Fundamentos de Controle

SEL611

Prof. Dr. Valdir Grassi Jr

Escola de Engenharia de São Carlos - EESC/USP

 Estabilidade Neutra

Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo 2
 Estabilidade Malha Fechada
I Considere o seguinte sistema de malha fechada K=2

K
+ 1
R ! K
s(s + 1)2
Y
− −2 −1

K=2
I A equação caracterı́stica do sistema:

(a) = 0
1 + KG(s)
I Os pontos nos ramos do lugar das raı́zes de G(s) representam
Suponha
os polos de malha que
fechada a função
para de transferência
diferentes valores de K:em malha fec
demos determinar a estabilidade de um sistema simplesm
o
|KG(s)|
na forma KG(s)(já=que
= 1; fatorada 180osou G(s)
fatores = 180o as raízes
fornecerem
se as partes reais são positivas ou negativas. No entanto
Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo
3
fechada normalmente não é conhecida; na verdade, todo
 Estabilidade Malha Fechada

I Quando polos de malha fechada estão sobre o eixo imaginário,

o sistema está na condição de estabilidade neutra
(marginalmente estável).
I Isso acontece quando a raı́z possui apenas componente
imaginário, ou seja, s = jwc
I Se esse ponto, que cruza o eixo imaginário, está no lugar das
raı́zes:

|KG(jwc )| = 1 ; KG(jwc ) = 180o

Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo 4
 Estabilidade Malha Fechada Im(s) Figura
2 de esta
K=2 finição
K>2
1 lugarBa
Capítulo 6 O Método de Projeto da
K<2
+ 1
R ! K
s(s + 1)2
Y
− −2 −1 Im(s)Re(s) Figu
2 de e
K = 2−1 finiç
K>2
K=2 1 luga
K −2
<2
+ 1
IR Para o! sistemaK G(s) do exemplo,
2 oY
(a) s(s + 1) −2 −1 (b) Re(s)
lugar−das raı́zes cruza o eixo
imaginário na posição s = j1, ou −1
Suponha
seja, wc =que1 a função de transferência em malha fechada
K=2 de um sistema é conh
demos determinar a estabilidade de um sistema simplesmente−2inspecionando seu de
I Isso acontece quando K = 2, ou
na forma fatorada (já que os fatores fornecerem as raízes do sistema diretamente) pa
seseja, parareais
as partes > 2são
o (a)
sistema
positivaséou
instável,
negativas. No entanto, a função
(b) de transferênci
para K < 2 o sistema é estável.
fechada normalmente não é conhecida; na verdade, todo o propósito por trás da co
da técnica do lugar das raízes é ser capaz de encontrar os fatores do denominador da
Suponhaem
transferência quemalha
a função de transferência
fechada em malha
conhecendo apenas fechada
a função de um sistema
de transferência éc
5 em ma
Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo
demos determinar a estabilidade de um sistema simplesmente inspecionando seu
 Estabilidade Malha Fechada

I Se o lugar das raı́zes cruza o eixo imaginário, a raı́z s = jw

pertence ao lugar das raı́zes, e existe um valor de w = wc e
K = Kc para o qual:

|KG(jw)| = 1 ; KG(jw) = 180o (1)

I O diagrama de bode mostra a resposta de |KG(jw)| e fase

KG(jw) = 180o do sistema KG(s) em função do valor w.
I Portanto, se existe um valor de ganho K e uma frequencia w
para os quais a resposta em frequencia é dada pelas condições
da Eq. (1), o sistema é marginalmente estável, ou seja, está
na condição de estabilidade neutra.

Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo 6
 Estabilidade Malha Fechada K=2

