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INGENIERIA DE CONTROL
Ing. Mg. BRUNO ELIO VARGAS TAMANI
¨ MODELO Y CONTROL DEMOTOR D.C. ¨
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 2
SISTEMA ELECTROMECANICO MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 3
• Ecuación Eléctrica :
edtdILRIVa
SISTEMA ELECTROMECANICO MOTOR D.C. CONTROLADO
POR ARMADURA
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 4
• Ecuaciones Eléctro-Mecánicas :
SISTEMA ELECTROMECANICO MOTOR D.C. CONTROLADO
POR ARMADURA
IKT teKe
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 5
• Ecuación Mecánica :
SISTEMA ELECTROMECANICO MOTOR D.C. CONTROLADO
POR ARMADURA
BTdtdJ
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 6
DIAGRAMA DE BLOQUES
MOTOR D.C. CONTROLADO
POR ARMADURA
LsR 1
tK)(sI )(sT )(sW
JsB 1
eK
)(sVa
)(sE
![Page 7: 91769788 modelo-y-control-de-motor-d-c-con-engranajes-2011-2](https://reader036.vdocuments.net/reader036/viewer/2022070323/559a9a841a28ab683d8b469f/html5/thumbnails/7.jpg)
08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 7LJKKRB
sJB
LRs
JLK
sVsWsG
te
t
a
2)(
)()(
te
t
a KKRBsLBRJLJsK
sVsWsG
)()()()( 2
FUNCION DE TRANSFERENCIA MOTOR D.C. CONTROLADO POR ARMADURA
LsR 1
tK)(sI )(sT )(sW
JsB 1
eK
)(sVa
)(sE
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 8
MOTOR D.C. CON ACOPLAMIENTO DE CARGA
MEDIANTE TREN DE ENGRANAJES
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 9
SISTEMA ELECTROMECANICO MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 10
SISTEMA ELECTROMECANICO MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 11
DIAGRAMA DE BLOQUES MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 12
DIAGRAMA DE BLOQUES PARA ANALISIS DE LAZO CERRADO
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 13
SALIDA EN FUNCION DE LAS ENTRADAS
POR SUPERPOSICION
teLLLL
Pat
KKBBnRsJJnRBBnLsJJnLsTRLsnsVnKsW
)()()()(
)()()()( 22222
2
2
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 14
SALIDA EN FUNCION DE LAS ENTRADAS
POR SUPERPOSICION
teLLLL
Pat
KKBBnRsJJnRBBnLsJJnLsTRLsnsVnKsW
)()()()(
)()()()( 22222
2
2
)()(
1)()()()()(
)(
3
2
222221
RLsKnsG
sGKKBBnRsJJnRBBnLsJJnL
nKsG
t
teLLLL
t
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 15
DIAGRAMA DE BLOQUES REDUCIDO EN FUNCION DE
LAS ENTRADAS
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 16
OTRA MANERA DESPLAZANDO LOS SUMADORES
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 17
DIAGRAMA DE BLOQUES MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 18
DIAGRAMA DE BLOQUES MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 19
DIAGRAMA DE BLOQUES MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 20
DIAGRAMA DE BLOQUES MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 21
DIAGRAMA DE BLOQUES MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 22
DIAGRAMA DE BLOQUES REDUCIDO EN FUNCION DE
LAS ENTRADAS
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 23
DIAGRAMA DE BLOQUES PARA ANALISIS DE LAZO CERRADO
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 24
SALIDA EN FUNCION DE LAS ENTRADAS
POR SUPERPOSICION
teLLLL
Pat
KKBBnRsJJnRBBnLsJJnLsTRLsnsVnKsW
)()()()(
)()()()( 22222
2
2
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 25
SALIDA EN FUNCION DE LAS ENTRADAS
POR SUPERPOSICION
teLLLL
Pat
KKBBnRsJJnRBBnLsJJnLsTRLsnsVnKsW
)()()()(
)()()()( 22222
2
2
)()(
1)()()()()(
)(
3
2
222221
RLsKnsG
sGKKBBnRsJJnRBBnLsJJnL
nKsG
t
teLLLL
t
![Page 26: 91769788 modelo-y-control-de-motor-d-c-con-engranajes-2011-2](https://reader036.vdocuments.net/reader036/viewer/2022070323/559a9a841a28ab683d8b469f/html5/thumbnails/26.jpg)
08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 26
CONTROL PROPORCIONAL DE VELOCIDAD DE MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 27
CONTROL PROPORCIONAL DE VELOCIDAD DEL MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 28
DIAGRAMA DE BLOQUES CONTROL PROPORCIONAL
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 29
DIAGRAMA DE BLOQUES CONTROL PROPORCIONAL
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 30
DIAGRAMA DE BLOQUES CONTROL PROPORCIONAL
Polinomio Característicode Lazo Cerrado
57.805K+117.99+223.32ss)( 2 sPLC
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 31
DIAGRAMA DE BLOQUES CONTROL PROPORCIONAL
Rango de Ganancia para Estabilidad
K0
