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Sist Control I - Informe Nº7

The document discusses the calculation of error values for different types of systems (position, velocity, acceleration) with unity feedback control. It analyzes four problems, providing the control constants (Kp, Kv, Ka) and corresponding error values (essp, essv, essa) for systems responding to step, ramp, and parabolic inputs. The constants and errors are summarized in a table for the first three problems, showing that the position error decreases with increasing Kp, while velocity and acceleration errors increase without bound as their respective constants approach zero.

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Rodolfo Vasquez Cortez
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34 views9 pages

Sist Control I - Informe Nº7

The document discusses the calculation of error values for different types of systems (position, velocity, acceleration) with unity feedback control. It analyzes four problems, providing the control constants (Kp, Kv, Ka) and corresponding error values (essp, essv, essa) for systems responding to step, ramp, and parabolic inputs. The constants and errors are summarized in a table for the first three problems, showing that the position error decreases with increasing Kp, while velocity and acceleration errors increase without bound as their respective constants approach zero.

Uploaded by

Rodolfo Vasquez Cortez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOC, PDF, TXT or read online on Scribd
You are on page 1/ 9

UNIVERSIDAD NACIONAL MAYOR DE SAN MARCOS

FACULTAD DE INGENIERIA ELECTRONICA Y ELECTRICA


CURSO: LABORATORIO DE SISTEMAS DE CONTROL I
ERROR EN ESTADO ESTABLE
a) Hallar el Kp (constante de posicin) y error de posicin = ess --> (1/(1+Kp) )
b) Hallar el Kv (constante de velocidad) y el error de velocidad = essv --> (1/Kv)
c) Hallar el Ka (constante de aceleracin) y el error de aceleracin = essa -->
(1/Ka )
Para los siguientes sistemas:
Problema N1

SOLUCIN:
>> %---- a) ----

>> kp=dcgain(G)
>> essp=1/(1+kp)

>> %'Entrada Escalon'


>> numg= 500*poly([-2 -5]);
>> deng=poly([-8 -10 -12]);
>> G=tf(numg,deng)

kp =
5.2083

Transfer function:
500 s^2 + 3500 s + 5000
-------------------------s^3 + 30 s^2 + 296 s + 960

essp =
0.1611
>> figure(1)
>> step(Gr)
>> grid

>> Gr=feedback(G,1);

Step Response
1
0.9
0.8
0.7

Amplitude

0.6
0.5
0.4
0.3
0.2
0.1
0

0.2

>> %---- b) ----

0.4

0.6

0.8

Time (sec)

1.2

kv =

1.4

1.6

1.8

>> %'Entrada Rampa'


>> numgs = conv([1
0],numg);
>> dengs=deng;
>> sG=tf(numgs,dengs);
>> sG=minreal(sG)

0
essv =
Inf

Transfer function:
500 s^3 + 3500 s^2 + 5000
s
--------------------------s^3 + 30 s^2 + 296 s + 960
>> kv=dcgain(sG)
>> essv=1/kv

>> num1=[1];
>> den1=[1 0];
>> g1=tf(num1,den1);
>> Grampa=Gr*g1;
>> figure(2)
>> step(Grampa)
>> hold on
>> step(g1)
>> grid, hold off

Step Response
800

700

600

Amplitude

500

400

300

200

100

0
>> %---- c) ---0

100

200

300

400

500 =
ka

600

700

Time (sec)

>> %'Entrada Parablica'


>> numgs2 = conv([1 0
0],numg);
>> dengs2=deng;
>> s2G=tf(numgs2,dengs2)

0
essa =
Inf
>> num2=[1];
>> den2=[1 0 0];
>> g2=tf(num2,den2);
>> Gparab=Gr*g2;
>> figure(3)
>> step(Gparab)
>> hold on
>> step(g2)
Step Response
>> grid, hold off

Transfer function:
500 s^4 + 3500 s^3 + 5000
s^2
----------------------------s^3 + 30 s^2 + 296 s + 960
>> s2G=minreal(s2G)
x 10
12
>> ka=dcgain(s2G)
>> essa=1/ka
5

10

Amplitude

500

1000
Time (sec)

1500

Problema N2

SOLUCIN:
>> %---- a) ----

>> kp=dcgain(G)
>> essp=1/(1+kp)

