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R( s ) −Y ( s ) = M ( s )
10
Y (s) = M (s) ⋅
s ( s +10)
10
Y ( s ) = ( R ( s ) −Y ( s )) ⋅
s ( s +10)
Y ( s ) ⋅ ( s ( s +10)) = ( R ( s ) −Y ( s )) ⋅10
Y ( s ) ⋅ ( s ( s +10)) +10Y ( s ) = 10 R ( s )
Y ( s )( s ( s +10) +10 ) = 10 R ( s )
Y ( s) 10
=
R ( s ) ( s ( s +10) +10 )
Y(s)
Donde H ( s ) = partiendo de esto nos queda que nuestra función de salida
R(s)
del sistema es:
10
H (s) =
( s( s + 10) + 10)
Y ( s )( s ( s + 10) + 10 ) = 10 R ( s )
( )
Y ( s ) s 2 + 10 s + 10 = 10 R ( s)
(Y ( s ) s )
+ Y ( s )10s + Y ( s )10 = 10 R ( s )
2
x1 =Y (t )
x 2 =Y ´(t )
1 =x 2
x
2 =??
x
x
Y = [1 0] ⋅ 1
x2
X = AX + BU
Y = CX + DU
X ( s ) = [ SI − A] Bu ( s ) + [ SI − A] X (o)
−1 −1
S 0 0 1
SI − A = −
0 S − 10 − 10
S −1
SI − A =
10 S + 10
S + 10 10
[ SI − A] =
−1 S
S + 10 1
adj[ SI − A] =
T
− 10 S
A = S ( S + 10) − (−1)(10)
A = S 2 + 10 S + 10
S + 10 1
2 + 10 S + 10 S + 10 S + 10
[ SI − A]
2
= S
−1
− 10 S
2
S + 10 S + 10 S 2 + 10 S + 10
S + 10 1
0
[ SI − A] ⋅ B = S + 10S + 10 S + 10 S + 10 ⋅
−1 2 2
− 10 S
2 10
S + 10S + 10 S + 10 S + 10
2
1
[ SI − A] ⋅ B = S + 10S + 10
−1 2
S
S + 10S + 10
2
1
S + 10 S + 10 ⋅ 1
[ SI − A] ⋅ B ⋅ u ( s ) =
−1 2
S
S
S 2 + 10 S + 10
1
[ SI −
A] ⋅ B ⋅ u ( s ) =
−1 ( S S + 10 S + 10
2
)
1
S 2 + 10 S + 10
X ( s ) = [ SI − A] Bu ( s) + [ SI − A] X (o)
−1 −1
1 S + 10 1
X (s) = (
S S + 10 S + 10
2
) 2
+ S + 10 S + 10 S + 10 S + 10 X (o)
2
1 − 10 S
S + 10 S + 10 S 2 + 10 S + 10
2
S + 10 S + 10
2
Donde las condiciones iniciales X(o) son iguales a la unidad:
1 S + 10 1
X (s) = (
S S + 10S + 10
2
) S 2 + 10S + 10
+ S + 10S + 10 X (o)
2
1 2 − 10 S
S + 10 S + 10
2 S + 10S + 10 S 2 + 10S + 10
1
X (s) = (
S S 2 + 10 S + 10 )
1
S 2 + 10 S + 10
> with(inttrans):
> invlaplace(1/s*(s^2+10*s+10),s,t);
Dirac( 1, t ) + 10 Dirac( t ) + 10
> with(inttrans):
> invlaplace(1/(s^2+10*s+10),s,t);
1 ( −( 15 + 5 ) t ) 1 (( 15 − 5 ) t )
− 15 e + 15 e
30 30
Régimen transitorio
S + 10 1
S 2 + 10 S + 10 S + 10S + 10 X (o)
2
X (s) =
− 10 S
2
S + 10 S + 10 S 2 + 10S + 10
> with(inttrans):
> invlaplace(S+10/(S^2+10*S+10),S,t);
1 ( −( 15 + 5 ) t ) 1 (( 15 − 5 ) t )
Dirac( 1, t ) − 15 e + 15 e
3 3
> with(inttrans):
> invlaplace(1/(S^2+10*S+10),S,t);
1 ( −( 15 + 5 ) t ) 1 (( 15 − 5 ) t )
− 15 e + 15 e
30 30
> with(inttrans):
> invlaplace(S/(S^2+10*S+10),S,t);
1 + 1 15 e ( −( 15 + 5 ) t ) + 1 − 1 15 e ( ( 15 − 5 ) t )
2 6 2 6
> with(inttrans):
> invlaplace(-10/(S^2+10*S+10),S,t);
1 ( −( 15 + 5 ) t ) 1 (( 15 − 5 ) t )
15 e − 15 e
3 3
H ( s ) = Y ( s ).u ( s ) −1
H ( s ) = [ C. X ( s) + Du ( s )]u ( s) −1
[
H ( s ) = C. X ( s )u ( s ) −1 + D ]
1
H ( s ) = [1 0] (
S S + 10S + 10
2
)
S + 0
1
S + 10S + 10
2
1
H (s) = S
(
S S + 10 S + 10
2
)
1
H (s) = 2
(
S + 10 S + 10 )
Sistema Neumático:
Se tiene un auto que se desplaza sobre una superficie perfectamente lisa, el
sistema de suspensión esta conformado por un resorte con una constante K
de elasticidad, y un amortiguador neumático que ejerce una fuerza B que
controla la suspensión del automóvil, donde la masa del automóvil es M.
mY " (t ) + bY ' (t ) + kY (t ) = bX (t ) + kX (t )
(ms 2 + bs + k )Y ( s ) = (b + k ) X ( s )
Y (s) b+k
=
X ( s ) (ms + bs + k )
2
.
