Servo mecanismo
Por: alepint • 30/9/2015 • Trabalho acadêmico • 1.099 Palavras (5 Páginas) • 271 Visualizações
[pic 1]
Cria a função de transferencia
FS = tf([16,4,19,3],[32,48,114,18,0,0])
Transferfunction:
16 s^3 + 4 s^2 + 19 s + 3
----------------------------------
32 s^5 + 48 s^4 + 114 s^3 + 18 s^2
- Resposta temporal
FSTEMP = feedback(FS,1)
Transfer function:
16 s^3 + 4 s^2 + 19 s + 3
---------------------------------------------
32 s^5 + 48 s^4 + 130 s^3 + 22 s^2 + 19 s + 3
[r, p, k] = residue([16,4,19,3],[32,48,130,22,19,3])
RESIDUO =
0.0183 - 0.1070i
0.0183 + 0.1070i
-0.0179 - 0.1760i
-0.0179 + 0.1760i
-0.0009
POLOS=
-0.6890 + 1.8084i
-0.6890 - 1.8084i
0.0195 + 0.3940i
0.0195 - 0.3940i
-0.1609
CONSTANTE =
[]
- Grafico temporal para teste unitário
step(FSTEMP)
[pic 2]
- Diagram bode
bode(FSTEMP)
[pic 3]
- Funcãoemespaço de estado
[A,B,C,D] = tf2ss([16,4,19,3],[32,48,114,18,0,0])
A =
-1.5000 -3.5625 -0.5625 0 0
1.0000 0 0 0 0
0 1.0000 0 0 0
0 0 1.0000 0 0
0 0 0 1.0000 0
B =
1
0
0
0
0
C =
0 0.5000 0.1250 0.5938 0.0938
D =
0
2) seja ocompensador
[pic 4]
FSC = tf([1,0.25],[1,1.75])
s + 0.25
--------
s + 1.75
- Funçãocompensada
FCS = FSC*FS
Transfer function:
16 s^4 + 8 s^3 + 20 s^2 + 7.75 s + 0.75
-------------------------------------------------
32 s^6 + 104 s^5 + 198 s^4 + 217.5 s^3 + 31.5 s^2
- FCS para espaço de estado
[A,B,C,D] = tf2ss([16,8,20,7.75,0.75],[32,104,198,217.5,31.5,0,0])
A =
-3.2500 -6.1875 -6.7969 -0.9844 0 0
1.0000 0 0 0 0 0
0 1.0000 0 0 0 0
0 0 1.0000 0 0 0
0 0 0 1.0000 0 0
0 0 0 0 1.0000 0
B =
1
0
0
0
0
0
C =
0 0.5000 0.2500 0.6250 0.2422 0.0234
D =
0
- Esboçar gráfico temporal para teste unitário, comparando a FS com FCS
step(FS,FCS)
[pic 5]
- Esboçar diagrama de bode, comparando FS com FCS
bode (FS,FCS)
[pic 6]
3) escrever função de transferência
A) EXERCICIO
A = [0,1,5,0;0,0,1,0;0,0,0,1;-7,-9,-2,-3]
A =
0 1 5 0
0 0 1 0
0 0 0 1
-7-9 -2 -3
...