Professional Documents
Culture Documents
Contenido
Introduccin
El objetivo de esta seccin es presentar los procedimientos para el
diseo y la compensacin de sistemas de control de una entrada y una
salida e invariantes con el tiempo
La compensacin es la modificacin de la dinmica del sistema,
realizada para satisfacer las especificaciones determinadas
R
Planta
Controlador
(actuador)
C
Planta
Especificaciones de desempeo
Compensacin y compensador
El diseo o adicin de un dispositivo apropiado se denomina
compensacin
Compensador modifica el desempeo, dficit del sistema original
Sistema compensado
Controlador
(actuador)
Sistema
LTI
Sensor
Tipos de compensacin
Compensacin en serie
G(s)
Gc(s)
H(s)
G2(s)
G1(s)
Gc(s)
H(s)
Compensadores
Redes de adelanto
Redes de atraso
Redes de atraso adelanto
El compensador es
un dispositivo fsico
que se debe hallar su
funcin de
transferencia.
0.56
0.32
0.22
0.14
0.07
4
4
3
3
0.74
2
2
0.9
Imaginary Axis
1
0
-1
0.9
-2
-3
2
0.74
3
-4
0.56
-5
-3
0.42
-2.5
0.32
-2
-1.5
0.22
-1
Real Axis
0.14
0.07
-0.5
50
0.5
Modificacin de la ganancia
La modificacin de la ganancia puede hacer que la respuesta en
el tiempo mejore
Root Locus
4
0.48
0.35
0.25
0.34
System: g1
Gain: 2.99
Pole: -1.5 + 3.12i
0.25
Damping: 0.434
Overshoot (%): 22.1
Frequency (rad/sec): 3.46
0.2
Amplitude
0.86
2.5
2
1.5
1
0.5 0.8
0.5 0.6
0.15
0.86
1
1.5 0.4
0.1
-2
0.64
2.5
0.05
-3
0.2
3
0.48
-4
-2
1.2
Amplitude
0.64
Imaginary Axis
0.05 3.5
0.3
-1
0.11
0.18
Step Response
Step Response
1.4
0.34
-1.5
0.25
0
-1 0
0.18
0.5 -0.5
Real Axis
0.05 3.5
0.11
1
40
1.5
0.5
0.5 2.5
Time (sec)
1.5 3.5
Time (sec)
2.5
3.5
Ejemplo 2.1
Root Locus
2.5
0.86
0.76
0.64
0.5
1.4
2
1.5
0.94
0.34
Step Response
0.16
1.2
1
0.985
0.5
4
3.5
2.5
2
Amplitude
20
Analizar la funcin de transferencia siguiente =
( + 4 + 20)
-0.5
0.985
1.5
0.8
0.5
0.6
-1
-1.5
0.4
0.94
-2
0.86
-2.5
-4.5
-4
0.76
-3.5
-3
0.64
-2.5
-2
0.2
0.5
-1.5
0
Real Axis (seconds -1)0
0.34
-1
0.16
-0.5
0.5
0.5
1
1.5
Time (seconds)
2.5
20
=
( + 4 + 20)
Step Response
Root Locus
1.4
250
0.76
0.64
0.5
0.34
1
=
( + 100)
0.16
200 0.86
1.2
150
1
100
50
300
0
-50
sys
0.985
250
200
150
100
50
Amplitude
0.94
gm
0.8
0.6
0.985
gc
-100
gm
0.4
0.94
-150
0.2
-200 0.86
0.76
-250
-350
-300
0.64
-250
-200
0.5
-150
0.34
-100
0.16
-50
-1
0
0
050
100
0.5
150
1.5
Time (seconds)
2.5
20
=
( + 4 + 20)
Step Response
Root Locus
1.4
0.14
50
0.68
0.8
0.56
0.42
0.28
1.2
sys
gm
0.91
20
0.975
10
60
0
50
40
30
20
10
Amplitude
gc
gm
40
30
1
=
( + 20)
0.8
0.6
-10
0.975
0.4
-20
-30
0.91
0.2
-40
0.8
-50
-60
0.68
-50
0.56
-40
0.42
-30
-20
0.28
0.14
-10
0 0
0.5
10
20
1.5
Time (seconds)
2.5
20
=
( + 4 + 20)
Root Locus
Step Response
20
0.72
15
0.58
0.3
1.4
0.14
0.84
1.2
sys
gm
10 0.92
5 0.98
25
0
20
15
10
Amplitude
0.44
1
=
( + 0.1)
0.8
0.6