(ms Y ( s ) + bsY ( s ) + kY ( s )) = (b + k ) X ( s )
2
(mY ´´(t ) + bY (t ) + kY (t )) = (b + k )u (t )
x 1 = x2
x 2 = ??
x
Y = [1 0] ⋅ 1
x2
X = AX + BU
Y = CX + DU
X ( s ) = [ SI − A] Bu ( s ) + [ SI − A] X (o)
−1 −1
1 0 0 1
SI − A = S
0 1 − − k
−
b
m m
S 0 0 1
SI − A = − k b
0 S − m − m
G =k /m
Q =b/m
S −1
SI − A =
G S + Q
S + Q G
[ SI − A] =
−1 S
S + Q 1
adj[ SI − A] =
T
− G S
A = S ( S + Q) − (−1)(G )
A = S 2 + QS + G
S +Q 1
S 2 + QS + G S + QS + G
2
[ SI − A] −1=
−G S
2
S + QS + G S + QS + G
2
S +Q 1
+ G S + QS + G b + k
0
[ SI − A] −1 ⋅ B = S +−QS
2 2
⋅
G S m
S 2 + QS + G S 2 + QS + G
1 b+k
.
b
S2 + S +
k m
[ SI − A] ⋅ B =
−1 m
S
m
b+k
.
b k m
S + S+
2
m m
b+k
2
.
S
+ bS + k
[ SI − A] −1 ⋅ B = m
S
.
S
2
+ bS + k
m
b+k
S 2
+ bS + k 1
[ SI − A] −1 ⋅ B ⋅ u ( s) = m
(b + k ) S S
S2
+ bS + k
m
b+k
S 2
S + bS + k
[ SI − A] ⋅ B ⋅ u ( s) =
−1
m
(b + k )
2
S
+ bS + k
m
X ( s ) = [ SI − A] Bu ( s) + [ SI − A] X (o)
−1 −1
b+k
S +Q 1
S 2
2
S + bS + k S + QS + G S + QS + G
2
X (s) = m + (1)
(b + k )
G S
S2 2
+ bS + k S + QS + G S 2 + QS + G
m
b+k
S 2
S + bS + k
m
X ( s) =
(b + k )
S2
+ bS + k
m
Como b, k y m son constantes numéricas para poder apreciar el
comportamiento del sistema le asignamos los siguientes valores a las mismas:
b=2 m=1 y k=4
X ( s) = [ SI − A] Bu ( s ) + [ SI − A] X (o)
−1 −1
S +2 1
6 2
S + 2S + 4 S + 2S + 4
( )
2
S S + 2S + 4
2
X ( s) =
6
+ (1)
4 S
S + 2S + 4
2
2
S + 2S + 4 S + 2 S + 4
2
Para ver las respuestas del sistema en el tiempo para los regimenes transitorio
y permanente:
Régimen Permanente:
6
X (s) = (
S S + 2S + 4
2
)
6
S + 2S + 4
2
> with(inttrans):
> invlaplace(6/S*(S^2+2*S+4),S,t);
6 Dirac( 1, t ) + 12 Dirac( t ) + 24
> with(inttrans):
> invlaplace(6/(S^2+2*S+4),S,t);
( −t )
2 3e sin( 3 t )
S +2 1
S 2 + 2S + 4 S + 2S + 4
2
X (s) =
4 S
S 2 + 2 S + 4 S + 2 S + 4
2
> with(inttrans):
> invlaplace(S+2/(S^2+2*S+4),S,t);
2 ( −t )
Dirac( 1, t ) + 3e sin( 3 t )
3
> with(inttrans):
> invlaplace(1/(S^2+2*S+4),S,t);
1 ( −t )
3e sin( 3 t )
3
> with(inttrans):
> invlaplace(4/(S^2+2*S+4),S,t);
4 ( −t )
3e sin( 3 t )
3
> with(inttrans):
> invlaplace(S/(S^2+2*S+4),S,t);
( −t ) 1 ( −t )
e cos( 3 t ) − 3e sin( 3 t )
3
H ( s ) = Y ( s).u ( s ) −1
H ( s ) = [ C. X ( s ) + Du ( s )]u ( s) −1
[
H ( s ) = C. X ( s )u ( s) −1 + D ]
6
H ( s ) = [1 0].
