5555555555 - intranet.ceautomatica.es

45
5555555555

Upload: others

Post on 11-Nov-2021

2 views

Category:

Documents


0 download

TRANSCRIPT

5555555555

5555

:::::::::::::

ss s s

� ss s s s s s s

� : s s s s

YY Y Y YY

sss sss

s s ss ss s s

see eee s

s s s s s s s

: s s s ss

s s see

s s s s ss s s

s s

: ss s s s

s s s s s s

55 GG GGG GGGG GGGG

GG ::G

5G :T

TTTTTTTTTTTT

TT TTTTTTT

TTT

TTNNNNTNNTTT

ETTETTT NE

.T NT NNSETT E

RTTTSETR E

TESE

5

e e e e

e ss ssssssssssssssssssssssssssssssssss

� �s��sssssssss�s�s�sss�s�sssssssssssssssssss�sssss

ls lsslsssssssssssslsslsslssssssssssss

� �s�sssssssssssssssssssssssssssssss

� �s�ssssssssssssssss�sssssssssssssssssssssssssss�ssssssss�ssssssssssssss�sssss�sssssss

� sssssssssssssssssssss�ssssssssssssss��sssssssssssssssssssssssss

� lss�ssssssssssssssslss�ssssssssssssss

� �lssssssssssss�sssssssssssss�ssss

Ts lsssssTTsssssTlT

� sTsssssssssssssssssssssss�lssss�sssssssssssssss��sssssss�sssssssssssssss�ssssssss�ssssss.sss.ssssssslsssTsssssssssss.slsssssssssssssssss.ssssslssssss.ssl.s.slssss

� ��s��sss

Ds DsssssssssssT.

ss ssssssTsssssssssss

ss ssssssssssss

4

55S GG GG S GGG S GG S GGG G GS GG

5

sssss

eeeeeeeeeeee

eeeee

eseesse//e/ees/ee/

eee/e/ee)eee/e)s)

o)e/ee

6

TTTTTTTTTTTTTTTTTTTTTTTTTTTTTT TTTTTNTTTTTNTTTTTTTTTTTTTTT T

) )) ) ) )

TTTTTTeTTTTT

ETTTsTTTTTT

7

G s )

e ) )e

8

)

9

55S GGLSGS GLG G eGGLG LS GG GGG

55

G r )

1

1

2

2

5

NNNNNs NN

rr

2VVV V VVVV

N A

Ns AN N s V

Ns AN s V

f sfs sfs ssQ f

s ssQ P

s s N s s s s ss ss s sso V s s s s s s s s

P sfus u s PN A AN NAf sfus u s

s u sf

s f as s

P as s

s

Vss

sss

f sf

f f sf

5

NNNNNNNNN NVtP js s3o =

3o o 5 Vo o o tVtCAttTtP pM r=W=

3o 5 Vo tVAtP r=

55

P fs Po

(s ssss Vo

ddddddddddd � p������pt����t�� ddddddddddd � p���������tt��

1 1

Tllllllllltlll fs s s ss sffssss sy

1 3

Pltlllllltlll s s s y ss ss snss s

1 4

eetllele elel s s s s s s fs

1 2

Tlnlnltlll Q sffssss sy s s sss s

r

Pl

Vlltnll VlltnlffVlV22 V44

GS G GG GGG GG G S GG GG )eSG G G S GS SG S eG G GS)

[ ]o o o ttftC p bl= o o 2 tKtTl W=

55

G GS GGG G G GS GGSLG S GG GLeGG G G S GGG G GS GG

) e 5e

5e S

55

e ) le

F(s) G (s) {P (s)}T(T)

T1(T)

T(T)

T2(T)

(T)

RT(s)

e

2n s

1n s

s Vs Na AN

NVN s A

S s N

a AN P s H N P s H

P

sW+

-

W NS

WS

b NS b

-T

1VBN+N+

TT

Ts

Vss

T NS

NllNlllnl

(T)