-5 0.98
gc
-10 0.92
-15
gm
0.4
0.2
0.84
0.72
-20
-25
-20
0.58
-15
0.44
-10
0.3
0.14
-5
0
-1
10 10
20
30
Time (seconds)
40
50
60
Ejemplo 2.2
Sistema con 1 polo adicional
Root Locus
0.2
0.94
3
0.986
0.968
1
1
() =
( + 5) ( + 1)
Step Response
0.88
0.76
0.5
0.18
2 0.994
0.16
0.14
1 0.999
0.12
18
0
16
14
12
10
Amplitude
0.1
0.08
-1 0.999
0.06
0.04
-2 0.994
0.02
0.986
-3
-18
-16
0.968
-14
-12
0.94
-10
-8
0.88
0
0-6
-1
0.76
-4 1
0.5
-2
2 0
23
Time (seconds)
Ejemplo 2.2
1
1
() =
( + 5) ( + 10)
Step Response
Root Locus
6
0.93
0.87
0.78
0.2
0.46
0.64
0.24
0.18
g1
0.16
g3
0.14
2 0.992
0.12
16
0
14
12
10
Amplitude
4 0.97
0.1
g1
g3
0.08
-2 0.992
0.06
0.04
-4 0.97
0.02
0.93
-6
-16
-14
0.87
-12
-10
0.78
-8
0.64
-6
-1
0.46 0.24
0
-4
0 -2 0.2 0
0.4 2
0.6
0.8
Time (seconds)
1.2
1.4
1.6
1.8
Ejemplo 2.3
Sistema con 2 polos adicionales
Step Response
Root Locus
2.5
0.978
0.96
0.92
1
1
1
() =
( + 4) ( + 1) ( + 3)
0.85
0.25
0.7 0.45
2
1.5
0.991
0.2
g1
g1
g3
1
0.998
0.15
0.5
12
0
10
Amplitude
g3
2
0.1
-0.5
0.998
-1
-1.5
0.05
0.991
-2
0.978
-2.5
-12
0.96
-10
-8
0.92
-6
0.85
-4
-1
0.7
0.45
0
-2 0
Time (seconds)
1
1
1
() =
( + 4) ( + 1) ( + 3)
Root Locus
Step Response
10
0.72
0.84
0.6
0.46
0.3
g1
g3
6 0.92
0.2
4
g1
0.98
2
0.15
12
14
0
10
Amplitude
0.25
0.16
-2
g3
0.1
0.98
-4
-6 0.92
0.05
-8
0.84
-10
-14
0.72
-12
-10
0.6
-8
0.46
-6
0.3
-4
-1
0.16
0
-2
0
1 2
24
4
Time (seconds)
Ejemplo 2.3
4
=
+ 2 ( + 4)
Sistema
Root Locus
10
0.72
0.84
0.6
0.46
0.3
0.16
8
sys
6 0.92
Imaginary Axis (seconds-1)
4
0.98
2
14
0
12
10
-2
0.98
-4
-6 0.92
-8
0.84
-10
-14
0.72
-12
-10
0.6
-8
0.46
-6
0.3
-4
0.16
-2
-1
= ( + 1)
Root Locus
10
0.72
0.84
0.6
0.46
0.3
0.16
8
6 0.92
sys
g3
4
0.98
2
14
0
12
10
-2
0.98
-4
-6 0.92
-8
0.84
-10
-14
0.72
-12
-10
0.6
-8
0.46
-6
0.3
-4
0.16
-2
-1
4
+ 2 ( + 4)
= ( + 8)
Root Locus
40
0.26
0.36
0.18
0.13
0.08
0.04
35
30
30
25
20
Imaginary Axis (seconds-1)
0.52
sys
g3
20
15
10
10 0.8
5
0
5
-10 0.8
10
15
-20
20
0.52
25
-30
30
0.36
-40
-14
0.26
-12
-10
0.18
-8
0.13
-6
0.08
-4
0.04
-2
-1
35
400
4
+ 2 ( + 4)
= ( + 50)
Root Locus
400
0.13
0.095
0.065
0.04
0.018 350
300
300 0.19
250
200 0.3
Imaginary Axis (seconds-1)
sys
200
g3
150
100
100 0.55
50
0
50
-100 0.55
100
150
-200 0.3
200
250
-300 0.19
300
0.13
-400
-60
-50
0.095
-40
0.065
-30
0.04
-20
0.018 350
4000
-10
-1
10
20
30
4
+ 2 ( + 4)
0.095
0.065
0.04
0.018 350
300
300 0.19
250
200 0.3
Imaginary Axis (seconds-1)
sys
200
g3
150
100
100 0.55
50
0
50
-100 0.55
100
150
-200 0.3
200
250
-300 0.19
300
0.13
-400
-60
-50
0.095
-40
0.065
-30
0.04
-20
0.018 350
4000
-10
-1
10
20
30
4
+ 2 ( + 4)
Ejemplo 2.4
Solucin
Funcin de transferencia de lazo abierto
=
4
4
=
( + 2) + 2
Root Locus
1.5 0.86
0.76
0.64
Step Response
1.4
0.34
0.5
0.16
g1
1.2
sys
0.94
0.985
-0.5
1.5
0.8
0.5
Amplitude
0.5
0.6
0.985
0.4
