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= Posicin angular
ia
ea = Ra* ia +La* +Eb ...(1)
T = K1* ia (2)
eb = K2* (3)
2
T = J* +b* (4)
2
K1* ia = J* +b* ()
ia
ea = Ra* ia +La* +K2 ...()
En frecuencia:
De (6) en (5)
() 1
=
() + ( + ) 2 + ( + 1 2 )
3
() 1
=
() 2 + ( + ) + + 1 2
Para:
() 1
=
() + ( + ) 2 + ( + 1 2 )
3
>> J=0.0271;
>>L=0.0068;
>>b=0.00776;
>>k1=0.55;
>>k2=0.82;
>>R=1.1648;
>>num=[0 0 0 k1];
>>printsys(num,den)
num/den =
0.55
-----------------------------------------
0.00018428 s^3 + 0.031619 s^2 + 0.46004 s
>> [A,B,C,D]=tf2ss(num,den)
A=
1.0e+03 *
-0.1716 -2.4964 0
0.0010 0 0
0 0.0010 0
B=
1
0
0
C=
1.0e+03 *
0 0 2.9846
D=
0
>>step(num,den)
>>Impulse(num,den)
>>t=0:.1:10;
>>r=t;
>>y=lsim(num,den,r,t);
>>plot(t,r,'-',t,y,'o')
>>rlocus(num,den)
>> bode(num,den)
Para:
() 1
=
() 2 + ( + ) + + 1 2
>> J=0.0271;
>> L=0.0068;
>> b=0.00776;
>> k1=0.55;
>> k2=0.82;
>> R=1.1648;
>> num=[0 0 k1];
>> den=[J*L J*R+b*L b*R+k2*k1 ];
>> printsys(num,den)
num/den =
0.55
-------------------------------------
0.00018428 s^2 + 0.031619 s + 0.46004
>> [A,B,C,D]=tf2ss(num,den)
A=
1.0e+03 *
-0.1716 -2.4964
0.0010 0
B=
1
0
C=
1.0e+03 *
0 2.9846
D=
0
>> step(num,den)
>> impulse(num,den)
>> t=0:.1:10;
>> r=t;
>> y=lsim(num,den,r,t);
>> plot(t,r,'-',t,y,'o')
>> rlocus(num,den)
>> bode(num,den)