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 32
CONTROL PROPORCIONALK=10
Polos de lazo cerrado
:2.220
16.3
2
1
ss
Polo dominante de primer orden
:
1.5823sg.5
0.3165sg.116.3
1
11
1
sts
s
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 33
RESPUESTA PARA ENTRADA DE REFERENCIA Y DE PERTURBACION
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 34
CONTROL PROPORCIONALK=200
Polos de lazo cerrado
:83.5703139.7517
2
1
ss
No hay Polosdominantes
:
0.012sg.1
0.0072sg.1
22
11
s
s
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 35
CONTROL PROPORCIONALK=200
Relación de constantesde tiempo
:
0.59632
1 a
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 36
CONTROL PROPORCIONALK=200
α=1.19
a=0.5963
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 37
CONTROL PROPORCIONALK=200
Valor de α
: 19.1
Tiempo de establecimiento
:
0.0714sg.5
0.0143sg.sg.012.019.12
eqs
eq
t
x
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 38
RESPUESTA PARA ENTRADA DE REFERENCIA Y DE PERTURBACION
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 39
CONTROL INTEGRAL DE VELOCIDAD DE MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 40
CONTROL INTEGRAL DE VELOCIDAD DEL MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 41
DIAGRAMA DE BLOQUES CONTROL INTEGRAL
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 42
DIAGRAMA DE BLOQUES CONTROL INTEGRAL
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 43
DIAGRAMA DE BLOQUES CONTROL INTEGRAL
Polinomio Característicode Lazo Cerrado
57.805K+117.99s+223.32ss)( 23 sPLC
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 44
DIAGRAMA DE BLOQUES CONTROL INTEGRAL
Rango de Ganancia para Estabilidad
8347.4550 K
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 45
CONTROL INTEGRALK=10
Polos de lazo cerrado
:js
s59.126.0
80.222
23
1
Polos dominantes de segundo orden
:
0.161426.01.611159.126.0 22
n
n
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 46
CONTROL INTEGRALK=10
Parámetros transitorios de larespuesta
:
59.83%0.5983
19.23085
21/
eM
t
P
ns
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 47
RESPUESTA PARA ENTRADA DE REFERENCIA Y DE PERTURBACION
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 48
CONTROL PROPORCIONAL INTEGRAL DE VELOCIDAD DE
MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 49
CONTROL PROP. INTEGRAL DE VELOCIDAD DEL MOTOR D.C.
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 50
DIAGRAMA DE BLOQUES CONTROL PROP. INTEGRAL
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 51
DIAGRAMA DE BLOQUES CONTROL PROP. INTEGRAL
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 52
DIAGRAMA DE BLOQUES CONTROL PROPORCIONAL
INTEGRALPolinomio Característico
de Lazo Cerrado
115.61K+K)s57.8059504+76(117.99349+223.32s+s)( 23 sPLC
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 53
DIAGRAMA DE BLOQUES CONTROL PROPORCIONAL
INTEGRAL
Rango de Ganancia para Estabilidad
0K
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 54
CONTROL PROPORCIONAL INTEGRAL K=10
Polos de lazo cerrado
:js
s67.157.1
18.220
23
1
Polos dominantes de segundo orden
:
0.685027.12921.267.157.1 22
n
n
![Page 55: 91769788 modelo-y-control-de-motor-d-c-con-engranajes-2011-2](https://reader036.vdocuments.net/reader036/viewer/2022070323/559a9a841a28ab683d8b469f/html5/thumbnails/55.jpg)
08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 55
CONTROL PROPORCIONAL INTEGRAL K=10
Parámetros transitorios de larespuesta si el cero adicional
no tiene efecto
:
5.22%0.0522
3.18475
21/
eM
t
P
ns
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 56
EFECTO DEL CERO ADICIONAL SISTEMA SUBAMORTIGUADO
22
22
2
)1()(
2)()(
nn
n
nn
ss
sMsG
ssasAsG
Sistema Submortiguado
con Cero adicional en a=βωn
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 57
CONTROL PROPORCIONAL INTEGRAL K=10
EFECTO DEL CERO ADICIONAL
:
1.2739
57.122
2
n
na
Cero adicional en a=-2
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 58
SOBREIMPULSO POR EFECTO DE CERO ADICIONAL
ξ=0.685
β=1.2739
MP
=16%
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 59
CONTROL PROPORCIONAL INTEGRAL K=10
Parámetros transitorios de larespuesta por efecto del cero
adicional
:
%16
3.18475
P
ns
M
t
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08/09/2011 Ing. M.Sc. BRUNO VARGAS T. 60
RESPUESTA PARA ENTRADA DE REFERENCIA Y DE PERTURBACION