0.94
-1
-1.5 0.86
-2.5
0.2
0.76
-2
0.64
-1.5
0.5
0.34
0
-0.5
0
-1
-1
0.16
10
0.5
2
3
Time (seconds)
() = () =
=
4
+ 7 + 10
1
4
( + 5) ( + 2)
()
()
=
() 1 + ()
4
= + 7 + 10
4
1+
+ 7 + 10
4
=
+ 7 + 10 + 4
() =
Step Response
Root Locus
1.4
0.14
15
0.7
0.82
0.56
0.42
0.28
1.2
10
0.91
sys
20
0
-5
0.975
17.5
15
12.5
10
7.5
Amplitude
g3
0.8
2.5
0.6
g1
g4
0.975
0.4
0.91
-10
0.82
-15
-20
0.2
0.7
-15
0.56
-10
0.42
0.28
-5
-1
0.14
0
6
Time (seconds)
10
12
En s=-10
1
4
() = () =
( + 10) ( + 2)
4
=
+ 12 + 20
()
()
() =
=
=
() 1 + ()
4
=
+ 12 + 20 + 4
En s=-20
1
4
() = () =
( + 20) ( + 2)
4
=
+ 22 + 40
()
()
() =
=
=
() 1 + ()
4
=
+ 22 + 40 + 4
Root Locus
Step Response
30
1.4
0.76
0.64
0.5
0.34
0.16
0.86
1.2
20
10
sys
g3
0.985
40
0
35
30
25
20
15
10
0.8
Amplitude
0.94
g1
0.6
g4
0.985
-10
0.4
0.94
-20
0.2
0.86
0.76
-30
-40
0.64
-30
0.5
-20
0.34
0.16
0
-10
-1
00
1 10
20 3
4
Time (seconds)
Root Locus
50
0.76
0.64
0.5
0.34
Step Response
1.4
0.16
40 0.86
1.2
30
sys
g3
20
10
0.985
70
0
-10
60
50
40
30
20
Amplitude
0.94
0.8
10
g1
0.6
g4
0.985
-20
0.4
0.94
-30
0.2
-40 0.86
0.76
-50
-70
-60
0.64
-50
-40
0.5
-30
0.34
-20
0.16
-10
0 0
10 1
20
30
2
3
Time (seconds)
0.64
30
0.94
20
10
0.34
0.16
0.985
70
0
-10
0.5
sys
g3
sys
g3
sys
g3
40 0.86
60
50
40
30
20
10
0.985
-20
0.94
-30
-40 0.86
0.76
-50
-70
-60
0.64
-50
-40
0.5
-30
0.34
-20
0.16
-10
-1
10
20
30
1.2
Amplitude
0.8
0.6
g1
g4
g1
g4
g1
g4
0.4
0.2
6
Time (seconds)
10
12
Adicin de ceros
4
4
=
=
( + 2) + 2
En s=-5
= () = ( + 5)
4
( + 2)
4 + 20
=
+ 2
4
()
=
==
+ 2 + 4
() 1 +
()
()
=
() 1 + ()
4 + 20
=
+ 6 + 20
=
En s=10
= ()
4 + 40
4
= ( + 10)
=
( + 2) + 2
()
()
=
=
() 1 + ()
4 + 40
=
+ 6 + 40
Root Locus
Step Response
5
0.95
0.91
0.83
1.4
0.54
0.72
0.3
4
1.2
sys
g3
0.98
2
0.995
1
16
0
14
12
10
-1
Amplitude
0.8
2
0.6
g1
g4
0.995
-2
-3
0.4
0.98
0.2
-4
0.95
-5
-16
-14
0.91
-12
-10
0.83
-8
0.72
-6
0.54
-4
-1
0.3
0
0-2
3
Time (seconds)
Root Locus
Step Response
10
0.96
0.92
0.86
1.4
0.58
0.76
0.35
g3
1
4
0.996
2
30
35
0
25
20
15
10
Amplitude
1.2
sys
6 0.984
-2
0.8
5
0.6
g1
0.996
g4
-4
0.4
-6 0.984
0.2
-8
0.96
-10
-35
0.92
-30
-25
0.86
-20
-15
0.76
-10
-1
0.58 0.35
0
0-5
01
3
Time (seconds)
En s=-20
= ()
4 + 80
4
=
= ( + 20)
( + 2) + 2
()
()
=
() 1 + ()
4 + 80
=
+ 6 + 80
=
Root Locus
Step Response
20
0.96
0.92
0.86
0.76
1.4
0.58 0.35
15
1.2
0.984
sys
1
g3
5
0.996
60
70
0
-5
50
40
30
20
Amplitude
10
0.8
10
0.6
0.996
g1
g4
0.4
-10
0.984
0.2
-15
0.96
-20
-70
0.92
-60
-50
0.86
-40
-30
0.76
-20
-1
0.58
0.35
0
-100
10
3
Time (seconds)
0.92
0.984
10
-5
0.76
0.58
0.35
g3
sys
g3
0.996
60
70
0
0.86
sys
g3
sys
15
50
40
30
20
10
0.996
-10
0.984
-15
0.96
-20
-70
0.92
-60
-50
0.86
-40
-30
0.76
-20
-1
0.58
0.35
-10
10
1.2
Amplitude
0.8
g1
g4
g1
g4
g1
g4
0.6
0.4
0.2
3
Time (seconds)
Ejemplos
SISOTOOL
Conclusiones