Anexos

Anexos
Tabla 1: Transformadas de Laplace

f(t)
Impulso unitario (t )

Escaln unitario 1(t )

e at

t e at

sen t

cos t

tn

t n e a t

11
12

s2
1
s+a
1

(s + a ) 2

s +2
s
2

(s )n +1
n!

(n = 1,2,3, L)

(s + a )n +1

1
e a t e b t
ba
1
b e b t a e a t
ba
1
1

1+
b e a t a e b t

ab a b

14

e a t cos t
1
a

2
1

(s + a )(s + b )

e a t sen t

15

(s + a )(s + b )

13

16

s2 + 2
n!

(n = 1,2,3, L)

10

F(s)
1
1
s
1

1
s (s + a )(s + b )

(s + a ) 2 + 2
s+a

(s + a ) 2 + 2

(a t 1 + e )

a t

e n t sen n 1

- 271 -

s (s + a )
2

n2
s 2 + 2 n s + n2

Anexos
1
1

17

e n t sen n 1

= tan 1
1

18

1
1

= tan 1

s
s + 2 n s + n2
2

e n t sen n 1
1

t +

n2
s s 2 + 2 n s + n2

Tabla 2: Propiedades de la transformada de Laplace

1
2
3

L[Af (t )] = AF (s )
L[ f1 (t ) f 2 (t )] = F1 (s ) F2 (s )
d

L f (t ) = sF (s ) f (0 )
dt

d2

L 2 f (t ) = s 2 F (s ) sf (0 ) f (0 )
dt

( k 1 )
n
n
d

L n f (t ) = s n F (s ) s n k f (0 )
k 1
dt

( k 1 )
d k 1
Donde
f (0 ) =
f (t )
d t k 1

6
7
8

f (t )dt
F (s )
t =0
L (t )dt =
+
s
s
F (s ) f (t ) dt
f (t ) dt dt t =0
L f (t ) dt dt =
+
+
2
s
s2
n
1
L L f (t )(dt )2 +
L f (t )(dt )k t =0
n k +1
k =1 s

] [

L e at f (t ) = F (s + a )

10

L[ f (t a )1(t a )] = e as F (s )
d F (s )
ds

11

L[t f (t )] =

12

L f (t ) = F (s ) ds
t
s

13

t
L f = a F (a s )
a

- 272 -

Anexos

Tabla 3: Tabla de las Transformadas z

1
2
3
4

X(s)
1
e kTs
1
s
1
s2

X(t) o X(k)
(t )
(t kT )
1(t )

1
s+a

a
s (s + a )

1 e

2
s +2

sen t

s
s +2

cos t

e at

te

(s + a ) 2

a t

z e aT

(1 e aT )z
(z 1)(z e aT )

at

z sen T

z 2 2 z cos T + 1
z ( z cos T )
z 2 2 z cos T + 1
Tze aT

a t

(z e )

aT 2

sen t

10

(s + a )2 + 2

11

s+a
(s + a )2 + 2

e a t cos t

12

2
s3

z k
z
z 1
Tz

(z 1)2

Z[x(t)] o Z[x(k)]
1

ze aT sen T
z 2 2 ze aT cos T + e 2 aT
z 2 ze aT cos T
z 2 2 ze aT cos T + e 2 aT

T 2 z ( z + 1)

(z 1)3

13

ak

14

a k cos k

- 273 -

z
za
z
z+a

Anexos

Tabla 4: Propiedades de la transformada z

1
2
3

X(t) o X(k)
ax(t )
x1 (t ) + x 2 (t )
x1 (t + T ) o x(k + 1)
x(t + 2T )

x(k + 2 )

x(t + kT )

6
7

x(k + m )

tx(t )

kx(k )

10

e at x(t )
at

Z[x(t)] o Z[x(k)]
aX ( z )
X 1 (z ) + X 2 (z )
zX (z ) zx(0 )

z 2 X (z ) z 2 x(0) zx(T )
z 2 X ( z ) z 2 x(0 ) zx(1)

z k X ( z ) z k x(0 ) z k 1 x(T ) L zx(kT T )

z m X (z ) z m x(0) z m 1 x(1) L zx(m 1)
d
Tz [ X ( z )]
dz
d
z [X ( z )]
dz
X ze aT

( )

x(k )

11

12

a k x(k )

13

ka k x(k )

14

x(0)

15

x( )

16

x(k )

X (1)

x(kT ) y (nT kT )

X (z ) Y (z )

