<div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://files.passeidireto.com/ff16b915-da4f-432e-b78a-9c49b242e6bf/bg1.png"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls1">1</div><div class="t m0 x2 h3 y2 ff2 fs1 fc0 sc0 ls1 ws0">Univ<span class="_0 blank"></span>ersidade Estadual de Campinas</div><div class="t m0 x3 h4 y3 ff2 fs1 fc0 sc0 ls1 ws0">F<span class="_1 blank"></span>aculdade de Eng<span class="ff3 fs2 ls0 v1">a</span><span class="ws1">El <span class="v2">´</span></span></div><div class="t m0 x4 h5 y3 ff2 fs1 fc0 sc0 ls1 ws2">etr ica<span class="_2 blank"> </span>&<span class="_2 blank"> </span>Computac<span class="_3 blank"></span>¸<span class="_4 blank"> </span><span class="v2">\u02dc</span></div><div class="t m0 x5 h3 y3 ff2 fs1 fc0 sc0 ls1">ao</div><div class="t m0 x6 h5 y4 ff2 fs1 fc0 sc0 ls1 ws3">Depar tamento<span class="_2 blank"> </span>de<span class="_2 blank"> </span>T<span class="_5 blank"></span>elem<span class="_6 blank"> </span><span class="v2">´</span></div><div class="t m0 x7 h3 y4 ff2 fs1 fc0 sc0 ls1">atica</div><div class="t m0 x8 h6 y5 ff4 fs1 fc0 sc0 ls1 ws4">NO<span class="_1 blank"></span>T<span class="_7 blank"></span>AS DE A<span class="_1 blank"></span>ULAS DE EA721</div><div class="t m0 x9 h6 y6 ff4 fs1 fc0 sc0 ls1">PRINC</div><div class="t m0 xa h6 y7 ff4 fs1 fc0 sc0 ls1">´</div><div class="t m0 xa h6 y6 ff4 fs1 fc0 sc0 ls1 ws4">IPIOS DE CONTR<span class="_0 blank"></span>OLE &</div><div class="t m0 xb h6 y8 ff4 fs1 fc0 sc0 ls1 ws5">SER<span class="_1 blank"></span>V<span class="_1 blank"></span>OMECANISMOS</div><div class="t m0 x8 h3 y9 ff2 fs1 fc0 sc0 ls1 ws0">P<span class="_1 blank"></span>aulo A<span class="_0 blank"></span>ugusto V<span class="_8 blank"></span>alente F<span class="_0 blank"></span>erreir<span class="_0 blank"></span>a</div><div class="t m0 xc h3 ya ff2 fs1 fc0 sc0 ls1 ws0">F<span class="_0 blank"></span>e<span class="_0 blank"></span>v<span class="_0 blank"></span>ereiro de 2006</div><div class="c xd yb w2 h7"><div class="t m0 xe h8 yc ff5 fs3 fc0 sc0 ls1">www.mecatronicadegaragem.blogspot.com</div></div></div><div class="pi" data-data='{"ctm":[1.000000,0.000000,0.000000,1.000000,0.000000,0.000000]}'></div></div> <div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi xf yd w3 h9" alt="" src="https://files.passeidireto.com/ff16b915-da4f-432e-b78a-9c49b242e6bf/bg2.png"><div class="t m1 xf ha y1 ff6 fs4 fc0 sc0 ls1 ws4">EA721 / P<span class="_8 blank"></span>A<span class="_0 blank"></span>ULO V<span class="_7 blank"></span>ALENTE / UNICAMP</div><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls1">2</div><div class="t m0 x5 hb ye ff7 fs2 fc0 sc0 ls1 ws4">A<span class="_0 blank"></span>ula 1</div><div class="t m0 xf hc yf ff8 fs5 fc0 sc0 ls1 ws6">Intr<span class="_0 blank"></span>oduc<span class="_9 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x9 hc yf ff8 fs5 fc0 sc0 ls1 ws4">ao ao Contr<span class="_0 blank"></span>ole A<span class="_0 blank"></span>utom<span class="_6 blank"> </span><span class="v0">´</span></div><div class="t m0 x10 hd yf ff8 fs5 fc0 sc0 ls1">atico</div><div class="t m0 xf he y10 ff1 fs0 fc0 sc0 ls1 ws7">T<span class="_1 blank"></span>erminologia<span class="_a blank"> </span>b <span class="v0">´</span></div><div class="t m0 x11 h2 y10 ff1 fs0 fc0 sc0 ls1">asica</div><div class="t m0 xf h2 y11 ff1 fs0 fc0 sc0 ls1 ws8">Malha aberta <span class="ff9 ls2">×</span><span class="ws4">malha fechada</span></div><div class="t m0 xf h2 y12 ff1 fs0 fc0 sc0 ls1 ws9">Exemplos ilustrati<span class="_0 blank"></span>vos</div><div class="t m0 xf hf y13 ff7 fs2 fc0 sc0 ls1 wsa">T<span class="_1 blank"></span>erminologia<span class="_4 blank"> </span>b <span class="v0">´</span></div><div class="t m0 x12 hb y13 ff7 fs2 fc0 sc0 ls1">asica</div><div class="t m0 xf he y14 ff1 fs0 fc0 sc0 ls1 wsb">1.<span class="_4 blank"> </span>Certos termos utilizados para descre<span class="_0 blank"></span>ver v<span class="_0 blank"></span>ari<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x13 he y14 ff1 fs0 fc0 sc0 ls1 wsc">aveis<span class="_c blank"> </span>e<span class="_c blank"> </span>con\ufb01gurac<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x14 h2 y14 ff1 fs0 fc0 sc0 ls1 wsb">oes relacionadas a</div><div class="t m0 xf he y15 ff1 fs0 fc0 sc0 ls1 wsd">sistemas de controle tornaram-se padr<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x15 h2 y15 ff1 fs0 fc0 sc0 ls1 wsd">oes com o passar do tempo.<span class="_4 blank"> </span>Apresentamos a</div><div class="t m0 xf he y16 ff1 fs0 fc0 sc0 ls1 wse">seguir alguns termos b<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x16 he y16 ff1 fs0 fc0 sc0 ls1 wse">asicos.<span class="_2 blank"> </span>T<span class="_1 blank"></span>ermos mais espec<span class="v0">´</span></div><div class="t m0 x17 he y16 ff1 fs0 fc0 sc0 ls1 wsf">\u0131\ufb01cos<span class="_4 blank"> </span>sur<span class="_0 blank"></span>gir <span class="v0">\u02dc</span></div><div class="t m0 x18 h2 y16 ff1 fs0 fc0 sc0 ls1 wse">ao no transcorrer do</div><div class="t m0 xf h2 y17 ff1 fs0 fc0 sc0 ls1">curso.</div><div class="t m0 xf h10 y18 ffa fs0 fc0 sc0 ls1 ws10">Sistema. <span class="ff1 ws11">O termo </span><span class="ws12">sistema <span class="ff1 ws13">designa um arranjo, conjunto ou colec<span class="_d blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></span></span></div><div class="t m0 x19 h2 y18 ff1 fs0 fc0 sc0 ls1 ws13">ao de compo-</div><div class="t m0 xf h2 y19 ff1 fs0 fc0 sc0 ls1 ws14">nentes conectados ou relacionados de maneira a formar ou agir como uma uni-</div><div class="t m0 xf he y1a ff1 fs0 fc0 sc0 ls1 ws15">dade.<span class="_10 blank"> </span>Um sistema n<span class="_e blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x1a he y1a ff1 fs0 fc0 sc0 ls1 ws16">ao <span class="v0">´</span></div><div class="t m0 x1b h2 y1a ff1 fs0 fc0 sc0 ls1 ws17">e algo necessariamente <span class="ffb">f</span></div><div class="t m0 x1c h11 y1b ffb fs0 fc0 sc0 ls1">´</div><div class="t m0 x1c h2 y1a ffb fs0 fc0 sc0 ls1">\u0131sico<span class="ff1 ws17">.<span class="_10 blank"> </span>O termo pode ser usado em</span></div><div class="t m0 xf he y1c ff1 fs0 fc0 sc0 ls1 ws18">refer <span class="v0">\u02c6</span></div><div class="t m0 x1d he y1c ff1 fs0 fc0 sc0 ls1 ws19">encia<span class="_a blank"> </span>a<span class="_a blank"> </span>sistemas<span class="_c blank"> </span>econ <span class="v0">\u02c6</span></div><div class="t m0 x1e he y1c ff1 fs0 fc0 sc0 ls1 ws1a">omicos,<span class="_a blank"> </span>biol <span class="v0">´</span></div><div class="t m0 x1f he y1c ff1 fs0 fc0 sc0 ls1 ws4">ogicos ou mec<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x20 h2 y1c ff1 fs0 fc0 sc0 ls1 ws4">anicos, entre outros;</div><div class="t m0 xf h10 y1d ffa fs0 fc0 sc0 ls1 ws1b">Controle. <span class="ff1 ws1c">O termo </span><span class="ws1d">contr<span class="_0 blank"></span>ole <span class="ff1 v0">´</span></span></div><div class="t m0 x21 he y1d ff1 fs0 fc0 sc0 ls1 ws1c">e usualmente empregado no sentido de re<span class="_0 blank"></span>gulac<span class="_d blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x22 h2 y1d ff1 fs0 fc0 sc0 ls1">ao,</div><div class="t m0 xf h10 y1e ff1 fs0 fc0 sc0 ls1 ws1e">direcionamento ou comando.