W

54

G) L S ) )G)

klk

l

Tl

Tl

ql

ql

rltll

Pltll

rllllnell

Mlltlplllnelln

eallAltn

ealnanan

wnw

N

jNnllllllelllltlll

nllelelllltlll

k TdWqqq

W

Jd dd

Jg dg

b

rltll

Pltll

rllllnell

eal

wnw

Tm

j

oododd

Nnllllllelllltlll

nllelelllltlll

Tm

oododd Td

Jd dd

Jg dg

W qqq

Wgqqqg

b

o Bos so so s Zs a=-- B r s ss

N r sfssss s s sQ ss

q =q Q s ss, a=qW=q &&&

o No Bo so s s q+q=- &&&

3s o Vo 5 Vo �o so P r== &

1o

2o s y P s Nu s s s sV r V V VV qV)

o

o o

tV

trt

W=l 3o

55

G) L S ) )GG)

s

V

V

s

s

s

V

V

V

V

¶W¶

×W¶

¶+

¶¶

׶¶

b¶×

b¶¶

¶ )(

)(

)()(

)(

)()(

)(

)()(

V

s

V

3V

V

V

5 V

s

Wr=

b¶¶

)(

)(

÷÷ø

öççè

æ

¶+

Wr=

¶¶ 3

V

V

s2VVs

VV

VV

V 3

1 5 V

V

s

)(

)(

÷÷ø

öççè

æ

WW¶

¶+

W-r=

W¶¶

VV

s

2V

Vs3V

V

1 1 V 5 V

s

)(

)(

Vs

s

)(

)(

b¶¶

Vs

s

)(

)(

W¶¶

Vs

V

s

)(

)(

¶¶

s b W V o

Tb

TV

s +

+ +

+ +

+

TW

s ss sss ss s sss ss ss

56

G) L S ) )G )

57

G) L S ) )GGG)

W NS

a AN NVN s A

S s N

a AN P s H P s H

P

sW+

-

WS

b NS b

-

T + TT

Ts

V

T NS

(T)

W1VBN+NKb

+

KV KW

W

P� so

f so

H so

58

G) L S ) ) )

W NS

f so

P� so � Kb P s H

P

sW+

-

WS

b NS b

-

T + TT

Ts

V

T NS

(T)

W1VBN+N-KW+

KV

H so

N N s ANaN N NN N a AN

- a s s s sf s s s s s ss, s sss ss s sss ss ss s sfss ss ss o

- s s ss s s f ss ss, B No

- AssQ s s s s s s sss, s s sss s s s s

P so so

59

eT e2 e1 0 10

00

1R0

2.0

*TTT*TTTTsTTTTT*T***T**

e1 0

e120

e100

eR0

eE0

T

T

G) L S ) ) G)

Wggggg g

Y r g g g g g g g g

g g g r g *TTT*TTTTsTTTTT*T***NTTTs*

T

T

1N 2N TN EN 0N 12N

1 Ts*T

21Ts*T

2RTs*T

Wgggggbggg � Y r g r g

*TTT*TTTTsTTTTT*T*T*NTTTs*

T

T

4*T0T2

5*TT0T

gggg Y g g g g g g

g g g r g

55

55S GGG G eS

55

e ss

s :

þ TTTTTTTTTT

s s s

s s :

þ NTTTTTTTTTTT

þ *TTTTTTTT

TTTTTTTTTT

þ TTTTTTT

TTTTTTTTTTTT

F(s) G (s) {P (s)}T(T)

T1(T)

T(T)

T2(T)

(T)

RT(s)

e1

111 2

2

2

TTT

TTTTT(*TTTTT)

TT

*TTTTT

TT(

T*

)

NTTT*TTTTT

*TTTTT

eTGGG GeTT G ) SSG G S G LS T GGT)

NTT TTsTTTTT

TsTTT TTTTTTTTNTTTTT

STTTTTTTTTT

TTT

NTTTTTTTTT

TTTT*T

Peeeeeeeeee

sesssseess

S S

(TTTTT)TTTTTTTTTTTTT)

rreresereereereeeseerree

rreresereessreereeerseek

eees eeeeeereer

seerseeeerese

) e)sreerrseese)

TT

*T

TTT

T(T

*)

TTTT (*TTTTT)

e

?0TT0

?0T10

k?.

k?2

T?1 1

1e

w0TT0

w0T10

k=.

k=2

T=1 1

1

TTssTTTTT

k

n

2

1

7

1V

{P (s)}T0kre

sr(sr+ e)

k Î ]2)T.]

e Î ]1)T10]

55

e e )

- Kb

- KW

- B

- Kbq=q[Kbua N Kbua X]

- KW=q[KWua N KWua X]

- B=q[B ua N B ua X]