X ze
z
X
a

lim X ( z )
z

lim[( z 1) X ( z )] si
z 1

k =0
n

17

d z
X
dz a

k =0

- 274 -

z 1
X (z )
z

Anexos

Tabla 5: Relaciones Matemticas de Sistemas Fsicos

Sistemas
Fsicos

Elctrico

Mecnico
traslaciona
l

Mecnico
Rotatorio

Trmico

Hidrulico

Neumtico

Potencial

Magnitud

Tensin

Carga
Elctrica

Velocidad

3=

d[2]
dt

Corriente

[V]

[C]

dq
dt
[A]

Fuerza

Desplaz.
lineal

F = m.a

[N ]

V = iR

i=

Potencia

4=

[1]
[3]

5=

Resistencia

R=

Capacidad Inductancia

V
i

[2]
[1]

[1] = (6) d[3]

dt

Capacitancia

C=

Inductancia

q
V

V=L

di
dt

[]

[F]

[H]

Velocidad
lineal

Factor de
amortig.

Constante de
resistencia

Masa

[m]

dx
v=
dt
[m s]

F
B=
V
[N s m]

1 x
=
K F
[N m]

Momento
(Torque)

Desplaz.
angular

Velocidad
angular

Factor de
amortig.

Constante
resistencia

M = J

[N m]

[rad]

Diferencia de
temperatura

Calor

T = R.q

[K ]

[J ]

Diferencia
de presin

Volumen

P = R q

[Pa ]

[m ]
3

Diferencia de
presin

Masa

Pa = R

[Pa ]

[Kg ]

[Kg]

d
dt
[rad s]

[N.m. rad s]

1
=
K M
[rad N.m]

Flujo
calorfico

Resistencia
trmica

Capacidad
trmica

dQ
dt
[W ]

q=

Gasto
volumtrico

dv
dt
3
m s

q=

Gasto msico

w=

dm
dt

[Kg s]

- 275 -

B=

T
q
[Ks J ]

R=

Resistencia
hidrulica

R=

P
q

Resistencia
neumtica

[Pa s Kg]
R=

C T = m.c

Momento
de inercia

M=J

d
dt

[N.m ]
2

No definida

[J ]
Capacidad
hidrulica

v
P
3
m Pa

CF =

[Pa s m ]

dv
dt

F=m

P = I F

] [Pa s

Capacidad
neumtica

m
P
[Kg Pa ]

CN =

Inertancia
fudica

dq
dt
m3

Inertancia
neumtica

d
dt
2
Pa s Kg

P = I N

Anexos

Tabla 6: Datos tpicos de chapa y parmetros de motores shunt de CD

Motores de Vn = 230 V
Tipo

Frame 283
Pf = 150 W
Jm = 0.068 Kg.m2

Frame 284
Pf = 160 W
Jm = 0.088 Kg.m2

Frame 286
Pf = 180 W
Jm = 0.087 Kg.m2

Frame 288
Pf = 200 W
Jm = 0.156 Kg.m2

Frame 365
Pf = 210 W
Jm = 0.296 Kg.m2

Frame 366
Vn = 230 V
Pf = 220 W
Jm = 0.397 Kg.m2

nn
[rpm]

[hp]

Pn

[kW]

Ian
[A]

Ra
[]

La
[mH]