K<2
+ 1
R ! K
s(s + 1)2
Y
− −2 −1
−
K=2
−
1
G(s) =
(a) + 1)2
s(s
I O gráfico de bode de G(s) pode ser construı́do a partir dos
componentes:Suponha que a função de transferência em malha fecha
demos1 determinar a estabilidade
1 de um sistema
1 simplesmen
G1 (s) = ; G2 (s) = ; G3 (s) = ;
na forma
s fatorada (já(sque os fatores
+ 1) fornecerem
(s + 1) as raízes do
I O ganho se
K as partes
será reais sãoposteriormente.
considerado positivas ou negativas. No entanto, a
fechada normalmente não é conhecida; na verdade, todo o
Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo
7
da técnica do lugar das raízes é ser capaz de encontrar os fa
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Semi-log Paper for Bode Plots
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<latexit sha1_base64="ORL7zEiCROitdw9H7l6udrIngfo=">AAACBXicbVDLSsNAFJ3UV62vqEtdDBahRShJEexGKLjQZQX7gDaWyXTSTjuZhJmJpYRs3Pgrblwo4tZ/cOffOG2z0NYDFw7n3Mu997gho1JZ1reRWVldW9/Ibua2tnd298z9g4YMIoFJHQcsEC0XScIoJ3VFFSOtUBDku4w03dHV1G8+ECFpwO/UJCSOj/qcehQjpaWueXxdGI6L8BJ2PIFwbCfxcKyVM7t4X066Zt4qWTPAZWKnJA9S1LrmV6cX4MgnXGGGpGzbVqicGAlFMSNJrhNJEiI8Qn3S1pQjn0gnnn2RwFOt9KAXCF1cwZn6eyJGvpQT39WdPlIDuehNxf+8dqS8ihNTHkaKcDxf5EUMqgBOI4E9KghWbKIJwoLqWyEeIB2H0sHldAj24svLpFEu2VbJvj3PVytpHFlwBE5AAdjgAlTBDaiBOsDgETyDV/BmPBkvxrvxMW/NGOnMIfgD4/MHvsCWxw==</latexit>

90

45

-90

-180

0.01 0.1 1 10 100 1000

Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo 18
 Exemplo - Ganho e Fase
Semi-log Paper for Bode Plots
20

10

-20 <latexit sha1_base64="KXtCCGtG+V8VLHv86fas98GsEMw=">AAAB6nicbVBNS8NAEJ34WetX1aOXxSJ4KkkR7EUoeBG8VLQf0Iay2W7apZtN2J0IJfQnePGgiFd/kTf/jds2B219MPB4b4aZeUEihUHX/XbW1jc2t7YLO8Xdvf2Dw9LRccvEqWa8yWIZ605ADZdC8SYKlLyTaE6jQPJ2ML6Z+e0nro2I1SNOEu5HdKhEKBhFKz3cXVf7pbJbcecgq8TLSRlyNPqlr94gZmnEFTJJjel6boJ+RjUKJvm02EsNTygb0yHvWqpoxI2fzU+dknOrDEgYa1sKyVz9PZHRyJhJFNjOiOLILHsz8T+vm2JY8zOhkhS5YotFYSoJxmT2NxkIzRnKiSWUaWFvJWxENWVo0ynaELzll1dJq1rx3Ip3f1mu1/I4CnAKZ3ABHlxBHW6hAU1gMIRneIU3RzovzrvzsWhdc/KZE/gD5/MHkeuNSA==</latexit>

0.01 0.1 1 10 100 1000

-90

-180

0.01 0.1 1 10 100 1000

Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo 19
 Exemplo - Ganho e Fase
Semi-log Paper for Bode Plots
20

10

0
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Sistema instável

-20 <latexit sha1_base64="KXtCCGtG+V8VLHv86fas98GsEMw=">AAAB6nicbVBNS8NAEJ34WetX1aOXxSJ4KkkR7EUoeBG8VLQf0Iay2W7apZtN2J0IJfQnePGgiFd/kTf/jds2B219MPB4b4aZeUEihUHX/XbW1jc2t7YLO8Xdvf2Dw9LRccvEqWa8yWIZ605ADZdC8SYKlLyTaE6jQPJ2ML6Z+e0nro2I1SNOEu5HdKhEKBhFKz3cXVf7pbJbcecgq8TLSRlyNPqlr94gZmnEFTJJjel6boJ+RjUKJvm02EsNTygb0yHvWqpoxI2fzU+dknOrDEgYa1sKyVz9PZHRyJhJFNjOiOLILHsz8T+vm2JY8zOhkhS5YotFYSoJxmT2NxkIzRnKiSWUaWFvJWxENWVo0ynaELzll1dJq1rx3Ip3f1mu1/I4CnAKZ3ABHlxBHW6hAU1gMIRneIU3RzovzrvzsWhdc/KZE/gD5/MHkeuNSA==</latexit>