- Kb_N a N

- KW_N a N

- B_N a N

3-A s ss,

s ss s s s s s ss s s s

sQ s ss s

ss s n s s s

Asfs sss, s ss s ss s sfs s ss s s s n r1� Vs 1V Vs 21 Vs�

55

G ;;;;

rrr ;,,,,;,,,,,,,,,;,,,,,,,,;,,,,,,,,;,,,,,,,,

rrr ;r,,,,;,,,,,,,,,;r,,,,,,,,;r,,,,,,,,;r,,,,,,,,

rrr ,rr,rr;,,rr,rr,r,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,

ooro,,roo,or

,;,,,;,;,o;o;,,,,;,;,;;

o,,,,;,;,o;o,r,;,o,,;;o,,;,;

,;,,;,,,,r,;,;,;o;;,r,,,,,;

o,,,;,,,,r,;,;,;oo,,;;

;;;;;;

,,o

,,o

,,o

eTE0 eT1 e2.0 e22 e1R0 e1T e00 e 0

e110

e100

e00

eR0

e.0

eE0

e 0

e 0

0T01

0

TsTTeNTTsTNsTTTT(TT*)

TsTTeN

TTsTT

TTT

T(T*

)

T

T

54

G)l )

:s:s s s s s s : s s s s s :

1T TTTTTTTTTT TsTT TTT* TTTTTTTTTTTTTTTTTTTTTTTTTTTTTT

2T NTTTTTTTTTTTTTT*TTTsTT TTTTTTTTTTTTTTTTTTT

TT TTTTsT.TTTTTTTTTT*TTsTT TTTTT

T TTTTTTTTTTTTTTTTTTTTTTTTTT TTTTTTTTTT

T NTTTTNTTTTTTTTTT TTT* T

ET TTTTTTTTTTTTTTTTTTTTTTT TTTTsTTTTTT

.T T TsTTTTTsTTTTTTTTTT

:s:s s s : s : s :

� TTTTTTTTTTTTsTTTTTTTTTTTTTTTTTTsTTTTTTTTTTTTTTTTTTTTTTTTTTTTTsTTTTTTTsTTTTT

TTsTTTT

� NTTTTTTTTTTTTTT*TTTsTT TTTTTTTTTTTTTTTTTTTTTTsTTTsT.TTT TTT*TT(TTTTTTTTTTTTT)

� ETTsT.TTTTTsTTTTTTTTTTTTTT(T T*TTTTTTTTTTTT)TsTTTTsTTTTTTTTTTTTTTTTTTTTTTTT

TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT (TTTTTTTTTTT TTsTTT sTTT)

55

G a )

TTTs*TNTTTTTTTTTTsTTTsTTT*TTTTTsTTTTTTT*TTTTTTTTTTTTsTTT

TT*TTTT

TTT(

T*

)

T

T

NsTTTT(

TT*)

T

T

*TTTTTTT*TTs

TTT)TTTTTTT(TTT*TTT)

1Ts*T

20s*T

e0T01 0 0T01 0T02 0T0T 0T0 0T0 0T0E

0T2

0T

0TE

0T2

0T

0TET

T

ETTTTNTTTT

ETTTTN TT

TsT*

TTT

TTTN

TT

1Ts*T

20s*T

GG : s s s s s s : s s : :

� NTTTTTTTTTsTTTTTTTTTTsTTTTTTTT(TTTTTTTT TTTTTTTTTTTTTTTTTTTT))TsTTTTTTTTTTTTTTTTTTT

� NTTs�TTTTTTsTTTTTTTTTTTTTT TTTTTTTTTTTTTTTTTsTTTTTTTTTTTs TsT

� ETTTTTTTTTTTTTT TTTTTTTTTTTTTTTTTsTTTTTT�T

5G s s s s s s

� ETTTTTT�TTTTTTTTTTTTTTTTTTT TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTsTTTTTTTTTTTs TsT

� NTTsTTsTTTTTTTTTTTTTTTTTsTTTTTTTTTTTTTT

56

e

1 - entnalllenelrlalntn a r 5 N y aS r 57n

V5 1os os os os os 1

os os os os

NS

£=+

=TW

TW

Y

Y

H

H

2 - rlllnollplltllanlllllnlellollltl Ps s s s s s ss, s s ss s s 12 sssss s s s f Q s s fs ss s ss, sfs s s - V Vs2 - s s Q s f ss s ss s

w"

w"-£úûù

êëéW×

=+

=TTW

o N27 V22 VsV

sV

V

12 V

os Hos os Pos 1

os K

os V

os 2

N aV

W

57

3 - Atlllnllallelllllelnlellnltnlflllllllln

nfllllllllnnltnneaN

=-=£TTW

wo 2V 1 V

2 - rlllnollellplltllanlllllnlllllnlnltlnllallnllnnlfllllllllnnl

ellllnllnlllnlelllnlntlenslslltlln

W

58

entnalllenelrlalntnlsllllelnH P 1

H P

N NS +=

TTW

-=TW

TW

e200

e1 0

e100

e 0

e20

0

0

TT*TTTT

TTT(

T*

)

T

T

10e2

10e1

100

101

102

10T

10

e 0

eTE0

e2.0

e1R0

e00

0

NsTTT

T(TT*)

T

T

TTTT T*T TET T TTTTTTTTTTTTTETTTTT

TTT)TTTTTTT(TTT*TTT)

T* TET

TsTTT TTTTToTTETTTT

TsTTT TTTTToTT TTTTTTTTTT

59

eTE0 eT1 e2.0 e22 e1R0 e1T e00 e 0

e20

e10

0

10

20

T0

TsTTeNTTsTNsTTTT(TT*)

TsTTeN

TTsTT

TTT

T(T*

)

ETTTTTTTTT*TTTT*TTTTT

T

T

entnalllenelrlalntn

55

H P 1

K

VV

+=

TTWrlllnollplltllanlllllnlellollltl

e.0

eE0

e 0

e 0

eT0

e20

e10T

T*TTTT

TTT(

T*

)

10eT

10e2

10e1

100

101

102

10T

10

1R0

22

2.0

T1

TE0

NsTTTT(

TT*)

*TTTTTTT*TTs

TTT)TTTTTTT(TTT*TTT)

55

eTE0 eT1 e2.0 e22 e1R0 e1T e00 e 0

eT0

e2

e20

e1

e10

e

0

10

1

20

TsTTeNTTsTNsTTTT(TT*)

TsTTeN

TTsTT

TTT

T(T*

)

TTTTTTTTTTTTTTTTTTTnTTTTTT

T

T

rlllnollplltllanlllllnlellollltl

55

rlleln

eTE0 eT1 e2.0 e22 e1R0 e1T e00 e 0

eTE

eT

eT2

eT0

e2R

e2E

e2

e22

e20

e1R

e1E

TsTTeNTTsTNsTTTT(TT*)

TsTTeN

TTsTT

TTT

T(T*

)

RTTTTTTTTTTnTTTTTT

T

T

55

rlllplalllen

eTE0 eT1 e2.0 e22 e1R0 e1T e00 e 0

e 0

eT0

e20

e10

0

10

20

T0

TsTTeNTTsTNsTTTT(TT*)

TsTTeN

TTsTT

TTT

T(T*

)

T

T

54

Nltllnllllallalllen

eTE0 eT1 e2.0 e22 e1R0 e1T e00 e 0

e 0

eT0

e20

e10

0

10

20

T0

TsTTeNTTsTNsTTTT(TT*)

TsTTeN

TTsTT

TTT

T(T*

)

T

T

0T01

0T0

0T1

0T

0T.

1

2T0.

TT1

T1

T22

ET2R

.

R

0

10

2TTR.

T0

0

55

Nllpnglnpllg

eTE0 eT1 e2.0 e22 e1R0 e1T e00 e 0

e1 0

e120

e100

eR0

eE0

e 0

e20

0

20

TsTTeNTTsTNsTTTT(TT*)

TsTTeN

TTsTT

TTT

T(T*

)

T

T

Y º4ºº

YYº1ºº

56

*TTTTT1TsTTTsTTT*TTTT]TT*]

TTTTNT TT]TT*]

TET NT TT]T s]

ETTTTTTsTTTTT]Tss]

RTTTTTTTTTsTTTTsT*TTTTTTT]s*T]

TTTTETTEsTTTTTT]Tss]

TTsTT]T]

0

2

E

R

10

12

1

1E

1R

20

22

2

2E

2R

T0

0 100 200 T00 00 00 E00

l

57

1E0 1R0 200 220 2 0 2E0 2R0

TTTssT(T)