<span class="_11 blank"> </span>Um <span class="ffa ws13">sistema de controle </span>seria um arranjo de com-</div><div class="t m0 xf h2 y1f ff1 fs0 fc0 sc0 ls1 ws1f">ponentes conectados ou relacionados de maneira a se auto-regular (direcionar<span class="_0 blank"></span>, co-</div><div class="t m0 xf h2 y20 ff1 fs0 fc0 sc0 ls1 ws9">mandar), ou regular (direcionar<span class="_0 blank"></span>, comandar) um outro sistema.</div><div class="t m0 xf he y21 ff1 fs0 fc0 sc0 ls1 ws20">2.<span class="_4 blank"> </span>As<span class="_c blank"> </span>de\ufb01nic<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x9 he y21 ff1 fs0 fc0 sc0 ls1 ws21">oes<span class="_a blank"> </span>acima<span class="_c blank"> </span>s <span class="v0">\u02dc</span></div><div class="t m0 x23 h2 y21 ff1 fs0 fc0 sc0 ls1 ws22">ao su\ufb01cientemente gerais para que, num sentido mais abs-</div><div class="t m0 xf he y22 ff1 fs0 fc0 sc0 ls1 ws23">trato, qualquer objeto f<span class="v0">´</span></div><div class="t m0 x1b h2 y22 ff1 fs0 fc0 sc0 ls1 ws23">\u0131sico possa ser considerado um <span class="ffb">sistema de contr<span class="_0 blank"></span>ole<span class="ff1 ws24">. Uma</span></span></div><div class="t m0 xf h2 y23 ff1 fs0 fc0 sc0 ls1 ws25">simples superf</div><div class="t m0 x24 h2 y24 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x24 h2 y23 ff1 fs0 fc0 sc0 ls1 ws25">\u0131cie re\ufb02etora <span class="ffb ws26">contr<span class="_0 blank"></span>ola <span class="ff1 ws27">raios de luz, re\ufb02etindo-os de acordo com os</span></span></div><div class="t m0 xf he y25 ff1 fs0 fc0 sc0 ls1 ws28">seus <span class="v0">\u02c6</span></div><div class="t m0 x25 he y25 ff1 fs0 fc0 sc0 ls1 ws29">angulos<span class="_4 blank"> </span>de<span class="_12 blank"> </span>incid <span class="v0">\u02c6</span></div><div class="t m0 x26 h2 y25 ff1 fs0 fc0 sc0 ls1 ws2a">encia.<span class="_13 blank"> </span>Qualquer coisa <span class="ffb ws2b">contr<span class="_0 blank"></span>ola <span class="ff1 ws2a">o ambiente a sua v<span class="_0 blank"></span>olta,<span class="_4 blank"> </span>pas-</span></span></div><div class="t m0 xf h10 y26 ff1 fs0 fc0 sc0 ls1 ws2c">si<span class="_0 blank"></span>va ou ati<span class="_0 blank"></span>vamente.<span class="_12 blank"> </span>Em Engenharia, <span class="ffa ws4">sistema de controle </span>adquire um sentido mais</div><div class="t m0 xf he y27 ff1 fs0 fc0 sc0 ls1 ws2d">restrito, designando sistemas utilizados para controlar (ati<span class="_0 blank"></span>vamente) v<span class="_0 blank"></span>ari<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x27 h2 y27 ff1 fs0 fc0 sc0 ls1 ws2d">aveis como</div><div class="t m0 xf he y28 ff1 fs0 fc0 sc0 ls1 ws2e">temperatura,<span class="_12 blank"> </span>press <span class="v0">\u02dc</span></div><div class="t m0 x28 he y28 ff1 fs0 fc0 sc0 ls1 ws2f">ao<span class="_12 blank"> </span>e<span class="_12 blank"> </span>vaz <span class="v0">\u02dc</span></div><div class="t m0 x29 h2 y28 ff1 fs0 fc0 sc0 ls1 ws30">ao em processos qu</div><div class="t m0 x2a h2 y29 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x2a he y28 ff1 fs0 fc0 sc0 ls1 ws31">\u0131micos,<span class="_12 blank"> </span>tens <span class="v0">\u02dc</span></div><div class="t m0 x2b he y28 ff1 fs0 fc0 sc0 ls1 ws32">ao e freq<span class="_b blank"> </span><span class="v0">¨</span></div><div class="t m0 x2c he y28 ff1 fs0 fc0 sc0 ls3">u<span class="ls1 v0">\u02c6</span></div><div class="t m0 x2d h2 y28 ff1 fs0 fc0 sc0 ls1 ws32">encia em sis-</div><div class="t m0 xf he y2a ff1 fs0 fc0 sc0 ls1 ws2c">temas de gerac<span class="_d blank"></span>¸<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x2e he y2a ff1 fs0 fc0 sc0 ls1 ws2c">ao e distribuic<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x2f he y2a ff1 fs0 fc0 sc0 ls1 ws2c">ao de energia, posic<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x30 h2 y2a ff1 fs0 fc0 sc0 ls1 ws2c">ao e velocidade angulares de mo-</div><div class="t m0 xf he y2b ff1 fs0 fc0 sc0 ls1 ws33">tores,<span class="_a blank"> </span>trajet <span class="v0">´</span></div><div class="t m0 x31 h2 y2b ff1 fs0 fc0 sc0 ls1 ws4">oria de ve</div><div class="t m0 xb h2 y2c ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x32 h2 y2b ff1 fs0 fc0 sc0 ls1 ws4">\u0131culos, etc.</div><div class="t m0 xf h10 y2d ffa fs0 fc0 sc0 ls1 ws34">Planta. <span class="ff1 ws35">O termo </span><span class="ws36">planta <span class="ff1 ws37">(ou </span><span class="ws38">processo<span class="ff1 ws39">, ou </span><span class="ws3a">sistema contr<span class="_0 blank"></span>olado<span class="ff1 ls4">)<span class="ls1 v0">´</span></span></span></span></span></div><div class="t m0 x33 h2 y2d ff1 fs0 fc0 sc0 ls1 ws3b">e usado para de-</div><div class="t m0 xf he y2e ff1 fs0 fc0 sc0 ls1 ws9">signar o sistema que<span class="_4 blank"> </span><span class="v0">´</span></div><div class="t m0 xb he y2e ff1 fs0 fc0 sc0 ls1 ws4">e objeto da ac<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x34 h2 y2e ff1 fs0 fc0 sc0 ls1 ws4">ao do sistema de controle.</div><div class="c xd yb w2 h7"><div class="t m0 xe h8 yc ff5 fs3 fc0 sc0 ls1">www.mecatronicadegaragem.blogspot.com</div></div></div><div class="pi" data-data='{"ctm":[1.000000,0.000000,0.000000,1.000000,0.000000,0.000000]}'></div></div> <div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img fetchpriority="low" loading="lazy" class="bi x26 y2f w4 h12" alt="" src="https://files.passeidireto.com/ff16b915-da4f-432e-b78a-9c49b242e6bf/bg3.png"><div class="t m1 xf ha y1 ff6 fs4 fc0 sc0 ls1 ws4">EA721 / P<span class="_8 blank"></span>A<span class="_0 blank"></span>ULO V<span class="_7 blank"></span>ALENTE / UNICAMP</div><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls1">3</div><div class="t m0 xf h10 ye ff1 fs0 fc0 sc0 ls1 ws3c">3. <span class="ffa ws3d">Planta </span><span class="v0">´</span></div><div class="t m0 x35 he ye ff1 fs0 fc0 sc0 ls1 ws3e">e uma traduc<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x23 he ye ff1 fs0 fc0 sc0 ls1 ws3e">ao da palavra ingl<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x36 he ye ff1 fs0 fc0 sc0 ls1 ws3f">esa <span class="ffb">plant</span><span class="ws40">,<span class="_16 blank"> </span>que<span class="_4 blank"> </span>tamb <span class="v0">´</span></span></div><div class="t m0 x37 h2 ye ff1 fs0 fc0 sc0 ls1 ws3e">em poderia ser tra-</div><div class="t m0 xf he y30 ff1 fs0 fc0 sc0 ls1 ws41">duzida como f<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x24 he y30 ff1 fs0 fc0 sc0 ls1 ws42">abrica<span class="_16 blank"> </span>ou<span class="_16 blank"> </span>instalac<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x38 h2 y30 ff1 fs0 fc0 sc0 ls1 ws41">ao industrial,<span class="_17 blank"> </span>ambiente onde muitos sistemas de</div><div class="t m0 xf h10 y31 ff1 fs0 fc0 sc0 ls1 ws43">controle ti<span class="_0 blank"></span>veram origem.