0.01 0.1 1 10 100 1000

<latexit sha1_base64="2ZhP2hxBMOiN7FEOezgRT1PhUGk=">AAAB6nicdVDJSgNBEK1xjXGLevTSGARPQ88YxwQ8BLwIXiKaBZIh9HR6kiY9C909Qgj5BC8eFPHqF3nzb+wsgoo+KHi8V0VVvSAVXGmMP6yl5ZXVtfXcRn5za3tnt7C331BJJimr00QkshUQxQSPWV1zLVgrlYxEgWDNYHg59Zv3TCqexHd6lDI/Iv2Yh5wSbaTb6wu3Wyhiu1LBJcdD2D7D2PUqhuBTt+x5yLHxDEVYoNYtvHd6Cc0iFmsqiFJtB6faHxOpORVsku9kiqWEDkmftQ2NScSUP56dOkHHRumhMJGmYo1m6veJMYmUGkWB6YyIHqjf3lT8y2tnOiz7Yx6nmWYxnS8KM4F0gqZ/ox6XjGoxMoRQyc2tiA6IJFSbdPImhK9P0f+k4doOtp2bUrFaXsSRg0M4ghNw4ByqcAU1qAOFPjzAEzxbwnq0XqzXeeuStZg5gB+w3j4B/m+Nkw==</latexit>
Sistema estável
-90

-180

0.01 0.1 1 10 100 1000

Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo 20
 Exemplo - Ganho e Fase
osta em
100 40
K = 10

10 20
K=2
Magnitude, |KG(jω)|

0
1

0,1 −20
K = 0,1

db
0,01 −40
I O sistema é estável quando
|KG(jw)| < 1 no ponto
−60
0,001
0,1 1 10 100 onde G(jw) = −180o
ω (rad/s)

−90°
Fase, ∠G(jω)

+80°
−180°
−35°

−270°
0,1 1 10 100
ω (rad/s)
Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo 21
 Margens de Estabilidade

Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo 22
 Exemplo - Margem de Ganho
Semi-log Paper for Bode Plots
20

10
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0
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<latexit sha1_base64="1/8c3E9VJLwmwXdbKv2v6IrEsWI=">AAAB6nicdVDLSgMxFM3UV62vqks3wSK4GpKho7OSghvBTUX7gHYomTTThmYyQ5IRSuknuHGhiFu/yJ1/Y/oQVPTAhcM593LvPVEmuDYIfTiFldW19Y3iZmlre2d3r7x/0NRprihr0FSkqh0RzQSXrGG4EaydKUaSSLBWNLqc+a17pjRP5Z0ZZyxMyEDymFNirHR7feH1yhXkojO/igOIXB/hAPuWeD5GyIPYRXNUwBL1Xvm9209pnjBpqCBadzDKTDghynAq2LTUzTXLCB2RAetYKknCdDiZnzqFJ1bpwzhVtqSBc/X7xIQkWo+TyHYmxAz1b28m/uV1chMH4YTLLDdM0sWiOBfQpHD2N+xzxagRY0sIVdzeCumQKEKNTadkQ/j6FP5Pmp6LkYtvqpVasIyjCI7AMTgFGJyDGrgCddAAFAzAA3gCz45wHp0X53XRWnCWM4fgB5y3T+IMjX8=</latexit>
Sistema instável

-20 <latexit sha1_base64="KXtCCGtG+V8VLHv86fas98GsEMw=">AAAB6nicbVBNS8NAEJ34WetX1aOXxSJ4KkkR7EUoeBG8VLQf0Iay2W7apZtN2J0IJfQnePGgiFd/kTf/jds2B219MPB4b4aZeUEihUHX/XbW1jc2t7YLO8Xdvf2Dw9LRccvEqWa8yWIZ605ADZdC8SYKlLyTaE6jQPJ2ML6Z+e0nro2I1SNOEu5HdKhEKBhFKz3cXVf7pbJbcecgq8TLSRlyNPqlr94gZmnEFTJJjel6boJ+RjUKJvm02EsNTygb0yHvWqpoxI2fzU+dknOrDEgYa1sKyVz9PZHRyJhJFNjOiOLILHsz8T+vm2JY8zOhkhS5YotFYSoJxmT2NxkIzRnKiSWUaWFvJWxENWVo0ynaELzll1dJq1rx3Ip3f1mu1/I4CnAKZ3ABHlxBHW6hAU1gMIRneIU3RzovzrvzsWhdc/KZE/gD5/MHkeuNSA==</latexit>

