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Ecuaciones Dinámicas y Lagrangianas

The document presents the equations of position, velocity, kinetic and potential energy, and Lagrangian for a 2D pendulum system. It derives the dynamic equations of motion in terms of φ''(t) and θ''(t). These are represented as a system of 4 first-order differential equations in state-space form, with states being φ, φ', θ, and θ'. The torque is related to the motor voltage via τ = ke/ra Ea.

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Luis Atl
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11 views8 pages

Ecuaciones Dinámicas y Lagrangianas

The document presents the equations of position, velocity, kinetic and potential energy, and Lagrangian for a 2D pendulum system. It derives the dynamic equations of motion in terms of φ''(t) and θ''(t). These are represented as a system of 4 first-order differential equations in state-space form, with states being φ, φ', θ, and θ'. The torque is related to the motor voltage via τ = ke/ra Ea.

Uploaded by

Luis Atl
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Ecuaciones de posicin

x = la Cos[[t]] - lp Sin[[t]] Sin[[t]]


y = la Sin[[t]] + lp Cos[[t]] Sin[[t]]
z = lp Cos[[t]]
la Cos[[t]] - lp Sin[[t]] Sin[[t]]
lp Cos[[t]] Sin[[t]] + la Sin[[t]]
lp Cos[[t]]
Vx = D[x, t]
- lp Cos[[t]] Sin[[t]] [t] - lp Cos[[t]] Sin[[t]] [t] - la Sin[[t]] [t]
Vy = D[y, t]
Vz = D[z, t]
Velocidad
V = SimplifyVx2 + Vy2 + Vz2
Energia cinetica y potencial del sistema
km =
ka =

ut =

2
1
2
1

kp =
kt =

2
1

2
1
2
1
2

J (t)2
Ia (t)2
Ip (t)2 +

Ia (t)2 +

1
2
1
2

mp (t)2 la2 + lp2 sin2 ((t)) + 2 la lp (t) cos((t)) (t) + lp2 (t)2
Ip (t)2 +

1
2

J (t)2 +

mp (t)2 la2 + lp2 sin2 ((t)) + 2 la lp (t) cos((t)) (t) + lp2 (t)2
g lp mp cos((t))

Lagrangiano
L=

2
1
2
1
2

Ia ( '[t])2 +

mp
2
2
2
la2 + lp2 Sin[[t]]2 ( '[t])2 + 2 la lp ( '[t]) ( '[t]) Cos[[t]] + lp2 ( '[t])2 +

J ( '[t])2 +

Ip ( '[t])2 -

1
2

mp g lp Cos[[t]]

g lp mp Cos[[t]] +

1
2

Ip [t]2 +

1
2

Ia [t]2 +

1
2

J [t]2 +

mp lp2 [t]2 + 2 la lp Cos[[t]] [t] [t] + la2 + lp2 Sin[[t]]2 [t]2

Printed by Wolfram Mathematica Student Edition

[Link]

D[L, [t]]
0
phi = D[L, '[t]]
Ia [t] + J [t] +

1
2

mp 2 la lp Cos[[t]] [t] + 2 la2 + lp2 Sin[[t]]2 [t]

D[L, [t]]
1
2

g lp mp Sin[[t]] +
1
2

mp - 2 la lp Sin[[t]] [t] [t] + 2 lp2 Cos[[t]] Sin[[t]] [t]2

theta = D[L, '[t]]


Ip [t] +

1
2

mp 2 lp2 [t] + 2 la lp Cos[[t]] [t]

phi2 = D[phi, t]
1

mp - 2 la lp Sin[[t]] [t]2 + 4 lp2 Cos[[t]] Sin[[t]] [t] [t] +


2
2 la lp Cos[[t]] [t] + 2 la2 + lp2 Sin[[t]]2 [t]

Ia [t] + J [t] +

theta2 = D[theta, t]
Ip [t] +

1
2

mp - 2 la lp Sin[[t]] [t] [t] + 2 lp2 [t] + 2 la lp Cos[[t]] [t]

= phi2
1

mp - 2 la lp Sin[[t]] [t]2 + 4 lp2 Cos[[t]] Sin[[t]] [t] [t] +


2
2 la lp Cos[[t]] [t] + 2 la2 + lp2 Sin[[t]]2 [t]

Ia [t] + J [t] +

cero = theta2 - D[L, [t]]