<span class="_12 blank"> </span>Geralmente utilizamos os termos <span class="ffa ws44">planta </span><span class="ls5">e</span><span class="ffa ws38">processo</span><span class="ws45">, sem</span></div><div class="t m0 xf he yf ff1 fs0 fc0 sc0 ls1 ws46">distinc<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x39 h10 yf ff1 fs0 fc0 sc0 ls1 ws30">ao, para designar aquilo que queremos controlar<span class="_0 blank"></span>, embora o termo <span class="ffa ws38">controle</span></div><div class="t m0 xf h10 y32 ffa fs0 fc0 sc0 ls1 ws47">de processos <span class="ff1">esteja mais frequentemente associado ao controle de sistemas que</span></div><div class="t m0 xf he y10 ff1 fs0 fc0 sc0 ls1 ws48">en<span class="_0 blank"></span>volv<span class="_0 blank"></span>am<span class="_16 blank"> </span>vari <span class="v0">´</span></div><div class="t m0 x24 he y10 ff1 fs0 fc0 sc0 ls1 ws49">aveis<span class="_16 blank"> </span>como<span class="_17 blank"> </span>temperatura,<span class="_17 blank"> </span>press <span class="v0">\u02dc</span></div><div class="t m0 x3a he y10 ff1 fs0 fc0 sc0 ls1 ws4a">ao<span class="_16 blank"> </span>e<span class="_17 blank"> </span>vaz <span class="v0">\u02dc</span></div><div class="t m0 x3b h2 y10 ff1 fs0 fc0 sc0 ls1 ws4b">ao,<span class="_10 blank"> </span>presentes em industrias</div><div class="t m0 xf h2 y11 ff1 fs0 fc0 sc0 ls1">qu</div><div class="t m0 x3c h2 y33 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x3c h10 y11 ff1 fs0 fc0 sc0 ls1 ws1f">\u0131micas, por ex<span class="_0 blank"></span>emplo.<span class="_16 blank"> </span>Neste curso adotamos o termo <span class="ffa ws4c">planta </span>para designar o ob-</div><div class="t m0 xf he y12 ff1 fs0 fc0 sc0 ls1 ws4d">jeto<span class="_c blank"> </span>da<span class="_c blank"> </span>ac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x2 he y12 ff1 fs0 fc0 sc0 ls1 ws4e">ao de controle.<span class="_12 blank"> </span>A planta<span class="_12 blank"> </span><span class="v0">´</span></div><div class="t m0 x3d h2 y12 ff1 fs0 fc0 sc0 ls1 ws4e">e representada como um bloco relacionando uma</div><div class="t m0 xf h13 y34 ffa fs0 fc0 sc0 ls1 ws4f">vari <span class="v0">´</span></div><div class="t m0 x3e h13 y34 ffa fs0 fc0 sc0 ls1 ws4">avel de entrada <span class="ff1 ws50">a uma </span><span class="ws51">vari <span class="v0">´</span></span></div><div class="t m0 x3f h10 y34 ffa fs0 fc0 sc0 ls1 ws4">avel de sa</div><div class="t m0 x40 h10 y35 ffa fs0 fc0 sc0 ls1">´</div><div class="t m0 x40 h10 y34 ffa fs0 fc0 sc0 ls1 ws52">\u0131da <span class="ff1 ws4">(Figura 1.1).</span></div><div class="c xe y36 w5 h14"><div class="t m0 x41 h2 y37 ff1 fs0 fc0 sc0 ls1 ws4">PSfrag replacements</div></div><div class="t m0 x26 h2 y38 ff1 fs0 fc0 sc0 ls1 ws53">Entrada Sa</div><div class="t m0 x42 h2 y39 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x42 h2 y38 ff1 fs0 fc0 sc0 ls1">\u0131da</div><div class="t m0 x15 h2 y3a ff1 fs0 fc0 sc0 ls1">Planta</div><div class="t m0 x43 h2 y3b ff1 fs0 fc0 sc0 ls1 ws4">Figura 1.1:<span class="_4 blank"> </span>Planta.</div><div class="t m0 xf h2 y3c ff1 fs0 fc0 sc0 ls1 ws9">4.<span class="_12 blank"> </span>De\ufb01nimos a seguir alguns termos relativ<span class="_0 blank"></span>os a quantidades presentes em sistemas</div><div class="t m0 xf he y3d ff1 fs0 fc0 sc0 ls1 ws54">de controle.<span class="_18 blank"> </span>Os v<span class="_0 blank"></span>alores dessas quantidades geralmente s<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x2b he y3d ff1 fs0 fc0 sc0 ls1 ws55">ao<span class="_17 blank"> </span>func<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x44 he y3d ff1 fs0 fc0 sc0 ls1 ws56">oes<span class="_17 blank"> </span>da<span class="_17 blank"> </span>vari <span class="v0">´</span></div><div class="t m0 x45 h2 y3d ff1 fs0 fc0 sc0 ls1 ws38">avel</div><div class="t m0 xf h10 y3e ff1 fs0 fc0 sc0 ls1 ws57">independente <span class="ffa">tempo</span>.</div><div class="t m0 xf h13 y3f ffa fs0 fc0 sc0 ls1 ws58">V<span class="_8 blank"></span>ari <span class="v0">´</span></div><div class="t m0 x1d h13 y3f ffa fs0 fc0 sc0 ls1 ws59">avel<span class="_12 blank"> </span>de<span class="_4 blank"> </span>refer <span class="v0">\u02c6</span></div><div class="t m0 x46 h10 y3f ffa fs0 fc0 sc0 ls1 ws5a">encia. <span class="ff1 ws5b">A<span class="_4 blank"> </span>v<span class="_0 blank"></span>ari <span class="v0">´</span></span></div><div class="t m0 x47 he y3f ff1 fs0 fc0 sc0 ls1 ws5c">avel de refer<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x13 h10 y3f ff1 fs0 fc0 sc0 ls1 ws5c">encia (ou <span class="ffa">comandada</span><span class="ws23">) serve de re-</span></div><div class="t m0 xf he y40 ff1 fs0 fc0 sc0 ls1 ws5d">fer <span class="v0">\u02c6</span></div><div class="t m0 x48 h13 y40 ff1 fs0 fc0 sc0 ls1 ws4">encia (no sentido de comportamento desejado) para a <span class="ffa ws5e">vari <span class="v0">´</span></span></div><div class="t m0 x49 h10 y40 ffa fs0 fc0 sc0 ls1 ws4">avel contr<span class="_0 blank"></span>olada<span class="ff1">;</span></div><div class="t m0 xf h13 y41 ffa fs0 fc0 sc0 ls1 ws58">V<span class="_8 blank"></span>ari <span class="v0">´</span></div><div class="t m0 x1d h10 y41 ffa fs0 fc0 sc0 ls1 ws41">avel contr<span class="_0 blank"></span>olada.<span class="_19 blank"> </span><span class="ff1 ws5f">A<span class="_16 blank"> </span>v<span class="_0 blank"></span>ari <span class="v0">´</span></span></div><div class="t m0 x4a h10 y41 ff1 fs0 fc0 sc0 ls1 ws41">avel controlada (ou <span class="ffa ws38">r<span class="_0 blank"></span>egulada<span class="ff1 ls6">)<span class="ls1 v0">´</span></span></span></div><div class="t m0 x37 he y41 ff1 fs0 fc0 sc0 ls1 ws60">e<span class="_16 blank"> </span>qualquer<span class="_16 blank"> </span>vari <span class="v0">´</span></div><div class="t m0 x45 h2 y41 ff1 fs0 fc0 sc0 ls1 ws38">avel</div><div class="t m0 xf he y42 ff1 fs0 fc0 sc0 ls1 ws61">que se deseja controlar<span class="_0 blank"></span>.<span class="_1a blank"> </span>A v<span class="_0 blank"></span>ari<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x47 he y42 ff1 fs0 fc0 sc0 ls1 ws61">avel controlada<span class="_13 blank"> </span><span class="v0">´</span></div><div class="t m0 x17 h2 y42 ff1 fs0 fc0 sc0 ls1 ws61">e geralmente representada pela</div><div class="t m0 xf he y43 ff1 fs0 fc0 sc0 ls1 ws62">v<span class="_0 blank"></span>ari <span class="v0">´</span></div><div class="t m0 x3 h2 y43 ff1 fs0 fc0 sc0 ls1 ws9">avel de sa</div><div class="t m0 x4b h2 y44 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x4b h2 y43 ff1 fs0 fc0 sc0 ls1 ws9">\u0131da do sistema de controle;</div><div class="t m0 xf h13 y45 ffa fs0 fc0 sc0 ls1 ws58">V<span class="_8 blank"></span>ari <span class="v0">´</span></div><div class="t m0 x1d h13 y45 ffa fs0 fc0 sc0 ls1 ws63">avel de contr<span class="_0 blank"></span>ole.<span class="_19 blank"> </span><span class="ff1 ls7">A</span><span class="ws64">vari <span class="v0">´</span></span></div><div class="t m0 x21 h10 y45 ffa fs0 fc0 sc0 ls1 ws63">avel de contr<span class="_0 blank"></span>ole <span class="ff1 ws65">(ou </span>manipulada<span class="ff1 ls8">)<span class="ls1 v0">´</span></span></div><div class="t m0 x2c h2 y45 ff1 fs0 fc0 sc0 ls1 ws63">e a quantidade</div><div class="t m0 xf he y46 ff1 fs0 fc0 sc0 ls1 ws66">determinada<span class="_4 blank"> </span>pela<span class="_16 blank"> </span>ac<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x1a h10 y46 ff1 fs0 fc0 sc0 ls1 ws67">ao de um <span class="ffa ws38">controlador</span><span class="ws68">.