>> %'Entrada Escalon'


>> numg= 500*poly([-2 -5 -6]);
>> deng=poly([0 -8 -10 -12]);
>> G=tf(numg,deng)

kp =
Inf

Transfer function:
500 s^3 + 6500 s^2 + 26000 s +
30000
----------------------------------------------s^4 + 30 s^3 + 296 s^2 + 960 s

essp =
0
>> figure(1)
>> step(Gr)
>> grid

>> Gr=feedback(G,1);

Step Response
1
0.9
0.8
0.7

Amplitude

0.6
0.5
0.4
0.3
0.2
0.1

>> %---- b) ----

0.2

0.4

0.6

0.8

kv 1.2
=

1.4

Time (sec)

>> %'Entrada Rampa'


>> numgs = conv([1 0],numg);
>> dengs=deng;

31.2500
essv =

1.6

>> sG=tf(numgs,dengs);
>> sG=minreal(sG)

0.0320

Transfer function:
500 s^3 + 6500 s^2 + 2.6e004 s +
3e004
-------------------------------------------------s^3 + 30 s^2 + 296 s + 960

>> num1=[1];
>> den1=[1 0];
>> g1=tf(num1,den1);
>> Grampa=Gr*g1;
>> figure(2)
>> step(Grampa)
>> hold on
>> step(g1)
>> grid, hold off

>> kv=dcgain(sG)
>> essv=1/kv

-3

Step Response

x 10
3

2.5

Amplitude

1.5

0.5

>> %---- c) ----

0.5

2
ka
=

1.5

2.5
-3

Time (sec)

x 10

>> %'Entrada Parablica'


>> numgs2 = conv([1 0 0],numg);
>> dengs2=deng;
>> s2G=tf(numgs2,dengs2)

0
essa =
Inf

Transfer function:
500 s^4 + 6500 s^3 + 2.6e004 s^2 +
3e004 s
------------------------------------------------------s^3 + 30 s^2 + 296 s + 960
>> s2G=minreal(s2G)
>> ka=dcgain(s2G)
>> essa=1/ka
5

12

Step Response

x 10

>> num2=[1];
>> den2=[1 0 0];
>> g2=tf(num2,den2);
>> Gparab=Gr*g2;
>> figure(3)
>> step(Gparab)
>> hold on
>> step(g2)
>> grid, hold off
Step Response

x 10
1.3336

10
1.3334

1.3332
Amplitude

Amplitude

1.333

1.3328
4
1.3326
2
1.3324
0

500

1000
Time (sec)

1500

516.26

516.28

516.3

516.32

516.34
Time (sec)

516.36

516.38

516.4

516.42

Problema N3

SOLUCIN:
>> %---- a) ----

>> kp=dcgain(G)
>> essp=1/(1+kp)

>> %'Entrada Escalon'


>> numg= 500*poly([-2 -4 -5 -6 -7]);
>> deng=poly([0 0 -8 -10 -12]);
>> G=tf(numg,deng)

kp =
Inf

Transfer function:
500 s^5 + 12000 s^4 + 111500 s^3 +
498000 s^2 + 1.058e006 s + 840000
------------------------------------------------------------------s^5 + 30 s^4 + 296 s^3 + 960
s^2

essp =
0
>> figure(1)
>> step(Gr)
>> grid

>> Gr=feedback(G,1);
Step Response
1.001

1.0005

Amplitude

0.9995

0.999

0.9985

0.998

0.9975

0.997
0

0.5

>> %---- b) --->> %'Entrada Rampa'


>> numgs = conv([1 0],numg);
>> dengs=deng;
>> sG=tf(numgs,dengs);
>> sG=minreal(sG)
Transfer function:

1.5
Time (sec)

2.5

3.5

kv =
Inf
essv =
0
>> num1=[1];

500 s^5 + 1.2e004 s^4 + 1.115e005 s^3 +


4.98e005 s^2 + 1.058e006 s + 8.4e005
-----------------------------------------------------------------s^4 + 30 s^3 + 296 s^2 + 960 s
>> kv=dcgain(sG)
>> essv=1/kv

>> den1=[1 0];