0.01 0.1 1 10 100 1000

<latexit sha1_base64="2ZhP2hxBMOiN7FEOezgRT1PhUGk=">AAAB6nicdVDJSgNBEK1xjXGLevTSGARPQ88YxwQ8BLwIXiKaBZIh9HR6kiY9C909Qgj5BC8eFPHqF3nzb+wsgoo+KHi8V0VVvSAVXGmMP6yl5ZXVtfXcRn5za3tnt7C331BJJimr00QkshUQxQSPWV1zLVgrlYxEgWDNYHg59Zv3TCqexHd6lDI/Iv2Yh5wSbaTb6wu3Wyhiu1LBJcdD2D7D2PUqhuBTt+x5yLHxDEVYoNYtvHd6Cc0iFmsqiFJtB6faHxOpORVsku9kiqWEDkmftQ2NScSUP56dOkHHRumhMJGmYo1m6veJMYmUGkWB6YyIHqjf3lT8y2tnOiz7Yx6nmWYxnS8KM4F0gqZ/ox6XjGoxMoRQyc2tiA6IJFSbdPImhK9P0f+k4doOtp2bUrFaXsSRg0M4ghNw4ByqcAU1qAOFPjzAEzxbwnq0XqzXeeuStZg5gB+w3j4B/m+Nkw==</latexit>
Sistema estável
-90

-180

0.01 0.1 1 10 100 1000

Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo 23
 Exemplo - Margem de Fase
Semi-log Paper for Bode Plots
20

10

0
<latexit sha1_base64="1/8c3E9VJLwmwXdbKv2v6IrEsWI=">AAAB6nicdVDLSgMxFM3UV62vqks3wSK4GpKho7OSghvBTUX7gHYomTTThmYyQ5IRSuknuHGhiFu/yJ1/Y/oQVPTAhcM593LvPVEmuDYIfTiFldW19Y3iZmlre2d3r7x/0NRprihr0FSkqh0RzQSXrGG4EaydKUaSSLBWNLqc+a17pjRP5Z0ZZyxMyEDymFNirHR7feH1yhXkojO/igOIXB/hAPuWeD5GyIPYRXNUwBL1Xvm9209pnjBpqCBadzDKTDghynAq2LTUzTXLCB2RAetYKknCdDiZnzqFJ1bpwzhVtqSBc/X7xIQkWo+TyHYmxAz1b28m/uV1chMH4YTLLDdM0sWiOBfQpHD2N+xzxagRY0sIVdzeCumQKEKNTadkQ/j6FP5Pmp6LkYtvqpVasIyjCI7AMTgFGJyDGrgCddAAFAzAA3gCz45wHp0X53XRWnCWM4fgB5y3T+IMjX8=</latexit>
Sistema instável

-20 <latexit sha1_base64="KXtCCGtG+V8VLHv86fas98GsEMw=">AAAB6nicbVBNS8NAEJ34WetX1aOXxSJ4KkkR7EUoeBG8VLQf0Iay2W7apZtN2J0IJfQnePGgiFd/kTf/jds2B219MPB4b4aZeUEihUHX/XbW1jc2t7YLO8Xdvf2Dw9LRccvEqWa8yWIZ605ADZdC8SYKlLyTaE6jQPJ2ML6Z+e0nro2I1SNOEu5HdKhEKBhFKz3cXVf7pbJbcecgq8TLSRlyNPqlr94gZmnEFTJJjel6boJ+RjUKJvm02EsNTygb0yHvWqpoxI2fzU+dknOrDEgYa1sKyVz9PZHRyJhJFNjOiOLILHsz8T+vm2JY8zOhkhS5YotFYSoJxmT2NxkIzRnKiSWUaWFvJWxENWVo0ynaELzll1dJq1rx3Ip3f1mu1/I4CnAKZ3ABHlxBHW6hAU1gMIRneIU3RzovzrvzsWhdc/KZE/gD5/MHkeuNSA==</latexit>

