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Ke
1
w(S) JL s + ( JR+ BL) s+ ( BR+ KeKt )
=
v( S)
s
2
H (S)=
Ke
2
JL s + ( JR+ BL ) s + ( BR + KeKt ) s
3
ke
ke
H ( S )=
( JL ) 3 ( JR+ BL ) 2 ( BR+ KeKt )
s +
s+
S
ke
ke
ke
0.05
0.05
H (S)=
( 0.0080.001 ) 3 ( 0.0080.6+0.00020.001 ) 2 ( 0.00020.6+0.050.05 )
s+
s +
S
0.05
0.05
0.05
H (S)=
1
0.00016 s + 0.096004 s 2 +0.0524 s
3
K p 1+
1
+T s
Ti s d
H ( S )=
ngul
1
o
3
2
0.00016 s + 0.096004 s + 0.0524 s
2. Halla el Kcr.
K p 1+
Haciendo Ti=
H (S)=
1
+T s
Ti s d
Modelo del
Motor DC H(S)
ngul
o
; Td=0
Kp
0.00016 s + 0.096004 s 2 +0.0524 s+ Kp
3
0.005030.00016 Kp
0.096004
s 3 0.00016 0.0524
s 0.096004
Kp
=0
0.000016Kp =
0.00503
s1
0.005030.00016 Kp
0.096004
Kcr = 31.4375
Kp =
kp
Podemos comprobar que el periodo crtico (Kcr) es la misma que la resuelta anteriormente.