3500
2500
1750
1150
850
500

15
10/7.5
5
3
2
1

12.2
7.46/5.60
3.73
2.24
1.49
0.75

54
37/27
19
11
7.8
4.1

0.153
0.301
0.615
1.43
2.61
7.56

1.30
2.30
4.50
10.4
19.2
55.0

3500
2500
1750
1150
850
500
300

20
15
10/7.5
5
3
2
1

14.9
12.2
7.46/5.60
3.73
2.24
1.49
0.75

73
56
39/28
20
12
10
4.8

0.142
0.279
0.570
1.36
2.42
6.71
12.3

1.10
2.10
4.30
10.0
18.5
53.2
147

3500
2500
1750
1150
850
500
300

25
20
15
10/7.5
5
3
2

18.6
14.9
12.2
7.46/5.60
3.73
2.24
1.49

89
72
56
39/29
20
12
11

0.070
0.137
0.280
0.657
1.19
2.32
7.50

0.70
1.40
2.81
6.50
12.0
34.4
95.0

3500
2500
1750
850
500

40
30/25
20
10/7.5
5

29.8
27.4/18.6
14.9
7.46/5.60
3.73

141
108/89
74
40/29
22

0.045
0.089
0.180
0.762
1.33

0.73
1.44
2.93
12.5
36.0

1750

25

18.6

89

0.086

2.20

1150

15

11.2

55

0.199

5.10

2500
1750
1150
850
500
300

50/40
40/30
25/20
15
7.5
3

37.3/29.8
29.8/22.4
18.6/14.9
12.2
5.60
2.24

176/140
143/107
92/73
56
29
12

0.033
0.067
0.115
0.284
0.772
2.27

0.50
1.00
2.40
4.40
13.0
35.0

- 276 -

Anexos

Frame 367
Pf = 230 W
Jm = 0.462 Kg.m2

Frame 368
Pf = 242 W
Jm = 0.560 Kg.m2

Frame 503
Pf = 325 W
Jm = 1.82 Kg.m2

Frame 504
Pf = 410 W
Jm = 1.94 Kg.m2

Frame 505
Pf = 430 W
Jm = 2.2 Kg.m2

Frame 506
Pf = 500 W
Jm = 2.43 Kg.m2

2500
1750
1150
850
500
300

60
50
30
20
10
5

44.8
37.3
22.4
14.9
7.46
3.73

209
177
108
73
40
20

0.0203
0.0415
0.0963
0.176
0.478
1.41

0.52
1.10
2.50
4.60
13.0
36.0

1750
1150
850
500
300

60
40
30/25
15
7.5

44.8
29.8
23.4/18.6
12.2
5.60

213
146
112/92
58
32

0.0363
0.0964
0.153
0.417
1.24

0.85
2.00
3.60
11.0
29.0

1750
1150
850
500
300

100/75
60/50
40
20
10

74.6/56.0
44.8/37.3
29.8
14.9
7.46

349/261
211/176
143
73
38

0.0144
0.084
0.066
0.168
0.500

1.10
2.50
4.50
13.0
36.0

1750
1150
850
500
300

125
75
50
25
15

93.3
56.0
37.3
18.6
12.2

434
264
177
90
57

0.0150
0.0237
0.0420
0.115
0.342

0.85
2.00
3.60
11.0
29.0

1750
1150
850
500
300

150
100
75/60
30
20

112
74.6
56.0/44.8
22.4
14.9

523
353
268/213
109
79

0.0099
0.0206
0.0380
0.109
0.350

0.73
1.70
3.10
9.0
25.0

1150

125

93.3

436

0.0125

1.20

500

40

29.8

143

0.0660

6.50

Leyenda:
nn = Velocidad Nominal
Pn = Potencia Nominal
Ian = Corriente de Armadura Nominal
Ra = Resistencia de Armadura
La = Inductancia de Armadura
Pf = Potencia Nominal del Campo
Jm = Momento de Inercia del eje del motor

- 277 -

Anexos

Tabla 6: Datos tpicos de chapa y parmetros de motores trifsicos de CA

Motores de Jaula de Ardilla con Vn = 460 V y f = 60 Hz

Pn

[hp]

[W]

nn
[rpm]

Pelec
[W]

In
[A]

I0
[A]

pmec
[W]

[]

Jm
[Kg.m2]