<span class="_1b blank"> </span>A<span class="_4 blank"> </span>vari <span class="v0">´</span></span></div><div class="t m0 x4c he y46 ff1 fs0 fc0 sc0 ls1 ws69">avel de controle<span class="_17 blank"> </span><span class="v0">´</span></div><div class="t m0 x2d h2 y46 ff1 fs0 fc0 sc0 ls1 ws6a">e geralmente</div><div class="t m0 xf he y47 ff1 fs0 fc0 sc0 ls1 ws4">identi\ufb01cada como a v<span class="_0 blank"></span>ari<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x4d h2 y47 ff1 fs0 fc0 sc0 ls1 ws4">avel de entrada da planta;</div><div class="t m0 xf h10 y48 ffa fs0 fc0 sc0 ls1 ws6b">Controlador<span class="_7 blank"></span>. <span class="ff1 ws6c">Um controlador (ou </span>compensador<span class="ff1 ls9">)<span class="ls1 v0">´</span></span></div><div class="t m0 x4e h2 y48 ff1 fs0 fc0 sc0 ls1 ws6c">e qualquer sistema conectado</div><div class="t m0 xf h2 y49 ff1 fs0 fc0 sc0 ls1">`</div><div class="t m0 xf he y4a ff1 fs0 fc0 sc0 ls1 ws6d">a planta no sentido de fazer a v<span class="_0 blank"></span>ari<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x47 h2 y4a ff1 fs0 fc0 sc0 ls1 ws6d">avel controlada responder de acordo com o espe-</div><div class="t m0 xf he y4b ff1 fs0 fc0 sc0 ls1 ws6e">ci\ufb01cado<span class="_a blank"> </span>pela<span class="_a blank"> </span>v<span class="_0 blank"></span>ari <span class="v0">´</span></div><div class="t m0 x4f he y4b ff1 fs0 fc0 sc0 ls1 ws6f">avel<span class="_c blank"> </span>de<span class="_a blank"> </span>refer <span class="v0">\u02c6</span></div><div class="t m0 x50 h2 y4b ff1 fs0 fc0 sc0 ls1">encia.</div><div class="t m0 xf h10 y4c ff1 fs0 fc0 sc0 ls1 ws70">5. <span class="ffa">Exemplos</span><span class="ws71">.<span class="_1c blank"> </span>No controle de posic<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></span></div><div class="t m0 x51 h2 y4c ff1 fs0 fc0 sc0 ls1 ws71">ao do eixo de um motor DC (planta),<span class="_2 blank"> </span>as</div><div class="t m0 xf he y4d ff1 fs0 fc0 sc0 ls1 ws62">v<span class="_0 blank"></span>ari <span class="v0">´</span></div><div class="t m0 x3 he y4d ff1 fs0 fc0 sc0 ls1 ws72">aveis de controle e controlada s<span class="_e blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x0 he y4d ff1 fs0 fc0 sc0 ls1 ws73">ao,<span class="_12 blank"> </span>respecti<span class="_0 blank"></span>vamente,<span class="_a blank"> </span>a<span class="_12 blank"> </span>tens <span class="v0">\u02dc</span></div><div class="t m0 x52 h2 y4d ff1 fs0 fc0 sc0 ls1 ws72">ao aplicada nos ter-</div><div class="t m0 xf he y4e ff1 fs0 fc0 sc0 ls1 ws74">minais de entrada do motor e a posic<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x1f h2 y4e ff1 fs0 fc0 sc0 ls1 ws74">ao angular resultante do eixo.<span class="_1d blank"> </span>O controla-</div><div class="c xd yb w2 h7"><div class="t m0 xe h8 yc ff5 fs3 fc0 sc0 ls1">www.mecatronicadegaragem.blogspot.com</div></div></div><div class="pi" data-data='{"ctm":[1.000000,0.000000,0.000000,1.000000,0.000000,0.000000]}'></div></div> <div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img fetchpriority="low" loading="lazy" class="bi x3 y4f w6 h15" alt="" src="https://files.passeidireto.com/ff16b915-da4f-432e-b78a-9c49b242e6bf/bg4.png"><div class="t m1 xf ha y1 ff6 fs4 fc0 sc0 ls1 ws4">EA721 / P<span class="_8 blank"></span>A<span class="_0 blank"></span>ULO V<span class="_7 blank"></span>ALENTE / UNICAMP</div><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls1">4</div><div class="t m0 xf h10 ye ff1 fs0 fc0 sc0 ls1 ws63">dor poderia ser simplesmente um <span class="ffa">transdutor</span>, que con<span class="_0 blank"></span>verteria a posic<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x53 h2 ye ff1 fs0 fc0 sc0 ls1 ws63">ao desejada</div><div class="t m0 xf he y30 ff1 fs0 fc0 sc0 ls1 ws75">(v<span class="_0 blank"></span>ari <span class="v0">´</span></div><div class="t m0 x1d he y30 ff1 fs0 fc0 sc0 ls1 ws76">avel de refer<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x4f he y30 ff1 fs0 fc0 sc0 ls1 ws76">encia) em radianos ou graus na tens<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x4e he y30 ff1 fs0 fc0 sc0 ls1 ws77">ao<span class="_a blank"> </span>necess <span class="v0">´</span></div><div class="t m0 x54 h2 y30 ff1 fs0 fc0 sc0 ls1 ws76">aria para produz</div><div class="t m0 x45 h2 y50 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x45 h2 y30 ff1 fs0 fc0 sc0 ls1">\u0131-la.</div><div class="t m0 xf he y31 ff1 fs0 fc0 sc0 ls1 ws78">Num tanque para aquecimento de<span class="_2 blank"> </span><span class="v0">´</span></div><div class="t m0 x0 he y31 ff1 fs0 fc0 sc0 ls1 ws78">agua (planta),<span class="_17 blank"> </span>as vari<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x42 h2 y31 ff1 fs0 fc0 sc0 ls1 ws78">aveis de controle e con-</div><div class="t m0 xf he yf ff1 fs0 fc0 sc0 ls1 ws79">trolada<span class="_12 blank"> </span>s <span class="v0">\u02dc</span></div><div class="t m0 x55 h2 yf ff1 fs0 fc0 sc0 ls1 ws7a">ao, respectiv<span class="_0 blank"></span>amente, a quantidade de calor transferida ao tanque e a tem-</div><div class="t m0 xf he y32 ff1 fs0 fc0 sc0 ls1 ws41">peratura resultante da<span class="_10 blank"> </span><span class="v0">´</span></div><div class="t m0 x16 h2 y32 ff1 fs0 fc0 sc0 ls1 ws7b">agua.<span class="_1d blank"> </span>Um controlador con<span class="_0 blank"></span>verteria a temperatura desejada</div><div class="t m0 xf he y10 ff1 fs0 fc0 sc0 ls1 ws75">(v<span class="_0 blank"></span>ari <span class="v0">´</span></div><div class="t m0 x1d he y10 ff1 fs0 fc0 sc0 ls1 ws7c">avel<span class="_c blank"> </span>de<span class="_a blank"> </span>refer <span class="v0">\u02c6</span></div><div class="t m0 x4f he y10 ff1 fs0 fc0 sc0 ls1 ws4">encia) na quantidade de calor necess<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x56 h2 y10 ff1 fs0 fc0 sc0 ls1 ws4">aria para atingi -la.</div><div class="t m0 xf he y12 ff1 fs0 fc0 sc0 ls1 ws7d">6.<span class="_12 blank"> </span>Se<span class="_c blank"> </span>as<span class="_c blank"> </span>vari <span class="v0">´</span></div><div class="t m0 x57 he y12 ff1 fs0 fc0 sc0 ls1 ws7e">aveis de refer<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 xc he y12 ff1 fs0 fc0 sc0 ls1 ws7e">encia, de controle e de sa<span class="v0">´</span></div><div class="t m0 x17 h2 y12 ff1 fs0 fc0 sc0 ls1 ws7f">\u0131da forem denotadas por <span class="ffc ws80">r<span class="_0 blank"></span>, u<span class="_c blank"> </span><span class="ff1 lsa">e</span><span class="lsb">y</span><span class="ff1">,</span></span></div><div class="t m0 xf he y34 ff1 fs0 fc0 sc0 ls1 ws81">respecti<span class="_0 blank"></span>vamente,<span class="_12 blank"> </span>ent <span class="v0">\u02dc</span></div><div class="t m0 xb he y34 ff1 fs0 fc0 sc0 ls1 ws82">ao <span class="v0">´</span></div><div class="t m0 x58 h2 y34 ff1 fs0 fc0 sc0 ls1 ws83">e poss</div><div class="t m0 x59 h2 y51 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x59 h10 y34 ff1 fs0 fc0 sc0 ls1 ws84">\u0131vel representar um <span class="ffa ws83">sistema de contr<span class="_0 blank"></span>ole em malha</span></div><div class="t m0 xf h10 y52 ffa fs0 fc0 sc0 ls1 ws85">aberta <span class="ff1 ws4">como na Figura 1.2.