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Proyecto de Curso
I Semestre 2015
V m ( t ) =k b m (t )
2)
T m ( t )=k m i A (t)
v ( t )=i A ( t ) R A +V m ( t )
Sustituyendo 1) en 3)
v ( t )=i A ( t ) R A + k b m (t )
Despejando la corriente:
4)
i A ( t )=
v ( t )k b m ( t )
RA
Sustituyendo 4) en 2)
5)
T m ( t )=
k m v ( t )k m k b m (t )
RA
6)
N
m ( t )= ( t ) 2
N1
7)
T L ( t )=T m ( t )
N2
N1
Sustituyendo 5) y 6) en 7)
k m v ( t )k m k b ( t )
8)
T L ( t )=
RA
N2
N1
N2
N1
Torques=J (t)
Adems del
T L (t )
10)
P ( x )=f ( a ) +
f (a)(a)
1!
sen ( 0 )+ cos ( 0)
Tambin se puede ver como que debido a que la ecuacin 10) contienen
sen ( )
11)
Sustituyendo 11 en 10:
T g (t )=mgL (t)
12)
J =m r 2
Y como el radio de giro es L, el momento de inercia seria
J =m L2
13)
( t )= ( t )
14)
Sustituyendo 13) y 14) en 9)
T L ( t )+T g ( t )=m L2 ( t )
15)
N
k m v ( t )k m k b ( t ) 2
N1
N
2 +mgL (t)=m L2 (t )
RA
N1
16)
k m v ( s ) k m k b ( s ) s
N2
N1
RA
N 2 km v ( s)
= ( s ) m L2 s2 +
N1 RA
N
km k b s 2
N1
( )
RA
N2
2
2
+ mgL(s)=m L (s) s
N1
mgL
( s)
=
v (s )
2 2
mL s +
( s)
=
v (s )
N 2 km
N1 RA
N
km kb s 2
N1
( )
RA
mgL
N2 km
N 1 R A m L2 s 2+
k m k b s N 22
mgL N 1 R A
N1
N 1 N2 km
( s)
= 2
2 2
v ( s ) N 1 R A m L s + k m k b N 22 smgL N 12 R A
( s)
10
= 2
v ( s ) s +100 s9.8
k m v ( t )k m k b ( t )
RA
N2
N1
N2
2
+mgL (t )=m L (t )
N1
1=X 2
X 1= ( t ) X 1 = ( t ) X
X 2= (t) X 2= ( t )
Despejamos
( t ) =
( t )
N 2k m
k m k b N 22
mgL
v ( t )+
( t )
( t )
N 1 m L2 R A
m L2
R A m L2 N 1 2
Por lo tanto
2
X 2=
N 2k m
k k N
g
v ( t ) + ( t ) m b 2 2 2 (t )
2
L
N1 m L R A
RA m L N1
[ ][
0
X 1
= g
2
X
L
][ ] [ ]
1
0
X1
2
N
k m k b N 2
+
v (t )
2 km
X
2
2
2
2
N1 m L RA
RAmL N1
y=[ 1 0 ]
[ ]
X1
X2
[ ][
][ ] [ ]
X 1
1 X1 + 0 v (t )
= 0
2
9.8 100 X 2 10
X
T c (t ) .
Aplicando la segunda ley de Newton, para cuerpos rotacionales
Torques=J (t)
Adems del
T L(t )
T c (t )
17)
T L ( t )=
J =m L2
( t )= ( t )
RA
N2
N1
N2
N1
18)
N
k m v ( t )k m k b ( t ) 2
N1
N
2 +mgL ( t )Tc(t)=m L2 ( t )
RA
N1
k m v ( s ) k m k b ( s ) s
N2
N1
RA
N 2 km v ( s)
Tc( s)= ( s ) m L2 s 2+
N1 RA
( s )=
2 2
mL s +
N 2 km
N 1 RA
N
k m kb s 2
N1
RA
N
k m kb s 2
N1
( )
RA
mgL
2 2
mL s +
mgL
v ( s)
( )
N2
2
2
+ mgL ( s )Tc(s)=m L ( s) s
N1
N
km k b s 2
N1
( )
RA
Tc( s)
mgL
N 1 N 2 km
R A N 12
( s )= 2
v ( s ) 2
Tc ( s )
N 1 R A m L2 s2 +k m k b N 22 smgL N 12 R A
N 1 R A m L2 s2 +k m k b s N 22mgL N 12 R A
Asignamos a las constantes los valores previamente dados obtendramos la
siguiente funcin de transferencia:
( s )=
10
1
v ( s ) 2
Tc ( s )
s + 100 s9.8
s + 100 s9.8
2
k m v ( t )k m k b ( t )
RA
N2
N1
N2
2
+mgL ( t )Tc (t )=m L ( t )
N1
1=X 2
X 1= ( t ) X 1 = ( t ) X
X 2= (t) X 2= ( t )
Despejamos
( t ) =
( t )
N 2k m
k m k b N 22
1
mgL
v ( t )
Tc ( t ) +
(t)
(t )
N 1 m L2 R A
m L2
m L2
R A m L2 N 1 2
Por lo tanto
X 2=
N 2k m
k m k b N 22
1
g
v
(
t
)
Tc
(
t
)
+
(
t
)
(t )
L
N 1 m L2 R A
m L2
R A m L2 N 12
[ ][
0
X 1
= g
2
X
L
][ ] [ ] [ ]
1
0
0
X
N 2 km
k m k b N 22 1 +
(
)
v t 1 v (t )
X
2
2
m L2
N1 m L RA
R A m L2 N 1 2
y=[ 1 0 ]
[]
X1
X2
[ ][
][ ] [ ]
X 1
1 X 1 + 0 v ( t ) 0 v ( t )
= 0
2
9.8 100 X 2 10
1
X
[]