0.01 0.1 1 10 100 1000

<latexit sha1_base64="2ZhP2hxBMOiN7FEOezgRT1PhUGk=">AAAB6nicdVDJSgNBEK1xjXGLevTSGARPQ88YxwQ8BLwIXiKaBZIh9HR6kiY9C909Qgj5BC8eFPHqF3nzb+wsgoo+KHi8V0VVvSAVXGmMP6yl5ZXVtfXcRn5za3tnt7C331BJJimr00QkshUQxQSPWV1zLVgrlYxEgWDNYHg59Zv3TCqexHd6lDI/Iv2Yh5wSbaTb6wu3Wyhiu1LBJcdD2D7D2PUqhuBTt+x5yLHxDEVYoNYtvHd6Cc0iFmsqiFJtB6faHxOpORVsku9kiqWEDkmftQ2NScSUP56dOkHHRumhMJGmYo1m6veJMYmUGkWB6YyIHqjf3lT8y2tnOiz7Yx6nmWYxnS8KM4F0gqZ/ox6XjGoxMoRQyc2tiA6IJFSbdPImhK9P0f+k4doOtp2bUrFaXsSRg0M4ghNw4ByqcAU1qAOFPjzAEzxbwnq0XqzXeeuStZg5gB+w3j4B/m+Nkw==</latexit>
Sistema estável
-90

-180
<latexit sha1_base64="0xOuDYA5cSu7Y8T4QwQ8ynexA2c=">AAAB7XicdVDLSgMxFM3UV62vqks3wSK4GjK1ju1GCoK4ESrYB7RDyaRpG5tJhiQjlKH/4MaFIm79H3f+jelDUNEDFw7n3Mu994QxZ9og9OFklpZXVtey67mNza3tnfzuXkPLRBFaJ5JL1QqxppwJWjfMcNqKFcVRyGkzHF1M/eY9VZpJcWvGMQ0iPBCszwg2VmpcX8JziLr5AnIrFVTyfIjcU4SKfsUSdFIs+z70XDRDASxQ6+bfOz1JkogKQzjWuu2h2AQpVoYRTie5TqJpjMkID2jbUoEjqoN0du0EHlmlB/tS2RIGztTvEymOtB5Hoe2MsBnq395U/MtrJ6ZfDlIm4sRQQeaL+gmHRsLp67DHFCWGjy3BRDF7KyRDrDAxNqCcDeHrU/g/aRRdD7neTalQLS/iyIIDcAiOgQfOQBVcgRqoAwLuwAN4As+OdB6dF+d13ppxFjP74Aect08+Lo45</latexit>

<latexit sha1_base64="8TBY7hYNbzkV2gS8uWzo/O15dAI=">AAAB7XicdVDLSgMxFM34rPVVdekmWARXQ1I6OgsXBUHcCBXsA9qhZNJMG5vJDElGKEP/wY0LRdz6P+78G9OHoKIHLhzOuZd77wlTwbVB6MNZWl5ZXVsvbBQ3t7Z3dkt7+02dZIqyBk1Eotoh0UxwyRqGG8HaqWIkDgVrhaOLqd+6Z0rzRN6accqCmAwkjzglxkrN60t4DlGvVEYuOvWq2IfI9RD2sWdJxcMIVSB20QxlsEC9V3rv9hOaxUwaKojWHYxSE+REGU4FmxS7mWYpoSMyYB1LJYmZDvLZtRN4bJU+jBJlSxo4U79P5CTWehyHtjMmZqh/e1PxL6+TmcgPci7TzDBJ54uiTECTwOnrsM8Vo0aMLSFUcXsrpEOiCDU2oKIN4etT+D9pVlyMXHxTLdf8RRwFcAiOwAnA4AzUwBWogwag4A48gCfw7CTOo/PivM5bl5zFzAH4AeftExu1jiE=</latexit>

0.01 0.1 1 10 100 1000

Prof. Dr. Valdir Grassi Jr / São Carlos School of Engineering / University of São Paulo 24