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Ejercicio 1:
Diseñar el Compensador en Adelanto de Fase para obtener un Margen de Fase deseado de 45º
Solución:
1080
GC
s s 6 s 18
Bode Diagram
Gm = 7.6 dB (at 10.4 rad/sec) , Pm = 23.4 deg (at 6.42 rad/sec)
50
0
Magnitude (dB)
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
MF0=23.4
1
Universidad de Nacional Mayor de San Marcos FIEE
m MFd MF0
50 120
m 45 23.4 5 26.6 Con 5
1 sen m 1 sen(26.6)
0.3814
1 sen m 1 sen 26.6
1 1
Lc 20log 20log 4.1862
0.3814
2 2
Lp 20 20 log 20 log
18
1 20 log 1
6
Lp Lc
p 90 tan 1 tan 1
6 18
( ) 180 MF0 180 23.4 156.6
6.42
1 1 1
n T 0.2522
T n 6.42 0.3814
Ts 1 0.2522s 1
Entonces: GC GC 0.3814
1 Ts 1 0.0962s
En Matlab
2
Universidad de Nacional Mayor de San Marcos FIEE
Bode Diagram
Gm = 16.4 dB (at 15.5 rad/sec) , Pm = 67.2 deg (at 4.11 rad/sec)
50
0
Magnitude (dB)
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
Con 12
m 45 23.4 12 33.6
1 1
Lc 20log 20log 5.4212
0.287
1 1 1
n T 0.29
T n 6.42 0.2875
0.29s 1
GC 0.2875
1 0.0834s
3
Universidad de Nacional Mayor de San Marcos FIEE
Bode Diagram
Gm = 18.5 dB (at 16.9 rad/sec) , Pm = 79.1 deg (at 3.31 rad/sec)
50
0
Magnitude (dB)
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
0 1 2 3
10 10 10 10
Frequency (rad/sec)