>> g1=tf(num1,den1);
>> Grampa=Gr*g1;
>> figure(2)
>> step(Grampa)
>> hold on
>> step(g1)
>> grid, hold off

Step Response

Step Response

0.642

0.7

0.6

0.641

0.5
Amplitude

Amplitude

0.64
0.4

0.3

0.2

0.639

0.638

0.1
0.637
0

0.1

0.2

0.3

>> %---- c) ----

0.4

0.5

0.6

0.7

0.6375 0.638 0.6385 0.639 0.6395 0.64 0.6405 0.641 0.6415 0.642 0.6425

ka =

Time (sec)

>> %'Entrada Parablica'


>> numgs2 = conv([1 0 0],numg);
>> dengs2=deng;
>> s2G=tf(numgs2,dengs2)

Time (sec)

875.0000
essa =
0.0011

Transfer function:
500 s^5 + 1.2e004 s^4 + 1.115e005 s^3 +
4.98e005 s^2 + 1.058e006 s + 8.4e005
-----------------------------------------------------------------s^3 + 30 s^2 + 296 s + 960
>> s2G=minreal(s2G)
>> ka=dcgain(s2G)
essa=1/ka Step Response
x >>
10
5

12

x 10

>> num2=[1];
>> den2=[1 0 0];
>> g2=tf(num2,den2);
>> Gparab=Gr*g2;
>> figure(3)
>> step(Gparab), hold on
>> step(g2)
>> grid, hold off
Step Response

1.1243
1.1243

10
1.1243
1.1243
Amplitude

Amplitude

1.1243
1.1243
1.1243
1.1243

2
1.1243
0

500

1000
Time (sec)

1500

1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
Time (sec)

Problema N4

G( s) =

100( s + 1)
, con realimentacin unitaria.
( s + 2) ( s + 4 )

SOLUCIN:
>> %---- a) ----

>> kp=dcgain(G)
>> essp=1/(1+kp)

>> %'Entrada Escalon'


>> numg= 100*poly([-1]);
>> deng=poly([-2 -4]);
>> G=tf(numg,deng)

kp =
12.5000

Transfer function:
100 s + 100
------------s^2 + 6 s + 8

essp =
0.0741
>> figure(1)
>> step(Gr)
>> grid

>> Gr=feedback(G,1);

Step Response
1
0.9
0.8
0.7

Amplitude

0.6
0.5
0.4
0.3
0.2
0.1
0

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

Time (sec)

>> %---- b) --->> %'Entrada Rampa'


>> numgs = conv([1
0],numg);
>> dengs=deng;
>> sG=tf(numgs,dengs);
>> sG=minreal(sG)
Transfer function:
100 s^2 + 100 s
--------------s^2 + 6 s + 8
>> kv=dcgain(sG)
>> essv=1/kv

kv =
0
essv =
Inf
>> num1=[1];
>> den1=[1 0];
>> g1=tf(num1,den1);
>> Grampa=Gr*g1;
>> figure(2)
>> step(Grampa)
>> hold on
>> step(g1)

>> grid, hold off

Step Response
1600

1400

1200

Amplitude

1000

800

600

400

200

500

>> %---- c) ----

1000
Time (sec)

>> %'Entrada Parablica'


>> numgs2 = conv([1 0
0],numg);
>> dengs2=deng;
>> s2G=tf(numgs2,dengs2)

0
essa =
Inf
>> num2=[1];
>> den2=[1 0 0];
>> g2=tf(num2,den2);
>> Gparab=Gr*g2;
>> figure(3)
>> step(Gparab)
>> hold on
>> step(g2)
>> grid, hold off

Transfer function:
100 s^3 + 100 s^2
----------------s^2 + 6 s + 8
>> s2G=minreal(s2G)
>> ka=dcgain(s2G)
>> essa=1/ka
5

12

1500

ka =

Step Response

x 10

10

Amplitude

500

1000

1500

Time (sec)

Llenando el cuadro de comparacin, para lo cual tomamos como referencia los 3


primeros problemas.
Tabla

Tipo 0

essp

Tipo 1

essv

Tipo 2

essa

Kp

5.208
3

0.1611

Kp

Inf

Kp

Inf

Kv

Inf

Kv

31.2
5

0.032

Kv

Inf

Ka

Inf

Ka

Inf

Ka

875

0.001

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