(
S S + 2S + 4
2
)
S
6
S + 2S + 4
2
6
H (s) = 2
S + 2S + 4
Sistemas Mecánicos:
d 2Y (t ) dY (t )
f (t ) = m 2
+b +kY (t )
dt dt
Diagrama de estado:
Despejando obtenemos:
d 2Y (t ) b dY (t ) k 1
2
=− − Y (t ) + f (t )
dt m dt m m
x1 = x2
x 2 = ??
Y = x1
x
Y = [1 0] ⋅ 1
x2
X = AX + BU
Y = CX + DU
X ( s ) = [ SI − A] Bu ( s ) + [ SI − A] X (o)
−1 −1
1 0 0 1
SI − A = S − k b
0 1 m− −
m
S 0 0 1
SI − A = − − k b
0 S m −
m
G = k /m
Q = b/m
S −1
SI − A =
G S + Q
S + Q G
[ SI − A] =
−1 S
S + Q 1
adj[ SI − A] =
T
− G S
A = S ( S + Q) − (−1)(G )
A = S 2 + QS + G
S +Q 1
S 2 + QS + G S + QS + G
2
[ SI − A] −1 =
−G S
2
S + QS + G S 2 + QS + G
S +Q 1
+ G S + QS + G 1
0
[ SI − A] −1 ⋅ B = S +−QS
2 2
⋅
G S m
S + QS + G S + QS + G
2 2
1 1
.
b k m
S + S+
2
[ SI − A] ⋅ B =
−1 m
S
m
1
.
b k m
S + S+
2
m m
1
2
.
S
+ bS + k
[ SI − A] ⋅ B =
−1 m
S
2
.
S
+ bS + k
m
1
S 2
+ bS + k 1
[ SI − A] −1 ⋅ B ⋅ u ( s) = m
S
S
S2
+ bS + k
m
1
S 2
S + bS + k
[ SI − A] ⋅ B ⋅ u ( s) =
−1
m
1
2
S
+ bS + k
m
X ( s) = [ SI − A] Bu ( s ) + [ SI − A] X (o)
−1 −1
b
S+
1 m 1
b k b k
S2 S2 + S + S2 + S +
S + bS + k m m m m
X ( s) = m + (1)
1
k
S2 −
+ bS + k m S
m b k b k
S + S + S2 + S +
2
m m m m
X ( s) = [ SI − A] Bu ( s ) + [ SI − A] X (o)
−1 −1
S +2 1
1 2
S + 2S + 4 S + 2S + 4
( )
2
S S + 2S + 4
2
X ( s) =
1
+ (1)
−4 S
S + 2S + 4
2
2
S + 2S + 4 S + 2 S + 4
2
1
X (s) = S ( S + 2S + 4)
2
1
S + 2 S + 4
2
> with(inttrans):
> invlaplace(1/S*(S^2+2*S+4),S,t);
Dirac( 1, t ) + 2 Dirac( t ) + 4
> with(inttrans):
> invlaplace(1/(S^2+2*S+4),S,t);
1 ( −t )
3e sin( 3 t )
3
Considerando el régimen transitorio:
S +2 1
S 2 + 2S + 4 S + 2S + 4
2
X (s) =
−4 S
S 2 + 2 S + 4 S + 2 S + 4
2
> with(inttrans):
> invlaplace(-4/(S^2+2*S+4),S,t);
4 ( −t )
− 3e sin( 3 t )
3
> with(inttrans):
> invlaplace(S+2/(S^2+2*S+4),S,t);
2 ( −t )
Dirac( 1, t ) + 3e sin( 3 t )
3
> with(inttrans):
> invlaplace(1/(S^2+2*S+4),S,t);
1 ( −t )
3e sin( 3 t )
3
> with(inttrans):
> invlaplace(S/(S^2+2*S+4),S,t);
( −t ) 1 ( −t )
e cos( 3 t ) − 3e sin( 3 t )
3
Hallamos la matriz de Transferencia:
H ( s ) = Y ( s).u ( s ) −1
H ( s ) = [ C. X ( s ) + Du ( s )]u ( s) −1
[
H ( s ) = C. X ( s )u ( s) −1 + D ]
1
(
S S 2 + 2S + 4
H ( s ) = [1 0] )
S
1
S + 2S + 4
2
1
H (s) = 2
S + 2S + 4
Sistema Hidráulico:
dh1 1 h − h2
= q i1 − 1 (a )
dt C1 R1
dh2 1 h1 − h2 h
= + q i 2 − 2 (b)
dt C 2 R1 R2
Se definen las variables de estado:
x1 = h1
x 2 = h2
y1 = h1 = x1
y 2 = h2 = x 2
1 1 1
x 1 = x1 + x2 + u1
R1C1 R1C1 C1
1 1 1 1
x 2 = − x1 − + x 2 + u2
R1C 2 R1C 2 R2 C 2 C2
En forma matricial se obtiene:
1 1 1
− x 0
x 1 R1C1 R1C1 u
x = 1 1 + C1 1
2 1 1 x 2 1 u 2
RC − +
0
1 2 R1C 2 R2 C 2 C 2
y1 1 0 x1
y = 0 1 x Que es la ecuación de salida.
2 2