Tema 4 Análisis de Sistemas en el Dominio de la Frecuencia ...
Tema 4 Análisis de Sistemas en el Dominio de la Frecuencia ...
Tema 4 Análisis de Sistemas en el Dominio de la Frecuencia ...
Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
REGULACIÓN AUTOMÁTICA<br />
Ejemplo <strong>de</strong> diagrama <strong>de</strong> Bo<strong>de</strong> <strong>de</strong> un sistema (I)<br />
32·( s 0.25)<br />
G s)<br />
<br />
2<br />
s·(<br />
s 0.1)·( s 2· s 4)<br />
20·(1 4· s)<br />
G(<br />
s)<br />
<br />
s·(1<br />
10·<br />
s)·(1<br />
0.5· s 0.25· s<br />
(<br />
2<br />
20·(1 4· j)<br />
G( j)<br />
<br />
2<br />
j·(1<br />
10·<br />
j)·(1<br />
0.5· j<br />
0.25·( j)<br />
)<br />
Amplitud<br />
)<br />
Frecu<strong>en</strong>cias <strong>de</strong> corte<br />
A(<br />
)<br />
(<br />
)<br />
p 0.1 0.1· p 0.01 10· p 1<br />
!<br />
<br />
z<br />
0.25 0.1· <br />
z<br />
0.025 10· <br />
z<br />
2.5<br />
!<br />
n<br />
2 0.1· n<br />
0.2 10· n<br />
20<br />
! n<br />
2 M<br />
r 1.15<br />
" 1.24 dB<br />
Pico <strong>de</strong> Resonancia " <br />
! 0.5 r<br />
1.41<br />
rad / s<br />
Fase<br />
Gijón - Julio 2003 17<br />
Ejemplo <strong>de</strong> diagrama <strong>de</strong> Bo<strong>de</strong> <strong>de</strong> un sistema (II)<br />
Elem<strong>en</strong>to Frecu<strong>en</strong>cia <strong>de</strong> corte Cambio <strong>de</strong><br />
p<strong>en</strong>di<strong>en</strong>te<br />
K=20 & 26 [dB] No ti<strong>en</strong><strong>en</strong>, frecu<strong>en</strong>cia <strong>de</strong> corte. 0 dB/<strong>de</strong>c<br />
Su repres<strong>en</strong>tación es una recta<br />
1/(j·) (=1 " 0 dB) <strong>de</strong> p<strong>en</strong>di<strong>en</strong>te -20db/<strong>de</strong>c que<br />
pasa por 26 dB para =1<br />
P<strong>en</strong>di<strong>en</strong>te acumu<strong>la</strong>da<br />
-20 dB/<strong>de</strong>c -20 dB/<strong>de</strong>c<br />
(p<strong>en</strong>di<strong>en</strong>te inicial)<br />
1/(1+10·j·) p =0.1 -20 dB/<strong>de</strong>c -40 dB/<strong>de</strong>c<br />
(1+4·j·) z =0.25 +20 dB/<strong>de</strong>c -20 dB/<strong>de</strong>c<br />
1/(1+0.5· j· +0.25·(j·) 2 ) n =2 -40 dB/<strong>de</strong>c -60 dB/<strong>de</strong>c<br />
Elem<strong>en</strong>to 0 <br />
K=20>0 0º 0º<br />
1/(j·) -90º -90º<br />
1/(1+10·j·) 0º -90º<br />
(1+4·j·) 0º 90º<br />
1/(1+0.5· j· +0.25·(j·) 2 ) 0º -180º<br />
Total -90º -270º<br />
REGULACIÓN AUTOMÁTICA<br />
• Tab<strong>la</strong> para <strong>el</strong> trazado asintótico <strong>de</strong> A()<br />
• Tab<strong>la</strong>s para <strong>el</strong> trazado asintótico <strong>de</strong> ()<br />
Elem<strong>en</strong>to Frecu<strong>en</strong>cia <strong>de</strong> corte Cambio <strong>de</strong><br />
p<strong>en</strong>di<strong>en</strong>te<br />
P<strong>en</strong>di<strong>en</strong>te<br />
acumu<strong>la</strong>da<br />
K=20>0 (0º) No ti<strong>en</strong><strong>en</strong>. Es una 0º/<strong>de</strong>c 0º/<strong>de</strong>c<br />
1/(j·) (-90º) horizontal por -90º 0º/<strong>de</strong>c (inicial)<br />
1/(1+10·j·) 0.1· p =0.01 -45º/<strong>de</strong>c -45º/<strong>de</strong>c<br />
(1+4·j·) 0.1· z =0.025 +45º/<strong>de</strong>c 0º/<strong>de</strong>c<br />
1/(1+0.5· j· +0.25·(j·) 2 ) 0.1· n =0.2 -90º/<strong>de</strong>c -90º/<strong>de</strong>c<br />
1/(1+10·j·) 10· p =1 +45º/<strong>de</strong>c -45º/<strong>de</strong>c<br />
(1+4·j·) 10· z =2.5 -45º/<strong>de</strong>c -90º/<strong>de</strong>c<br />
1/(1+0.5· j· +0.25·(j·) 2 ) 10· n =20 +90º/<strong>de</strong>c 0º/<strong>de</strong>c<br />
Gijón - Julio 2003 18