</span></div><div class="c xe y36 w5 h14"><div class="t m0 x2a h2 y53 ff1 fs0 fc0 sc0 ls1 ws9">PSfrag replacements</div></div><div class="t m0 x11 h16 y54 ffc fs0 fc0 sc0 ls1 ws86">r<span class="_1e blank"> </span>u y</div><div class="t m0 x5a h2 y55 ff1 fs0 fc0 sc0 ls1 ws38">Planta<span class="_1f blank"></span>Controlador</div><div class="t m0 x5b h2 y56 ff1 fs0 fc0 sc0 ls1 ws4">Figura 1.2:<span class="_4 blank"> </span>Sistema em malha aberta.</div><div class="t m0 xf he y57 ff1 fs0 fc0 sc0 ls1 ws87">7.<span class="_12 blank"> </span>Os blocos (sistemas) Controlador e Planta s<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x5c h2 y57 ff1 fs0 fc0 sc0 ls1 ws88">ao vistos agora como subsistemas de</div><div class="t m0 xf he y58 ff1 fs0 fc0 sc0 ls1 ws89">um sistema mais complexo.<span class="_4 blank"> </span>A principal caracter<span class="v0">´</span></div><div class="t m0 x5d h2 y58 ff1 fs0 fc0 sc0 ls1 ws8a">\u0131stica do sistema em malha aberta</div><div class="t m0 xf he y59 ff1 fs0 fc0 sc0 ls1 ws2c">da Figura 1.2<span class="_4 blank"> </span><span class="v0">´</span></div><div class="t m0 x8 he y59 ff1 fs0 fc0 sc0 ls1 ws8b">e<span class="_a blank"> </span>inexist <span class="v0">\u02c6</span></div><div class="t m0 x5b h13 y59 ff1 fs0 fc0 sc0 ls1 ws2c">encia de <span class="ffa ws8c">realimentac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></span></div><div class="t m0 x5e h10 y59 ffa fs0 fc0 sc0 ls1">ao<span class="ff1 ws2c">:<span class="_4 blank"> </span>os v<span class="_0 blank"></span>alores assumidos pela vari<span class="_e blank"> </span><span class="v0">´</span></span></div><div class="t m0 x45 h2 y59 ff1 fs0 fc0 sc0 ls1 ws38">avel</div><div class="t m0 xf he y5a ff1 fs0 fc0 sc0 ls1 ws8d">de controle n<span class="_e blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x5f he y5a ff1 fs0 fc0 sc0 ls1 ws8d">ao dependem dos v<span class="_0 blank"></span>alores da vari<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x13 h2 y5a ff1 fs0 fc0 sc0 ls1 ws32">avel de sa</div><div class="t m0 x60 h2 y5b ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x60 he y5a ff1 fs0 fc0 sc0 ls1 ws8e">\u0131da.<span class="_2 blank"> </span>A<span class="_12 blank"> </span>ac<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x61 he y5a ff1 fs0 fc0 sc0 ls1 ws8d">ao de controle<span class="_16 blank"> </span><span class="v0">´</span></div><div class="t m0 x1 h2 y5a ff1 fs0 fc0 sc0 ls1">e</div><div class="t m0 xf he y5c ff1 fs0 fc0 sc0 ls1 ws8f">func<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x3e he y5c ff1 fs0 fc0 sc0 ls1 ws3e">ao apenas do processamento da v<span class="_0 blank"></span>ari<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x62 he y5c ff1 fs0 fc0 sc0 ls1 ws90">avel<span class="_4 blank"> </span>de<span class="_4 blank"> </span>refer <span class="v0">\u02c6</span></div><div class="t m0 x3b h2 y5c ff1 fs0 fc0 sc0 ls1 ws1c">encia pelo controlador<span class="_0 blank"></span>.<span class="_1b blank"> </span>Por</div><div class="t m0 xf he y5d ff1 fs0 fc0 sc0 ls1 ws74">simplicidade,<span class="_17 blank"> </span>os termos v<span class="_0 blank"></span>ari<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x2f he y5d ff1 fs0 fc0 sc0 ls1 ws41">avel de refer<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x4 he y5d ff1 fs0 fc0 sc0 ls1 ws91">encia,<span class="_17 blank"> </span>v<span class="_0 blank"></span>ari <span class="v0">´</span></div><div class="t m0 x4e he y5d ff1 fs0 fc0 sc0 ls1 ws41">avel de entrada e v<span class="_0 blank"></span>ari<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x63 h2 y5d ff1 fs0 fc0 sc0 ls1 ws41">avel de</div><div class="t m0 xf h2 y5e ff1 fs0 fc0 sc0 ls1">sa</div><div class="t m0 x64 h2 y5f ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x64 he y5e ff1 fs0 fc0 sc0 ls1 ws92">\u0131da<span class="_6 blank"> </span>ser <span class="v0">\u02dc</span></div><div class="t m0 xd he y5e ff1 fs0 fc0 sc0 ls1 ws93">ao abre<span class="_0 blank"></span>viados para refer<span class="_b blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x3f h2 y5e ff1 fs0 fc0 sc0 ls1 ws93">encia, entrada e sa</div><div class="t m0 x65 h2 y5f ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x65 h2 y5e ff1 fs0 fc0 sc0 ls1 ws93">\u0131da do sistema, respectiv<span class="_0 blank"></span>amente.</div><div class="c xe y36 w5 h14"><div class="t m0 x7 h2 y60 ff1 fs0 fc0 sc0 ls1 ws9">PSfrag replacements</div></div><div class="t m0 x66 h16 y61 ffc fs0 fc0 sc0 ls1 ws94">r<span class="_20 blank"> </span>u y<span class="_21 blank"></span>e<span class="_22 blank"> </span><span class="ff1 ws38 v3">Planta<span class="_1f blank"></span>Controlador</span></div><div class="t m0 x67 h2 y62 ff1 fs0 fc0 sc0 ls1">Sensor</div><div class="t m0 x9 h2 y63 ff1 fs0 fc0 sc0 ls1">Comparador</div><div class="t m0 x26 h2 y64 ff1 fs0 fc0 sc0 ls1 ws4">Figura 1.3:<span class="_12 blank"> </span>Sistema em malha<span class="_a blank"> </span>fechada.</div><div class="t m0 xf h2 y65 ff1 fs0 fc0 sc0 ls1 ws95">8.<span class="_12 blank"> </span>Em contraste com o sistema de controle em malha aberta da Figura 1.2,<span class="_a blank"> </span>a Figura</div><div class="t m0 xf h10 y66 ff1 fs0 fc0 sc0 ls1 ws83">1.3 ilustra um <span class="ffa">sistema de controle em malha fechada</span><span class="ws96">, realimentado, no<span class="_a blank"> </span>sentido</span></div><div class="c xd yb w2 h7"><div class="t m0 xe h8 yc ff5 fs3 fc0 sc0 ls1">www.mecatronicadegaragem.blogspot.com</div></div></div><div class="pi" data-data='{"ctm":[1.000000,0.000000,0.000000,1.000000,0.000000,0.000000]}'></div></div> <div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img fetchpriority="low" loading="lazy" class="bi x68 y67 w7 h17" alt="" src="https://files.passeidireto.com/ff16b915-da4f-432e-b78a-9c49b242e6bf/bg5.png"><div class="t m1 xf ha y1 ff6 fs4 fc0 sc0 ls1 ws4">EA721 / P<span class="_8 blank"></span>A<span class="_0 blank"></span>ULO V<span class="_7 blank"></span>ALENTE / UNICAMP</div><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls1">5</div><div class="t m0 xf h2 ye ff1 fs0 fc0 sc0 ls1 ws97">de que a sa</div><div class="t m0 x35 h2 y68 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x31 he ye ff1 fs0 fc0 sc0 ls1 ws98">\u0131da <span class="ffc lsc">y</span><span class="v0">´</span></div><div class="t m0 x4f he ye ff1 fs0 fc0 sc0 ls1 ws97">e medida e comparada com a sa<span class="v0">´</span></div><div class="t m0 x5a he ye ff1 fs0 fc0 sc0 ls1 ws99">\u0131da<span class="_a blank"> </span>desejada,<span class="_12 blank"> </span>indicada<span class="_12 blank"> </span>atrav <span class="v0">´</span></div><div class="t m0 x69 h2 ye ff1 fs0 fc0 sc0 ls1 ws9a">es da</div><div class="t m0 xf he y30 ff1 fs0 fc0 sc0 ls1 ws18">refer <span class="v0">\u02c6</span></div><div class="t m0 x1d he y30 ff1 fs0 fc0 sc0 ls1 ws9b">encia <span class="ffc lsd">r</span><span class="ws9c">, para processamento atrav<span class="_e blank"> </span><span class="v0">´</span></span></div><div class="t m0 x1f he y30 ff1 fs0 fc0 sc0 ls1 ws9c">es do controlador e a consequente de\ufb01nic<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x6a h2 y30 ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf he y31 ff1 fs0 fc0 sc0 ls1 ws9d">da<span class="_a blank"> </span>ac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x25 h2 y31 ff1 fs0 fc0 sc0 ls1 ws9e">ao de controle <span class="ffc">u</span>.