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    Actividad 2 Bernal-Granda

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    Teofilo Granda

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    Actividad 2 Bernal-Granda

    Uploaded by

    Teofilo Granda
    42 views7 pages

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    Copyright:

    © All Rights Reserved
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    42 views7 pages

    Actividad 2 Bernal-Granda

    Uploaded by

    Teofilo Granda

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    © All Rights Reserved
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    of 7

    Control en el Dominio de la Frecuencia

    Homework Two
    PhD. Walter Orozco Tupacyupanqui - Universidad Politécnica Salesiana Semester (57):
    September 2020 - February 2021
    December 11, 2020

    Integrants: Elmer Bernal, Arturo Granda


    1. Consider the closed-loop system with the following open-loop transfer function:
    10𝐾(𝑠 + 0.50)
    𝐺(𝑠)𝐻(𝑠) =
    𝑠 2 (𝑠
    + 2)(𝑠 + 10)
    Plot the polar plots of G(s)H(s) with K = 1 and K = 10. Apply the Nyquist stability criterion to
    the plots, and determine the stability of the system with these values of K.

    Diagram polar with k=1

    Diagram polar with k=10


    El Sistema es de mínima fase, la grafica de Nyquist no debe encerrar el punto (-1 , j0) para
    que sea estable en lazo cerrado
    2. Consider the closed-loop system whose open-loop transfer function is
    𝑲𝒆−𝟐𝒔
    𝑮(𝒔)𝑯(𝒔) =
    𝒔
    Find the maximum value of K for which the system is stable
    clc
    clear all
    close all
    k=7.39;
    num1=[k*exp(-2)];
    den1=[1];
    G1=tf(num1,den1)
    nyquist(G1)

    axis('equal')
    grid on
    Para que el sistema sea estable no debe exceder del punto (1, j0) y mediante el uso del
    tanteo en el software obtuvimos el valor de k=7.39, excedido ese valor el sistema es
    inestable

    3. Consider a unity-feedback control system with the following open-loop transfer


    function:
    1
    𝐺(𝑠) = 3
    𝑠 + 0.2𝑠 2 + 𝑠 + 1
    Draw a Nyquist plot of G(s) and examine the stability of the system
    clc
    clear all
    close all

    num1=[1];
    den1=[1 0.2 1 1];
    G1=tf(num1,den1)
    nyquist(G1)

    axis('equal')
    grid on
    El sistema es inestable porque el punto (-1.j0) está rodeado una vez en el sentido
    contrario de las agujas del reloj

    4. Consider the unity-feedback control system whose open-loop transfer function is


    𝑎𝑠 + 1
    𝐺(𝑠) =
    𝑠2
    Determine the value of a so that the phase margin is 45◦
    𝑎𝑠 + 1 𝑎(𝑗𝑤) + 1
    𝐺(𝑠) = = 𝐺(𝑠) =
    𝑠2 (𝑗𝑤)2
    −1
    |__𝐺 = ta𝑛 (𝑤𝑎/1) + (−2 ∗ 90°)
    ∅ = 𝑡𝑎𝑛−1 (𝑊𝑔𝑐 ∗ 𝑎) − 180°
    𝑃𝑀 = 180° + 𝑡𝑎𝑛−1 (𝑊𝑔𝑐 ∗ 𝑎) − 180°
    𝜋
    𝑡𝑎𝑛−1 (𝑊𝑔𝑐 ∗ 𝑎) = 4 =1/
    𝜋
    𝑊𝑔𝑐 ∗ 𝑎 = tan ( ) = 1
    4
    1
    𝑊𝑔𝑐 =
    𝑎
    1
    𝑎= 𝑒𝑐𝑢𝑎𝑐𝑖𝑜𝑛 (1)
    𝑊𝑔𝑐

    𝑊𝑔𝑐 = 𝑔𝑎𝑖𝑛 = 1
    1 + 𝑗𝑎𝑤
    𝐺(𝑠) = 𝐺(𝑗𝑤) =
    (𝑗𝑤)2
    1 + 𝑗𝑎𝑊𝑔𝑐
    𝐺(𝑗𝑤) = 2
    (𝑊𝑔𝑐 )
    2
    √1 + (𝑎 ∗ 𝑊𝑔𝑐 )
    √1 + 1
    |𝐺(𝑊𝑔𝑐 )| = 2 =1=
    𝑊𝑔𝑐 𝑊𝑔𝑐
    2
    𝑊𝑔𝑐 = √2
    1
    𝑎2 = = 0.707
    √2
    𝑎 = 0.84083
    clc
    clear all
    close all
    a=0.84083;
    num1=[a*1 1];
    den1=[1 0 0];
    G1=tf(num1,den1)
    nyquist(G1)

    axis('equal')
    grid on

    En el diagrama de Nyquist podemos notar en la etiqueta que el margen de fase tiene


    un valor de 45 grados.

    5. Consider the system shown in Figure 1.

    Draw a Bode diagram of the open-loop transfer function G(s). Determine the phase margin
    and gain margin.
    clc
    close all

    num=[25];
    den=[1 11 10 0];
    G=tf(num,den)%bucle abierto
    Ts=feedback(G,1)%bucle cerrado

    margin (G)
    grid on
    6. Consider the system shown in Figure 2. Draw a Bode diagram of the open-loop
    transfer function and determine the value of the gain K such that the phase margin is 50.
    What is the gain margin of this system with this gain K?
    clc
    close all
    k=0.265;

    num=conv([k],[10 1]);
    den=conv([1 0],conv([1 0.5],[1 1]));
    G=tf(num,den)%bucle abierto
    Ts=feedback(G,1)%bucle cerrado
    figure
    margin (G)
    grid on

    Tenemos margen de ganancia infinita.

    7. The gain-phase plot of the forward-path transfer function of G(jw)=K of a unity-


    feedback control system is shown in Figure 3. Find the following performance
    characteristics of the system.

    (a) Gain-crossover frequency (rad/sec) when K = 1.


    𝑟𝑎𝑑
    8
    𝑠
    (b) Phase-crossover frequency (rad/sec) when K = 1.
    𝑟𝑎𝑑
    20
    𝑠
    (c) Gain margin (dB) when K = 1.

    10 𝑑𝐵
    (d) Phase margin (deg) when K = 1.

    65°
    (e) Resonance peak Mr when K = 1.

    𝑀𝑟 = 1

    (f) Resonant frequency wr (rad/sec) when K = 1.

    𝑀𝑟 = 5 𝑟𝑎𝑑/𝑠

    (g) BW of the closed-loop system when K = 1.


    𝑟𝑎𝑑
    15
    𝑠
    (h) The value of K so that the gain margin is 20dB.

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