-

1
2
1
2
1
2

g lp mp Sin[[t]] mp - 2 la lp Sin[[t]] [t] [t] + 2 lp2 Cos[[t]] Sin[[t]] [t]2 + Ip [t] +


mp - 2 la lp Sin[[t]] [t] [t] + 2 lp2 [t] + 2 la lp Cos[[t]] [t]

Simplify[]
- la lp mp Sin[[t]] [t]2 + lp2 mp Sin[2 [t]] [t] [t] +
la lp mp Cos[[t]] [t] + Ia + J + la2 mp + lp2 mp Sin[[t]]2 [t]

Printed by Wolfram Mathematica Student Edition

[Link]

Expand[]
- la lp mp Sin[[t]] [t]2 + 2 lp2 mp Cos[[t]] Sin[[t]] [t] [t] +
la lp mp Cos[[t]] [t] + Ia [t] + J [t] + la2 mp [t] + lp2 mp Sin[[t]]2 [t]
Simplify[cero]
-

g lp mp Sin[[t]] - lp2 mp Cos[[t]] Sin[[t]] [t]2 +


2
Ip + lp2 mp [t] + la lp mp Cos[[t]] [t]

Expand[cero]
-

g lp mp Sin[[t]] - lp2 mp Cos[[t]] Sin[[t]] [t]2 +


2
Ip [t] + lp2 mp [t] + la lp mp Cos[[t]] [t]

Ecuaciones dinmicas del sistema


1 = - la lp mp Sin[[t]] [t]2 + lp2 mp Sin[2 [t]] [t] [t] +
la lp mp Cos[[t]] [t] + Ia + J + la2 mp + lp2 mp Sin[[t]]2 [t]
1

g lp mp Sin[[t]] - lp2 mp Cos[[t]] Sin[[t]] [t]2 +


2
Ip + lp2 mp [t] + la lp mp Cos[[t]] [t]

cero1 = -

Despeje de [t] y [t]


(t)
Ia + J + la2 mp + lp2 mp sin2 ((t)) la lp mp cos((t))
=
=

(t)
la lp mp cos((t))
Ip + lp2 mp
la lp mp (t)2 sin((t)) + lp2 (-mp) (t) sin(2 (t)) (t) + torq
1
2

a :=

b :=

g lp mp sin((t)) + lp2 mp sin((t)) cos((t)) (t)2

Ia + J + la2 mp + lp2 mp Sin[[t]]2 la lp mp Cos[[t]]


Ip + lp2 mp

la lp mp Cos[[t]]

torq + la lp mp Sin[[t]] [t]2 - lp2 mp Sin[2 [t]] [t] [t]


1
2

g lp mp Sin[[t]] + lp2 mp Cos[[t]] Sin[[t]] [t]2

Ip + lp2 mp

- la lp mp Cos[[t]]

Det[a]

- la lp mp Cos[[t]]

Ia + J + la2 mp + lp2 mp Sin[[t]]2

.b

Inverse[a].b
Ecuaciones de [t] y [t] respectivamente
mp lp2 +Ip -mp sin(2 (t)) (t) (t) lp2 +la mp sin((t)) (t)2 lp+torq
mp lp2 +Ip mp la2 +lp2 mp sin2 ((t))+Ia+J -la2 lp2 mp2 cos2 ((t))

la lp mp cos((t)) lp2 mp cos((t)) sin((t)) (t)2 + g lp mp sin((t))


2

mp lp2 +Ip mp la2 +lp2 mp sin2 ((t))+Ia+J -la2 lp2 mp2 cos2 ((t))

mp la2 +lp2 mp sin2 ((t))+Ia+J lp2 mp cos((t)) sin((t)) (t)2 + g lp mp sin((t))


2

mp lp +Ip mp la +lp mp sin ((t))+Ia+J -la lp

mp2

cos2 ((t))

la lp mp cos((t)) -mp sin(2 (t)) (t) (t) lp2 +la mp sin((t)) (t)2 lp+torq
mp lp2 +Ip mp la2 +lp2 mp sin2 ((t))+Ia+J -la2 lp2 mp2 cos2 ((t))

x1 = '[t]

Printed by Wolfram Mathematica Student Edition

[Link]