</div><div class="t m0 xf he y32 ff1 fs0 fc0 sc0 ls1 ws9f">9.<span class="_1b blank"> </span>Dois nov<span class="_0 blank"></span>os componentes s<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x6b he y32 ff1 fs0 fc0 sc0 ls1 ws9f">ao introduzidos na Figura 1.3.<span class="_1b blank"> </span>A sa<span class="v0">´</span></div><div class="t m0 x2c h2 y32 ff1 fs0 fc0 sc0 ls1 ws9f">\u0131da do sistema</div><div class="t m0 xf h2 y69 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 xf he y10 ff1 fs0 fc0 sc0 ls1 wsa0">e medida atrav<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x11 h10 y10 ff1 fs0 fc0 sc0 ls1 wsa1">es do componente representado no bloco <span class="ffa">Sensor</span><span class="wsa0">.<span class="_1d blank"> </span>Em seguida,<span class="_17 blank"> </span>a</span></div><div class="t m0 xf he y11 ff1 fs0 fc0 sc0 ls1 ws18">refer <span class="v0">\u02c6</span></div><div class="t m0 x1d he y11 ff1 fs0 fc0 sc0 ls1 wsa2">encia <span class="v0">´</span></div><div class="t m0 x6c h10 y11 ff1 fs0 fc0 sc0 ls1 ws84">e comparada com o v<span class="_0 blank"></span>alor medido,<span class="_4 blank"> </span>no bloco <span class="ffa">Comparador</span>.<span class="_13 blank"> </span>A sa<span class="v0">´</span></div><div class="t m0 x6d h2 y11 ff1 fs0 fc0 sc0 ls1 ws84">\u0131da do</div><div class="t m0 xf he y12 ff1 fs0 fc0 sc0 ls1 wsa3">comparador<span class="_a blank"> </span>ser <span class="v0">´</span></div><div class="t m0 x11 he y12 ff1 fs0 fc0 sc0 ls1 wsd">a denotada por <span class="ffc">e</span><span class="ws6d">.<span class="_12 blank"> </span>Em geral, a<span class="_a blank"> </span>sa<span class="v0">´</span></span></div><div class="t m0 x10 he y12 ff1 fs0 fc0 sc0 ls1 wsd">\u0131da do comparador<span class="_12 blank"> </span><span class="v0">´</span></div><div class="t m0 x44 h2 y12 ff1 fs0 fc0 sc0 ls1 wsd">e simplesmente</div><div class="t m0 xf h10 y34 ff1 fs0 fc0 sc0 lse">o<span class="ffa ls1 wsa4">erro </span><span class="ls1 wsa5">entre<span class="_c blank"> </span>a<span class="_a blank"> </span>refer <span class="v0">\u02c6</span></span></div><div class="t m0 x6e he y34 ff1 fs0 fc0 sc0 ls1 ws4">encia e o v<span class="_0 blank"></span>alor medido, isto<span class="_4 blank"> </span><span class="v0">´</span></div><div class="t m0 x10 h2 y34 ff1 fs0 fc0 sc0 ls1 wsa6">e, <span class="ffc lsf">e<span class="ffd ls10">=</span><span class="ls11">r<span class="ff9 ls12">\u2212</span><span class="lsb">y</span></span></span>.</div><div class="t m0 xf h10 y13 ff1 fs0 fc0 sc0 ls1 wsa7">10. <span class="ffa">Exemplos</span><span class="wsa8">.<span class="_2 blank"> </span>No controle de posic<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></span></div><div class="t m0 x6f h2 y13 ff1 fs0 fc0 sc0 ls1 wsa8">ao do motor DC mencionado anteriormente,</div><div class="t m0 xf he y6a ff1 fs0 fc0 sc0 ls1 ws1f">o sistema de controle encontra-se em malha aberta, uma vez que a tens<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x27 h2 y6a ff1 fs0 fc0 sc0 ls1 wsa9">ao de\ufb01nida</div><div class="t m0 xf he y14 ff1 fs0 fc0 sc0 ls1 wsaa">pelo<span class="_c blank"> </span>controlador<span class="_c blank"> </span>n <span class="v0">\u02dc</span></div><div class="t m0 x46 he y14 ff1 fs0 fc0 sc0 ls1 ws4e">ao depende da posic<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x67 h2 y14 ff1 fs0 fc0 sc0 ls1 ws4e">ao angular do eixo.<span class="_12 blank"> </span>O mesmo ocorre no con-</div><div class="t m0 xf he y15 ff1 fs0 fc0 sc0 ls1 wsab">trole de temperatura do tanque:<span class="_12 blank"> </span>a quantidade de calor de\ufb01nida pelo controlador n<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x6a h2 y15 ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf he y16 ff1 fs0 fc0 sc0 ls1 ws15">depende da temperatura da<span class="_16 blank"> </span><span class="v0">´</span></div><div class="t m0 x70 he y16 ff1 fs0 fc0 sc0 ls1 wsac">agua.<span class="_10 blank"> </span>Nas<span class="_a blank"> </span>vers <span class="v0">\u02dc</span></div><div class="t m0 x36 h2 y16 ff1 fs0 fc0 sc0 ls1 ws15">oes em malha fechada desses sistemas,</div><div class="t m0 xf he y17 ff1 fs0 fc0 sc0 ls1 wsad">as<span class="_12 blank"> </span>vari <span class="v0">´</span></div><div class="t m0 x39 h2 y17 ff1 fs0 fc0 sc0 ls1 wsae">aveis de sa</div><div class="t m0 x71 h2 y6b ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x71 he y17 ff1 fs0 fc0 sc0 ls1 wsae">\u0131da seriam medidas atrav<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x72 h2 y17 ff1 fs0 fc0 sc0 ls1 wsae">es de sensores apropriados e compara-</div><div class="t m0 xf he y6c ff1 fs0 fc0 sc0 ls1 wsaf">das com os v<span class="_0 blank"></span>alores desejados.<span class="_4 blank"> </span>Os erros resultantes seriam ent<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x73 h2 y6c ff1 fs0 fc0 sc0 ls1 wsb0">ao processados pelos</div><div class="t m0 xf he y6d ff1 fs0 fc0 sc0 ls1 ws4">respecti<span class="_0 blank"></span>vos controladores para os ajustes necess<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x1c he y6d ff1 fs0 fc0 sc0 ls1 wsb1">arios<span class="_a blank"> </span>(realimentac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x33 h2 y6d ff1 fs0 fc0 sc0 ls1">ao).</div><div class="t m0 xf h18 y6e ff1 fs0 fc0 sc0 ls1 wsb2">11. <span class="v4">`</span></div><div class="t m0 x1d h2 y6e ff1 fs0 fc0 sc0 ls1 wsb3">As vezes torna-se con<span class="_1 blank"></span>veniente explicitar a parte do sistema de controle res-</div><div class="t m0 xf he y6f ff1 fs0 fc0 sc0 ls1 wsb4">pons <span class="v0">´</span></div><div class="t m0 x1d he y6f ff1 fs0 fc0 sc0 ls1 ws5c">avel pela atuac<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x74 he y6f ff1 fs0 fc0 sc0 ls1 ws5c">ao na planta, como na Figura 1.4,<span class="_16 blank"> </span>atrav<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x75 h10 y6f ff1 fs0 fc0 sc0 ls1 ws5c">es do bloco <span class="ffa">Atuador</span>.</div><div class="t m0 xf h2 y70 ff1 fs0 fc0 sc0 ls1 wsb5">Em sistemas f</div><div class="t m0 x8 h2 y71 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x8 he y70 ff1 fs0 fc0 sc0 ls1 wsb6">\u0131sicos, o atuador<span class="_12 blank"> </span><span class="v0">´</span></div><div class="t m0 x4a he y70 ff1 fs0 fc0 sc0 ls1 wsb6">e o componente que gera a pot<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x73 he y70 ff1 fs0 fc0 sc0 ls1 wsb7">encia<span class="_a blank"> </span>necess <span class="v0">´</span></div><div class="t m0 x76 h2 y70 ff1 fs0 fc0 sc0 ls1 wsb5">aria para</div><div class="t m0 xf h2 y72 ff1 fs0 fc0 sc0 ls1 ws47">produzir a sa</div><div class="t m0 x5f h2 y73 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x5f he y72 ff1 fs0 fc0 sc0 ls1 wsb8">\u0131da do sistema.<span class="_1d blank"> </span>A descric<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x77 he y72 ff1 fs0 fc0 sc0 ls1 wsb8">ao do atuador pode ser incorporada<span class="_10 blank"> </span><span class="v0">`</span></div><div class="t m0 x78 h2 y72 ff1 fs0 fc0 sc0 ls1 wsb8">a do</div><div class="t m0 xf he y74 ff1 fs0 fc0 sc0 ls1 ws2c">controlador ou<span class="_4 blank"> </span><span class="v0">`</span></div><div class="t m0 x11 h2 y74 ff1 fs0 fc0 sc0 ls1 wsb9">a da planta.