Proyecto motores acplados

UNIVERSIDAD TECNOLOGICA DE NOGALES SONORA





MECATRONICA



SISTEMAS DE CONTROL AUTOMATICO



PROYECTO MOTORES ACOPLADOS


ALONSO ROMO BORBÓN


EDWIN LOPEZ RIVAS


GABRIELGOMEZ DUARTE


ING. ÁLVARO VELARDE


3¨F¨




H. NOGALES, SONORA 10 DE AGOSTO DEL 2012



voltaje RPM
0 0
0.25 0
0.50 0
0.75 0
1 0
1.25 0
1.50 0.16
1.75 0.19
20.37
2.25 0.41
2.50 0.45
2.75 0.45
3 0.47
3.25 0.60
3.50 0.70
3.75 0.76
4 0.78
4.25 0.79
4.50 0.80
4.75 0.82
5 0.84



















Ts=.120 seg
ع= 0.5
m=(Y2-Y1)/(X2-X1)
B= 1/m=1/0.206=4.854
J=(B*ts)/5=((4.854)(0.120seg))/5=0.116


(ω(s))/j(s) =1/(js+B)=(1/j)/(js/j+4.854/0.116)=(1/0.116)/(█(s+@)41.84)

(ω(s))/(v(s))=8.620/(s+41.84)

Paso#1(ω(s))/(v(s))=(8.620/(s+41.84)(KDS+KP+KI/S))/(1+8.620/(s+41.84) (KDS+KP+KI/S) )

Paso#2
(ω(s))/(v(s))=((8.620(KDS+KP+KI/S))/(s+41.84))/((1+8.620(KDS+KP+KI/S)/(s+41.84))

Paso#2b
1/1+(8.620(KDS+KPKI/S))/(s+41.84)
(s+41.84+8.620(KDS+KP KI/S))/(s+41.84)

Paso#3
(ω(s))/(v(s))=((8.620(KDS+KP KI/S))/(s+41.84))/((s+41.84+8.620(KDS+KP KI/S))/(s+41.84))

Paso#4
(ω(s))/(v(s))=(8.620(KDS+KPKI/S))/(s+41.84+8.620(KDS+KP+KI/S))
Paso#4b
S(KDS+KP+KI/S)= (KDS^2+KPS+KI)/S

Paso#5
(8.620(KDS+KP KI/S))/((s+41.84)/1+(8.620(KDS+KP+KI/S))/S)
Paso#5b
(ω(s))/(v(s))=(8.620(KDS+KPKI/S))/((s+41.84)/1+8.620(KDS+KP+KI/S)/S)
(S^2+41.84+8.620(KDS^2+KPS+KI))/S

Paso#6
(ω(s))/(v(s))=((8.620(KDS^2+KPS+KI))/S)/((S^2+41.84+8.620(KDS^2+KPS+KI))/S)

Paso#7(ω(s))/(v(s))=(8.620(KDS^2+KPS+KI))/(S^2+41.84+8.620(KDS^2+KPS+KI))

Paso#8
(ω(s))/(v(s))=(8.620KDS^2+8.620KPS+8.620KI)/(S^2+41.84+8.620(KDS^2+KPS+KI))

Paso#9
(ω(s))/(v(s))=(8.620KDS^2+8.620KPS+8.620KI)/(S^2+(1+8.620KD)+S(41.84+8.620KP)+8.620KI)(C(s))/(R(s))=(ωn^2)/(S^2+2ع ωnS+ωn^2 )
ts=0.120
ع=0.5
n=6/عts=6/((0.5)(0.120))=6/0.06=100

(C(s))/(R(s))=(100)^2/(S^2+2(0.5)(100)S+(100)^2 )

(C(s))/(R(s))=10,000/(S^2+100S+10,000)...