TTTETTTTTTTTTTTT(T)TTTTTETTTT TTNTTTTTT(*)TT

58

0 0 100 1 0 200 2 0 T00

0

2

E

R

10

12

1

1E

T

T

T TTTTT

sTTT11

TssT11

sTTT12

TssT12

gllllllallellllltlllnellln

59

e e e e

45

S G GG G SLeGGG

] ] e ) )] a ) a e e ) ]G ]] ] e e S e ] ]] ] e e ] ]L ] e ] )] ] ) e ]G e ] ] e ee ]G e ]

45

:s:s s : s s s s s s s s

s s s s:s .ss .s s s s s s s sG

:

� :s : s s s

� T os :

� G

NTTT

TTsTTTT

TTTTTTTTTTT]

TTTTTTT

eTTTT

TTTT]T

]e]

TTT)TTTTTT]T*T]

0T0000

0T000

0T0010

0T001

0T0020

0T002

0T00T0

0T00T

0T00 0

0T00

0T00 0

0T0 0T 1T0 1T 2T0 2T TT0 TT T0 T T0

TT s : s s ss s

e ) s )) e ) : )

S G GG G SLeGGG

45

LG G G S GGG GS G eG T

s:: eE Ee E::

::o:e:: :

T :: :: se:es

45

G )

� ) � )

1T NTTT*TTTTTTTTTTTT TsTTT

� NTTT*TTTTTTTTTTTTTT*TTTTTTsT�TTe�TTssTTTTTTTTTTT TTTTTTTTTTTT

� NTTT*TTTTTTTTTTT TTTTTTTT

2T NTTTTTTTTTTTTTTTsTTTTTTTTTTTTsTTTTTsTTT*TTTTTT*TTTTTTTTTTTTTTTTTTTTTTTssTTTTTT

TT NTTT*TTTTTTTTTTTTTTTTT*TTTTT*

� NTTTTTT*TTTTTTT sTTTTTTTTT.TTTsTTTTTTsTTTTTTsTTTTTTTTTT(T TsTTT)

� NTTsTTTT�TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTssTT.TsTTTTT

T TTTTTTToTTTTsTTT*TTToTTTTTsTTTT

T ETTTTTTTT TTTTTT*TTTTTTTTTTTTTT)TTTTTTTT*TTTTNN)TTTTTTTToTTTTTTTTTTTTT

sTTTTTsTTTTTTTTTTTTTToTTTT

ET TTnTTTTTTTTTTTsTTTTTTTTTTs )TTTTTTTTTT.TTTTTsTTTTTTTTTTTT

.T TTnTTTTTTTTTTTTTTTTTTTTTTTTTTTTT

44

e � T TTT TT TTTTTTT TT TTT TTTTTTT* T TTTT*TTTTTT )TT TT)TTTTT TTT TTTTTTsTTTTT

TT TT sTTTT T TT TTT TTsTTTTT TTT TTTT*TTTTTTTT T TT TTTTTTTTT TT TT TTTsT TT

TTTT.TT

� NTT TT TTsTTTT TT sTTTTTT TT TTT TTssTTTTTTT TT TssTTTTTTT T sTTTTT TT

TTTTTTT* T TT s TsT T TsTTsT.TT TTT TTTT.TTT NT TTTTTTT* T TT TTTTTTT TT TT

TTT TTT *TTT sTTTTTTTT sTTT TTssTTT TTTT TTnTTTTTT

� NTT TTT TTTTTTTTT TTTT�TT TT TTTT*TTTTTTTTTT TT sTTTT sTTTTTTT T sTTTT

TTsT.T) TT TTTTTsT TT TTTTTTT T TT TTTT.T sTT TT)TTTTTT sTTTT TTTTTTTTTT

� T T�TT TT TTTTTsTTTTT TT TT s )TTTT TTTT TTsTT�T TTT TTT*TT TTTTTTTTTTTTT

TTsTTTTT TTT TTTTTTTTTTT

� T TTTT�T TT TT TTTTTTTTTTT sTTT TT TTTT*TTTTTTTT TT TT TT TTT TTTTT )TT

sTTTT TTT TTTTTTT T TTTT sTT TT TT TTsTTTTTTTTTT

� TTTTT. TT TTTTTTTT TT TTTTTTT TT TT sTTTTTT

45

e e e e

S )e )e ?