<span class="_4 blank"> </span>Neste curso, optamos por designar de controlador ape-</div><div class="t m0 xf he y75 ff1 fs0 fc0 sc0 ls1 ws84">nas a parte do sistema que<span class="_16 blank"> </span><span class="v0">´</span></div><div class="t m0 x79 he y75 ff1 fs0 fc0 sc0 ls1 wsba">e<span class="_12 blank"> </span>efetiv<span class="_0 blank"></span>amente<span class="_12 blank"> </span>projet <span class="v0">´</span></div><div class="t m0 x30 h2 y75 ff1 fs0 fc0 sc0 ls1 ws84">avel, sendo o atuador geralmente</div><div class="t m0 xf h2 y76 ff1 fs0 fc0 sc0 ls1 ws4">considerado como parte integrante da planta.</div><div class="c xe y36 w5 h14"><div class="t m0 x49 h2 y77 ff1 fs0 fc0 sc0 ls1 ws4">PSfrag replacements</div></div><div class="t m0 x7a h16 y78 ffd fs0 fc0 sc0 ls1">+</div><div class="t m0 x57 h16 y79 ff9 fs0 fc0 sc0 ls1">\u2212</div><div class="t m0 x7b h16 y7a ffc fs0 fc0 sc0 ls13">r<span class="ls1 v5">y</span></div><div class="t m0 x24 h16 y7a ffc fs0 fc0 sc0 ls14">e<span class="ff1 ls1 ws38 v6">Planta<span class="_23 blank"></span>Controlador</span></div><div class="t m0 x7c h2 y7b ff1 fs0 fc0 sc0 ls1">Sensor</div><div class="t m0 x5e h2 y7c ff1 fs0 fc0 sc0 ls1">Atuador</div><div class="t m0 x12 h2 y7d ff1 fs0 fc0 sc0 ls1 ws4">Figura 1.4:<span class="_4 blank"> </span>Sistema explicitando o atuador<span class="_1 blank"></span>.</div><div class="c xd yb w2 h7"><div class="t m0 xe h8 yc ff5 fs3 fc0 sc0 ls1">www.mecatronicadegaragem.blogspot.com</div></div></div><div class="pi" data-data='{"ctm":[1.000000,0.000000,0.000000,1.000000,0.000000,0.000000]}'></div></div> <div id="pf6" class="pf w0 h0" data-page-no="6"><div class="pc pc6 w0 h0"><img fetchpriority="low" loading="lazy" class="bi x7d y7e w8 h19" alt="" src="https://files.passeidireto.com/ff16b915-da4f-432e-b78a-9c49b242e6bf/bg6.png"><div class="t m1 xf ha y1 ff6 fs4 fc0 sc0 ls1 ws4">EA721 / P<span class="_8 blank"></span>A<span class="_0 blank"></span>ULO V<span class="_7 blank"></span>ALENTE / UNICAMP</div><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls1">6</div><div class="t m0 xf h10 ye ff1 fs0 fc0 sc0 ls1 wsbb">12. <span class="ffa">Idealmente</span><span class="ws9c">, se fosse poss<span class="v0">´</span></span></div><div class="t m0 x59 h2 ye ff1 fs0 fc0 sc0 ls1 wsbc">\u0131vel representar a planta, o controlador e o ambiente</div><div class="t m0 xf he y30 ff1 fs0 fc0 sc0 ls1 wsbd">no qual o sistema de controle est<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x7e he y30 ff1 fs0 fc0 sc0 ls1 wsbd">a inserido com precis<span class="_e blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x7f he y30 ff1 fs0 fc0 sc0 ls1 wsbe">ao<span class="_17 blank"> </span>in\ufb01nita,<span class="_10 blank"> </span>n <span class="v0">\u02dc</span></div><div class="t m0 x80 h2 y30 ff1 fs0 fc0 sc0 ls1 wsbd">ao seria ne-</div><div class="t m0 xf he y31 ff1 fs0 fc0 sc0 ls1 wsbf">cess <span class="v0">´</span></div><div class="t m0 x66 h2 y31 ff1 fs0 fc0 sc0 ls1 ws6d">ario utilizar sistemas de controle em malha fechada; sistemas em malha aberta</div><div class="t m0 xf he yf ff1 fs0 fc0 sc0 ls1 wsc0">seriam<span class="_12 blank"> </span>su\ufb01cientes.<span class="_13 blank"> </span>A<span class="_4 blank"> </span>principal<span class="_4 blank"> </span>raz <span class="v0">\u02dc</span></div><div class="t m0 x81 he yf ff1 fs0 fc0 sc0 ls1 wsc1">ao para a utilizac<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x4e h2 yf ff1 fs0 fc0 sc0 ls1 wsc1">ao de um sistema de controle</div><div class="t m0 xf he y32 ff1 fs0 fc0 sc0 ls1 ws4">em malha fechada<span class="_4 blank"> </span><span class="v0">´</span></div><div class="t m0 x82 h1a y32 ff1 fs0 fc0 sc0 ls1 ws4">e a e<span class="_0 blank"></span>ventual presenc<span class="_14 blank"></span>¸<span class="_e blank"> </span>a de <span class="ffa wsc2">dist <span class="v0">´</span></span></div><div class="t m0 x83 h10 y32 ffa fs0 fc0 sc0 ls1 wsc3">urbios <span class="ff1 ws4">agindo sobre o sistema.</span></div><div class="t m0 xf h1a y7f ffa fs0 fc0 sc0 ls1 wsc4">Dist <span class="v0">´</span></div><div class="t m0 x3e h1a y7f ffa fs0 fc0 sc0 ls1 wsc5">urbio. <span class="ff1 wsc6">O termo </span><span class="wsc7">dist <span class="v0">´</span></span></div><div class="t m0 x1e h10 y7f ffa fs0 fc0 sc0 ls1 wsc8">urbio <span class="ff1 wsc9">designa genericamente qualquer e<span class="_0 blank"></span>vento que tenda</span></div><div class="t m0 xf h2 y80 ff1 fs0 fc0 sc0 ls1 wsca">a afetar o funcionamento do sistema de controle de forma adversa.<span class="_12 blank"> </span>Pode ser gerado</div><div class="t m0 xf h2 y81 ff1 fs0 fc0 sc0 ls1 ws4">internamente ou externamente ao sistema de controle.</div><div class="t m0 xf h10 y82 ff1 fs0 fc0 sc0 ls1 wscb">13. <span class="ffa">Exemplos</span><span class="ws72">.<span class="_17 blank"> </span>Um sensor descalibrado ou sujeito a ru<span class="v0">´</span></span></div><div class="t m0 x84 he y82 ff1 fs0 fc0 sc0 ls1 ws72">\u0131dos gera medidas que n<span class="_e blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x6a h2 y82 ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf h2 y83 ff1 fs0 fc0 sc0 ls1 wscc">re\ufb02etem os v<span class="_0 blank"></span>alores da sa</div><div class="t m0 x85 h2 y84 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x85 h1a y83 ff1 fs0 fc0 sc0 ls1 wscd">\u0131da,<span class="_10 blank"> </span>gerando um <span class="ffa wsce">dist <span class="v0">´</span></span></div><div class="t m0 x83 h10 y83 ffa fs0 fc0 sc0 ls1 wscc">urbio interno<span class="ff1">.<span class="_18 blank"> </span>Os v<span class="_0 blank"></span>alores medi-</span></div><div class="t m0 xf he y85 ff1 fs0 fc0 sc0 ls1 wscf">dos<span class="_a blank"> </span>incorretamente<span class="_a blank"> </span>ser <span class="v0">\u02dc</span></div><div class="t m0 x16 h2 y85 ff1 fs0 fc0 sc0 ls1 ws2c">ao realimentados, afetando o funcionamento do sistema.<span class="_4 blank"> </span>Se</div><div class="t m0 xf he y86 ff1 fs0 fc0 sc0 ls1 ws97">parte da descric<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x6 he y86 ff1 fs0 fc0 sc0 ls1 ws97">ao da planta<span class="_16 blank"> </span><span class="v0">´</span></div><div class="t m0 x86 h2 y86 ff1 fs0 fc0 sc0 ls1 ws97">e omitida na etapa de modelagem do sistema, a parte</div><div class="t m0 xf he y87 ff1 fs0 fc0 sc0 ls3">n<span class="ls1 v0">\u02dc</span></div><div class="t m0 x87 he y87 ff1 fs0 fc0 sc0 ls1 wsd">ao-modelada pode agir como dist<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x7e h2 y87 ff1 fs0 fc0 sc0 ls1 wsd">urbio interno.<span class="_12 blank"> </span>A velocidade do vento representa</div><div class="t m0 xf h1a y88 ff1 fs0 fc0 sc0 ls1 wsd0">um <span class="ffa wsd1">dist <span class="v0">´</span></span></div><div class="t m0 x88 h10 y88 ffa fs0 fc0 sc0 ls1 ws7b">urbio externo <span class="ff1 wsd2">para os sistemas de controle de trajet<span class="_b blank"> </span><span class="v0">´</span></span></div><div class="t m0 x18 h2 y88 ff1 fs0 fc0 sc0 ls1 wsd2">oria de ve</div><div class="t m0 x89 h2 y89 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x89 h2 y88 ff1 fs0 fc0 sc0 ls1 wsd3">\u0131culos. A</div><div class="t m0 xf he y8a ff1 fs0 fc0 sc0 ls1 wsd4">forc<span class="_14 blank"></span>¸<span class="_e blank"> </span>a e a amplitude das ondas representam dist<span class="_15 blank"> </span><span class="v0">´</span></div><div class="t m0 x8a h2 y8a ff1 fs0 fc0 sc0 ls1 wsd4">urbios externos para os sistemas de</div><div class="t m0 xf he y8b ff1 fs0 fc0 sc0 ls1 wsd5">estabilizac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x6c h2 y8b ff1 fs0 fc0 sc0 ls1 ws4">ao de plataformas mar</div><div class="t m0 x38 h2 y8c ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x38 h2 y8b ff1 fs0 fc0 sc0 ls1">\u0131timas.