7/24/2019 Control de Retardo

1/4

Prctica

Control de Crucero%% lugar de raices 2t=0:0.1:20;

m=1000;b=50;r=10;s=tf('s');P_cruise=1/(m*sb);rl!cus(P_cruise)% "ara saber "!l!s # cer!sa$is(&0. 0 &0. 0.)

eta=0.;+=0.,;%"ara -al!res de am!rtiguamie+t!sgrid(eta+)"!les=rl!cfi+d(P_cruise)=;=feedbac(*P_cruise1)figureste"(t)ste"i+f!()

Valor de Kp y la funcin de transferencia

Stepinfo

7/24/2019 Control de Retardo

2/4

-0.5 -0.4 -0.3 -0.2 -0.1 0

-0.5

-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0.5

Root Locus

Real Axis (seconds-1)

ImaginaryAxis(seconds-1)

0 2 4 6 8 10 12 14 16 18 200

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9Step Response

Time (seconds)

Amplitude

7/24/2019 Control de Retardo

3/4

Control de Crucero con Control de retardo

%% c!+tr!l de retard!

!=0.,;"!=0.0,;s=tf('s');

_lag=(s!)/(s"!);rl!cus(_lag*P_cruise);a$is(&1.2 0 &0.3 0.3)sgrid(0.0.,)"!les=rl!cfi+d(P_cruise)4"=s#s_cl=feedbac(4"*_lag*P_cruise1)ste"(s#s_clt)ste"i+f!(s#s_cl)

Valor de Kp y la funcin de transferencia

Stepinfo

7/24/2019 Control de Retardo

4/4

-1 -0.8 -0.6 -0.4 -0.2 0

-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0.4Root Locus

Real Axis (seconds-1)

ImaginaryAxis(seconds-1)

0 2 4 6 8 10 12 14 16 18 200

0.2

0.4

0.6

0.8

1

1.2

1.4Step Response

Time (seconds)

Amplitude