Ip + lp2 mp la lp mp (t)2 sin((t)) + lp2 (-mp) (t) sin(2 (t)) (t) + torq

x2 =
Ip + lp2 mp Ia + J + la2 mp + lp2 mp sin2 ((t)) - la2 lp2 mp2 cos2 ((t))
1

la lp mp cos((t)) 2 g lp mp sin((t)) + lp2 mp sin((t)) cos((t)) (t)2


Ip + lp2 mp Ia + J + la2 mp + lp2 mp sin2 ((t)) - la2 lp2 mp2 cos2 ((t))

x3 = '[t]
1

x4 = Ia + J + la2 mp + lp2 mp sin2 ((t))


g lp mp sin((t)) + lp2 mp sin((t)) cos((t)) (t)2
2
Ip + lp2 mp Ia + J + la2 mp + lp2 mp sin2 ((t)) - la2 lp2 mp2 cos2 ((t)) la lp mp cos((t)) la lp mp (t)2 sin((t)) + lp2 (-mp) (t) sin(2 (t)) (t) + torq
Ip + lp2 mp Ia + J + la2 mp + lp2 mp sin2 ((t)) - la2 lp2 mp2 cos2 ((t))
Representacin en espacios de Estado
x1 =

x2 =
x3 =

x4 =
x1punto = x2
xdospunto = Ip + lp2 mp torq + la lp mp Sin[x3] x42 - lp2 mp Sin[2 x3] x4 x2
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 1

g lp mp Sin[x3] + lp2 mp Cos[x3] Sin[x3] x22


2
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2

la lp mp Cos[x3]

x3punto = x4
xcuatropunto = - la lp mp Cos[x3] torq + la lp mp Sin[x3] x22 - lp2 mp Sin[2 x3] x4 x2
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 +
1

Ia + J + la2 mp + lp2 mp Sin[x3]2

g lp mp Sin[x3] + lp2 mp Cos[x3] Sin[x3] x22


2
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2

Como lo que en realidad la variable a controlar sera el voltaje del motor (Ea), entonces la relacion
torque - velocidad es la siguiente:
=

ke
ra

Ea
0 1

x1
x1

x2
x2
=

x3
x3

x4
x4

0
2

Ip+lp mp la lp mp x4 sin(x3)+lp (-mp) x2 x4 sin(2 x3)+torq

0 0

Ip+lp2 mp Ia+J +la2 mp+lp2 mp sin2 (x3)-la2 lp2 mp2 cos2 (x3)

0 0

Ip+lp2 mp Ia+J +la2 mp+lp2 mp sin2 (x3)-

0
1

0 0

la lp mp cos(x3) g lp mp sin(x3)+lp2 mp x2

g lp mp sin(x3)+lp mp x2 sin(x3) cos(x3) Ia+J +la mp+lp mp sin (x3)


2

Ip+lp mp Ia+J +la mp+lp mp sin (x3)-la lp mp cos (x3)

la lp mp cos(x3) la lp mp x22 sin(x3)+lp2


Ip+lp2 mp Ia+J +la2 mp+lp2 mp sin2

Debido a que es un sistema no lineal, es necesario linealizar el modelo, especialmente xdospunto y

Printed by Wolfram Mathematica Student Edition

[Link]

xcuatropunto, se utiliza la linealizacin por Jacobiano, se muestran las derivadas parciales para cada
funcin
D[xdospunto, x1]
D[xdospunto, x2]
D[xdospunto, x3]
D[xdospunto, x4]
D[xdospunto, torq]
xdoslineal[x2_, x3_, x4_] :=
1
g lp mp Sin[x3] + lp2 mp x22 Sin[x3] Cos[x3]
la lp mp Sin[x3]
2
Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 - la2 lp2 mp2 Cos[x3]2 1

g lp mp Cos[x3] - lp2 mp x22 Sin[x3]2 + lp2 mp x22 Cos[x3]2


2
Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 - la2 lp2 mp2 Cos[x3]2 +

la lp mp Cos[x3]

la lp mp Cos[x3]

1
2

g lp mp Sin[x3] + lp2 mp x22 Sin[x3] Cos[x3]

2 lp2 mp Sin[x3] Cos[x3] Ip + lp2 mp + 2 la2 lp2 mp2 Sin[x3] Cos[x3]


2

Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 - la2 lp2 mp2 Cos[x3]2 Ip + lp2 mp 2 lp2 mp Sin[x3] Cos[x3] Ip + lp2 mp + 2 la2 lp2 mp2 Sin[x3] Cos[x3]
la lp mp x42 Sin[x3] + lp2 (- mp) x2 x4 Sin[2 x3] + torq
2

Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 - la2 lp2 mp2 Cos[x3]2 +


Ip + lp2 mp la lp mp x42 Cos[x3] - 2 lp2 mp x2 x4 Cos[2 x3]
Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 - la2 lp2 mp2 Cos[x3]2
xdoslineal[0, 0, 0]
-

g la lp2 mp2
2 - la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp
g la lp2 mp2
2 - la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp

torque1[x2_, x3_, x4_] :=


- Ip + lp2 mp - la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2
torque1[0, 0, 0]
-

