTEMA:

Encontrar el periodo de muestreo


Obtener la funcin de transferencia discreta del sistema
Obtener la salida del sistema continuo
Obtener la salida del sistema discreto
Obtener loas errores del sistema continuo y discreto.
Repetir los literales anteriores si el T= 0.01 seg. y T= 0.0001 seg,
Analizar los resultados y concluir.

>> s=tf('s')
s=
s
Continuous-time transfer function.
>> g_s=0.0274/(s*( (3.2284*10^-6*s+3.5077*10^-6)*(2.75*10^-6*s+4)+(0.0274^2)))
g_s =
0.0274
------------------------------------------8.878e-12 s^3 + 1.291e-05 s^2 + 0.0007648 s
Continuous-time transfer function.
>> ga=feedback(g_s,1)
ga =
0.0274
---------------------------------------------------8.878e-12 s^3 + 1.291e-05 s^2 + 0.0007648 s + 0.0274
Continuous-time transfer function.

Tiempo de muestreo = 0.00426

SALIDA CONTINUA

SALIDA DISCRETA

>> g_d_1=c2d(ga,0.00426,'zoh')
g_d_1 =
0.01767 z^2 + 0.01625 z + 7.794e-10
------------------------------------z^3 - 1.743 z^2 + 0.777 z - 1.199e-20
Sample time: 0.00426 seconds
Discrete-time transfer function.
>> step(g_d_1)

T=0.01
Salida Discreta

T=0.0001

Anlisis:
Debe tomarse importancia al tiempo de muestreo a ocupar en el anlisis de los sistemas discretos,
ya que los mismos afectarn directamente a la seal de salida del sistema.
Este tiempo debe ser considerado individualmente para cada sistema, y generalmente se lo toma
como un dcimo del tiempo de establecimiento del mismo.

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