1492

862

1987

4.1

3.05

10

5.34

0.0195

2238

1150

2798

5.0

3.35

15

3.53

0.0195

2238

865

2868

6.0

4.45

10

3.065

0.0272

3730

1145

4538

7.6

4.25

15

2.08

0.0272

3730

875

4635

7.9

4.5

20

2.03

0.0983

7.5

5595

1745

6868

11.2

6.5

30

1.44

0.0230

7.5

5595

1170

6789

10.7

5.8

30

1.29

0.0983

7.5

5595

875

6744

12.0

6.85

20

1.13

0.1240

10

7460

3475

8897

12.8

4.45

70

1.02

0.0110

10

7460

1740

8807

13.5

6.1

30

1.01

0.0312

10

7460

1165

9003

13.3

5.7

30

1.09

0.1240

10

7460

875

8751

15.5

9.1

50

0.911

0.2230

15

11190

3490

13040

18.3

5.5

70

0.542

0.0165

15

11190

1750

13150

20.0

8.0

60

0.660

0.0588

15

11190

1165

13120

20.1

8.5

60

0.714

0.2230

15

11190

880

13180

22.5

11.6

50

0.518

0.3390

20

14920

3510

17570

24.8

7.6

170

0.4025

0.0276

20

14920

1760

17310

26.6

12.1

60

0.420

0.0753

20

14920

1165

17540

21.9

9.6

60

0.942

0.293

20

14920

885

17330

27.0

11.8

44

0.543

0.469

25

18650

3515

21640

30.0

8.5

170

0.299

0.034

25

18650

1765

21070

32.4

13.0

100

0.320

0.124

25

18650

1179

21480

31.0

10.8

84

0.455

0.423

25

18650

884

21060

34.0

14.6

54

0.365

0.597

30

22380

3540

24840

37.5

12.1

250

0.238

0.0753

30

22380

1765

25030

37.3

12.9

100

0.245

0.150

30

22380

1180

25040

38.0

14.1

77

0.317

0.469

30

22380

885

25360

40.0

17.1

74

0.328

0.542

- 278 -

Rs

Anexos

40

29840

3537

32940

47.8

13.1

250

0.1675

0.0923

40

29840

1768

32690

49.0

17.9

193

0.185

0.234

40

29840

882

32990

52.0

20.3

80

0.189

0.790

50

37300

3524

41350

59.0

16.1

504

0.123

0.142

50

37300

1770

40850

60.0

19.1

199

0.130

0.326

50

37300

1181

41260

59.0

15.7

148

0.191

0.694

50

37300

882

41260

65.0

29.7

133

0.157

1.300

60

44760

3528

49760

71.0

20.2

593

0.08945

0.165

60

44760

1775

48990

72.0

24.1

232

0.119

0.464

60

44760

1178

49410

70.0

21.3

260

0.142

1.140

75

55950

3559

60450

85.0

23.3

823

0.065

0.239

75

55950

1776

61610

88.0

23.6

231

0.0862

0.593

75

55950

1174

62540

88.0

22.8

275

0.1060

1.460

75

55950

885

61950

98.0

39.7

300

0.0836

2.000

100

74600

3550

81650

112

24.6

901

0.0498

0.308

100

74600

1776

81570

117

30.2

414

0.0600

0.859

100

74600

1179

81820

119

34.1

203

0.0591

1.800

100

74600

886

81260

127

51.2

575

0.0531

2.920

125

93250

3549

102400

142

31.6

825

0.0410

0.574

125

93250

1776

100700

141

36.5

308

0.0409

0.965

125

93250

1181

100600

147

43.5

271

0.0406

2.290

150

111900

3554

122300

167

32.8

1131

0.0406

0.749

150

111900

1771

121400

167

40.8

532

0.0314

1.450

200

149200

3553

162700

227

50.0

1000

0.0240

1.120

200

149200

1779

159200

220

57.0

504

0.0188

1.910

250

186500

3549

204100

282

46.4

1100

0.0203

1.450

Leyenda:
nn = Velocidad Nominal
Pn = Potencia Nominal
Pelect = Potencia Elctrica tomada de la fuente en Carga Nominal
In
= Corriente de lnea Nominal
I0
= Corriente de lnea sin carga (Corriente de Vaco)
pmec = Prdidas Mecnicas por friccin y batimiento
Rs = Resistencia por fase del estator
Jm = Momento de Inercia del eje del motor
Para calcular la reactancia por fase del estator (Xs) y del rotor (Xr) debe asumirse que:
Xs = 0.4 XL y Xr = 0.6 XL
- 279 -

Anexos

Tabla 7: Resumen del mtodo algebraico de clculo de reguladores

7.1 Indicadores de la Respuesta en Lazo Cerrado

Mtodo

Condicin

MO
OL

< T1 < 4

4,7

< T1 < 4
1
To s

8,4
11,7

3,1

16,5

43,4%

1
To s

7,6

13,3

8,1%

1
To s

9,2

OS
OS
(Con alisamiento)
OS
(Con alisamiento
y derivacin)

Tiempo de establec.
ts (seg)

Sobreimp.
mximo
Mp (%)
4,3%

Tiempo de subida
tr (seg)

7.2 Parmetros de Ajuste y Comportamiento

Mtodo

I
1 bloque

PI
2 bloques

Tn = T1
MO

OL

Ti = 2 K s

Ti = 4 K s

T1
KR =
2 K s
Tn = T1
T
KR = 1
4 K s
Tn = 4

OS

T0
KR =
2 K s

Tn = 4

OS
(Con alisamiento
y derivacin)

KR =

T0
2 K s

PID
3 bloques
Tn = T1
Tv = T2
T1
KR =
2 K s

Tn = T1
Tv = T2
T1
KR =
4 K s

Tn = 4
Tv = T2
T1
KR =
2 K s

Tn = 4 , Tv = T2
KR =

T1
2 K s

Tg = Tn = 4

Tg = Tn = 4

td =

td =

- 280 -