Ip + lp2 mp
- la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp
Ip + lp2 mp
- la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp

Printed by Wolfram Mathematica Student Edition

[Link]

D[xcuatropunto, x1]
D[xcuatropunto, x2]
D[xcuatropunto, x3]
D[xcuatropunto, x4]
D[xcuatropunto, torq]
xcuatrolineal[x2_, x3_, x4_] :=
2 la2 lp2 mp2 Cos[x3] Sin[x3] + 2 lp2 mp Ip + lp2 mp Cos[x3] Sin[x3]
1
2

g lp mp Sin[x3] + lp2 mp x22 Cos[x3] Sin[x3] Ia + J + la2 mp + lp2 mp Sin[x3]2


2

- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 la lp mp Cos[x3] la lp mp x22 Cos[x3] - 2 lp2 mp x2 x4 Cos[2 x3]
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 +
2 lp2 mp Cos[x3] Sin[x3]

g lp mp Sin[x3] + lp2 mp x22 Cos[x3] Sin[x3]


2
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 +

Ia + J + la2 mp + lp2 mp Sin[x3]2


1

g lp mp Cos[x3] + lp2 mp x22 Cos[x3]2 - lp2 mp x22 Sin[x3]2


2
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 +
la lp mp Cos[x3] 2 la2 lp2 mp2 Cos[x3] Sin[x3] + 2 lp2 mp Ip + lp2 mp Cos[x3] Sin[x3]
torq + la lp mp x22 Sin[x3] - lp2 mp x2 x4 Sin[2 x3]
2

- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2 +


la lp mp Sin[x3] torq + la lp mp x22 Sin[x3] - lp2 mp x2 x4 Sin[2 x3]
- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2
xcuatrolineal[0, 0, 0]
g lp mp Ia + J + la2 mp
2 - la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp
g lp mp Ia + J + la2 mp
-

2 - la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp

torque2[x2_, x3_, x4_] := - (la lp mp Cos[x3])


- la2 lp2 mp2 Cos[x3]2 + Ip + lp2 mp Ia + J + la2 mp + lp2 mp Sin[x3]2

Printed by Wolfram Mathematica Student Edition

[Link]

torque2[0, 0, 0]
-

la lp mp
- la2 lp2 mp2 + Ia + J + la2 mp Ip + lp2 mp
la lp mp
2

- la lp

mp2

+ Ia + J + la2 mp Ip + lp2 mp

Representacion lineal en espacios de estados

0 1

x1

x2

x3

x4

0 0 =

mp2

g la lp
2 -la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp

0 0
0 0

0
2

g lp mp Ia+J+la2 mp
2 -la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp

0
-

-la lp

Ip+lp2 mp
mp Ip+lp2 mp

mp2 +Ia+J+la2

0
-

la lp mp
-la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp

y=(0 0 1 0)

x1
x2
x3
x4

Valores numricos para


mp = 0.0355
lp = 0.195
la = 0.141
ma = 0.34606
Ia = 0.000467
Ip = 0.000004306
J = 0.000005086
g = 9.807

Linealizacin en para la validacin del modelo matemtico


xdoslineal[0, , 0]
torque1[0, , 0]
xcuatrolineal[0, , 0]

Printed by Wolfram Mathematica Student Edition

x1
x2
x3
x4

[Link]

torque2[0, , 0]

0 1

x1

x2

x3

x4

0 0 =

g la lp
2

2 -la lp

0
2

mp2

mp2 +Ia+J+la2

0 0

mp Ip+lp mp

0 0 -

g lp mp Ia+J+la2 mp
2 -la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp

0
-

Ip+lp2 mp
2
2
2
-la lp mp +Ia+J+la2 mp Ip+lp2 mp

la lp mp
-la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp

0 1
0 0 -

0
2 -la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp

0 0
0 0 0
0
0
0

g la lp2 mp2

0
2 -la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp

1
0
0 -51.581
0
0
0 -62.2446

0
1

g lp mp Ia+J+la2 mp

0
0
1
0
0

Ip+lp2 mp
-la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp

0.245522632

la lp mp

1.7

-la2 lp2 mp2 +Ia+J+la2 mp Ip+lp2 mp

{{0.}, {- 304.482}, {0.}, {219.464}}

Printed by Wolfram Mathematica Student Edition

x1
x2
x3
x4

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