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Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Contenido
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
Ejemplos
Ejercicios
4
Time (sec)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
y(t)
Computador
4
Time (sec)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Condiciones de la conversin
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
encuentran en cascada
x(t)
X(s)
x*(t)
T X(z)
G1(s)
v(t)
V(s)
v*(t)
T V*(s)
V(z)
y(t)
Y(s)
G2(s)
y*(t)
T Y(z)
Y ( z)
G( z) =
= G1 ( z ) G2 ( z ) = {G1 ( s )} {G2 ( s )}
X ( z)
Dos funciones continuas en cascada son
x*(t)
T X(z)
G1(s)
v(t)
V(s)
G2(s)
y(t)
Y(s)
Y ( z)
G( z) =
= {G ( s )} = {G1 ( s )G2 ( s )}
X ( z)
y*(t)
T Y(z)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Condiciones de la conversin
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
Procedimiento:
x(t)
X(s)
G1(s)
K(z)
u*(t)
T U (z)
G2(s)
G(s)
T Y(z)
y(t)
Y(s)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
y(t)
r(t) +
R(s)
x*(t)
X(z)
G1(s)
K(z)
u*(t)
T U (z)
G2(s)
G(s)
y*(t)
T Y(z)
y(t)
Y(s)
H(s)
Y ( z)
K ( z )G ( z )
K ( z ) {G ( s )}
T ( z) =
=
=
R ( z ) 1 + K ( z )GH ( z ) 1 + K ( z ) {G ( s ) H ( s )}
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
{ }
Le
at
1
=
( s + a)
{ } = {e } = 1 e
at
akT
Tiene problemas de
aliasing
dependiente de T
1
aT
z 1
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
Ri
G( z) =
piT 1
(
1
e
z )
i =1
G( z) =
i =1
( 1)l 1 Ril l 1
1
l 1
piT 1
(
l
1
)!
(
1
e
z )
p
l =1
i
mi
No mantiene la
respuesta ante
escaln. El factor
de escala es T
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
Ejemplo 1: Discretizacin de
una planta por respuesta inv.
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
P = [ -4 -1]
R = [-4/3 4/3]
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Ejemplo 1: cont.
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
Evaluando
Ri
4/3
4/3
P( z ) =
=
+
piT 1
4*0.1 1
1*0.1 1
(
1
e
z
)
(
1
e
z
)
(
1
e
z )
i =1
2
4 / 3* z
4 / 3* z
P( z ) =
+
( z 0.6703) ( z 0.9048)
0.31269 z
P( z ) =
( z 0.6703)( z 0.9048)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
u(k)
1 e
Z
s
u*(t)
ZOH
sT
G(s)
G(s)
* G ( s ) = (1 z 1 ) * Z
y(t)
Mtodo preferible
para sistemas con
tiempo muerto
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
Ejemplo 2: Discretizacin de
una planta por ZOH
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Ejemplo 2: cont.
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
0.33
1.33
1
P( z ) = (1 z )
+
( 4*0.1) 1
(1*0.1) 1
0 1
(
1
e
z
)
(
1
e
z
)
(
1
e
z )
factorizamos y simplificamos:
0.01699 ( z+0.8466)
P( z ) =
, T = 0.1s
( z-0.9048)( z-0.6703)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
z = e sT
Despejamos s y desarrollamos la serie de
No tiene problemas
de aliasing
dependiente de T
1
s = ln z
T
2 ( z 1) 2 ( z 1) 3
2 ( z 1) 5
s=
+
+
+L
3
5
T ( z + 1) 3T ( z + 1)
5T ( z + 1)
Finalmente aproximamos al primer trmino
2 ( z 1)
s
T ( z + 1)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
Ejemplo 2: Discretizacin de
una planta por Tustin
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
Sustituyendo
P( z ) =
4
2 ( z 1)
2 ( z 1)
(
+ 1)(
+ 4)
0.1 ( z + 1)
0.1 ( z + 1)
0.0079365( z + 1) 2
P( z ) =
( z 0.6667)( z 0.9048)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
(s z )
i
G (s) = K
i =1
n
(s pi )
i =1
n>q
G ( z ) = K 1 ( z + 1)( n q 1)
= en dom.
analgico = s
en el dom. discreto.
(z e
ziT
(z e
piT
i =1
n
i =1
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
K1 = KB
(z e
piT
i =1
( z + 1)
( n q 1)
(z e
i =1
K B = G ( s ) s =0 = K
ziT
z =1
i =1
n
i =1
sT
z
=
e
Se satisface exactamente la relacin
4
Time (sec)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
Ejemplo 4: Discretizacin de
una planta por mapeo z = esT
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
4
P( s) =
( s + 1)( s + 4)
Los datos del sistema continuo son:
P = [-4 -1 ]
n = 2; q = 0
KB = P(0) = 1
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
Ejemplo 4: cont.
0.4
0.3
0.2
0.1
0
0
P( z ) = K 1 * P ( z )
( z + 1)
( z e - 4* 0 .1 )(z e -1* 0 .1 )
( 2 - 0 -1)
P ( z ) =
P (1) = 63.7486
K = 1 / 63.7486
1
0.015687( z+1)
P( z ) =
, T = 0.1s
( z-0.6703)( z-0.9048)
4
Time (sec)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
Respuesta al impulso
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
0.5
Amplitude
Se puede
observar que
solamente la
forma
invariante al
impulso
conserva este
tipo de
respuesta
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
Respuesta al escaln
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
Step Response
1
Amplitude
Todas las
formas
conservan la
respuesta ante
un escaln
excepto la
invariante al
impulso, que lo
hace solo si es
escalada por T
P
Pzoh
Ptustin
Pmatched
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0
3
Time (sec)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
2.5
2
Amplitude
Todas las
formas
conservan la
respuesta ante
una rampa
excepto la
invariante al
impulso.
1.5
P
Pzoh
PTustin
Pmatched
0.5
0
0
0.5
1.5
2
Time (sec)
2.5
3.5
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
mtodos de
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
d
m(t ) = K P e(t ) + K I e( ) d + K D e(t ) + m0
dt
0
del PID
e(k ) e(k 1)
[(e(k ) + e(k 1)]Ts
m ( k ) = K P e( k ) + K i
+ Int prev. + K d
+ m0
2
Ts
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
T ( z + 1)
K PTs
K T
e(k ) + P d [e(k ) 2e(k 1) + e(k 2)]
Ti
Ts
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
simplificar a
m(k ) = m(k 1) + A e(k ) + B e(k 1) + C e(k 2)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Ejercicios
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)
( s + 0.4)( s + 3)
F ( s) =
; T = 0.05s
s ( s + 9)
H ( s) =
( s + 3)
; T = 0.1s
2
s ( s + 1)
Impulse Response
0.7
P
Pimp
Pzoh
Ptustin
Pmatched
0.6
Referencias
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0
4
Time (sec)