</div><div class="c xe y36 w5 h14"><div class="t m0 x8b h2 y8d ff1 fs0 fc0 sc0 ls1 ws9">PSfrag replacements</div></div><div class="t m0 x8 h16 y8e ffd fs0 fc0 sc0 ls1">+</div><div class="t m0 x82 h16 y8f ff9 fs0 fc0 sc0 ls1">\u2212</div><div class="t m0 x7d h16 y90 ffc fs0 fc0 sc0 ls1 wsd6">r<span class="_24 blank"> </span>u y<span class="_25 blank"></span>e</div><div class="t m0 x8c h16 y91 ffc fs0 fc0 sc0 ls1">w</div><div class="t m0 x30 h16 y92 ffc fs0 fc0 sc0 ls1">v</div><div class="t m0 x8d h2 y93 ff1 fs0 fc0 sc0 ls1 ws38">Planta<span class="_26 blank"></span>Controlador</div><div class="t m0 x5e h2 y94 ff1 fs0 fc0 sc0 ls1">Sensor</div><div class="t m0 x8e he y95 ff1 fs0 fc0 sc0 ls1 ws4">Figura 1.5:<span class="_12 blank"> </span>Sistema em malha<span class="_a blank"> </span>fechada sujeito a dist<span class="_15 blank"> </span><span class="v0">´</span></div><div class="t m0 x8f h2 y95 ff1 fs0 fc0 sc0 ls1">urbios.</div><div class="t m0 xf he y96 ff1 fs0 fc0 sc0 ls1 wsd7">14.<span class="_27 blank"> </span>A<span class="_16 blank"> </span>traduc<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x4b he y96 ff1 fs0 fc0 sc0 ls1 wsd8">ao<span class="_16 blank"> </span>de<span class="_16 blank"> </span>dist <span class="v0">´</span></div><div class="t m0 x58 he y96 ff1 fs0 fc0 sc0 ls1 wsd9">urbios em termos de v<span class="_0 blank"></span>ari<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x17 he y96 ff1 fs0 fc0 sc0 ls1 wsda">aveis<span class="_16 blank"> </span>est <span class="v0">´</span></div><div class="t m0 x90 he y96 ff1 fs0 fc0 sc0 ls1 wsd9">a diretamente ligada<span class="_10 blank"> </span><span class="v0">`</span></div><div class="t m0 x91 h2 y96 ff1 fs0 fc0 sc0 ls1">as</div><div class="t m0 xf h2 y97 ff1 fs0 fc0 sc0 ls1">caracter</div><div class="t m0 x88 h2 y98 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x88 h2 y97 ff1 fs0 fc0 sc0 ls1 ws97">\u0131sticas da planta, do sensor e do ambiente no qual o sistema em malha fe-</div><div class="t m0 xf h2 y99 ff1 fs0 fc0 sc0 ls1 wsdb">chada opera.<span class="_1d blank"> </span>A Figura 1.5 ilustra um sistema de controle em malha fechada no</div><div class="t m0 xf he y9a ff1 fs0 fc0 sc0 ls1 wsdc">qual<span class="_4 blank"> </span>vari <span class="v0">´</span></div><div class="t m0 x92 he y9a ff1 fs0 fc0 sc0 ls1 ws9f">aveis de dist<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x26 he y9a ff1 fs0 fc0 sc0 ls1 ws9f">urbio agindo na planta e no sensor s<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x93 h2 y9a ff1 fs0 fc0 sc0 ls1 ws9f">ao explicitamente con-</div><div class="c xd yb w2 h7"><div class="t m0 xe h8 yc ff5 fs3 fc0 sc0 ls1">www.mecatronicadegaragem.blogspot.com</div></div></div><div class="pi" data-data='{"ctm":[1.000000,0.000000,0.000000,1.000000,0.000000,0.000000]}'></div></div> <div id="pf7" class="pf w0 h0" data-page-no="7"><div class="pc pc7 w0 h0"><div class="t m1 xf ha y1 ff6 fs4 fc0 sc0 ls1 ws4">EA721 / P<span class="_8 blank"></span>A<span class="_0 blank"></span>ULO V<span class="_7 blank"></span>ALENTE / UNICAMP</div><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls1">7</div><div class="t m0 xf he ye ff1 fs0 fc0 sc0 ls1 ws14">sideradas.<span class="_27 blank"> </span>O diagrama da Figura 1.5 inv<span class="_0 blank"></span>olve dois grupos de tr<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x94 he ye ff1 fs0 fc0 sc0 ls1 wsdd">es<span class="_16 blank"> </span>vari <span class="v0">´</span></div><div class="t m0 x95 h2 ye ff1 fs0 fc0 sc0 ls1 wsde">aveis com</div><div class="t m0 xf h2 y30 ff1 fs0 fc0 sc0 ls1">caracter</div><div class="t m0 x88 h2 y50 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x88 he y30 ff1 fs0 fc0 sc0 ls1 wsdf">\u0131sticas<span class="_c blank"> </span>distintas.<span class="_4 blank"> </span>As<span class="_a blank"> </span>v<span class="_0 blank"></span>ari <span class="v0">´</span></div><div class="t m0 x43 he y30 ff1 fs0 fc0 sc0 ls1 wse0">aveis <span class="ffc ws80">r<span class="_0 blank"></span>, w<span class="_a blank"> </span><span class="ff1 ls15">e</span><span class="ls16">v<span class="ff1 ls17">s<span class="ls1 v0">\u02dc</span></span></span></span></div><div class="t m0 x2a h10 y30 ff1 fs0 fc0 sc0 ls1 wse1">ao <span class="ffa wse2">entradas externas </span>(independen-</div><div class="t m0 xf he y31 ff1 fs0 fc0 sc0 ls1 wse3">tes), no sentido de que afetam, mas n<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x15 he y31 ff1 fs0 fc0 sc0 ls1 wse4">ao<span class="_12 blank"> </span>s <span class="v0">\u02dc</span></div><div class="t m0 x96 he y31 ff1 fs0 fc0 sc0 ls1 wse5">ao afetadas pelas v<span class="_0 blank"></span>ari<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x97 h2 y31 ff1 fs0 fc0 sc0 ls1 wse6">aveis <span class="ffc">e</span><span class="ls18">,<span class="ffc ls19">u</span><span class="ls1a">e<span class="ffc lsb">y</span></span></span><span class="wse7">. As</span></div><div class="t m0 xf he yf ff1 fs0 fc0 sc0 ls1 ws62">v<span class="_0 blank"></span>ari <span class="v0">´</span></div><div class="t m0 x3 h1a yf ff1 fs0 fc0 sc0 ls1 wse8">aveis <span class="ffc">e</span><span class="ls1b">,<span class="ffc ls1c">u</span><span class="ls1d">e<span class="ffc ls1e">y</span></span></span><span class="wse9">representam <span class="ffa ws38">sa<span class="_0 blank"></span><span class="v0">´</span></span></span></div><div class="t m0 x38 h10 yf ffa fs0 fc0 sc0 ls1 ws9">\u0131das controladas <span class="ff1">(dependentes).</span></div><div class="t m0 xf he y10 ff1 fs0 fc0 sc0 ls1 wsea">15.<span class="_10 blank"> </span>Do ponto de vista de implementac<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x1f h2 y10 ff1 fs0 fc0 sc0 ls1 wsea">ao f</div><div class="t m0 x40 h2 y69 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x36 h2 y10 ff1 fs0 fc0 sc0 ls1 wsea">\u0131sica, classi\ufb01camos um sistema de con-</div><div class="t m0 xf h13 y11 ff1 fs0 fc0 sc0 ls1 ws4">trole em malha fechada como <span class="ffa wseb">manual </span><span class="wsec">ou <span class="ffa wsed">autom <span class="v0">´</span></span></span></div><div class="t m0 x30 h10 y11 ffa fs0 fc0 sc0 ls1">atico<span class="ff1">.</span></div><div class="t m0 xf h10 y9b ffa fs0 fc0 sc0 ls1 wse3">Controle manual.<span class="_28 blank"> </span><span class="ff1">T<span class="_0 blank"></span>ipo de controle em malha fechada no qual a realimentac<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></span></div><div class="t m0 x6a h2 y9b ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf h2 y9c ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 xf he y9d ff1 fs0 fc0 sc0 ls1 wsee">e<span class="_17 blank"> </span>implementada<span class="_17 blank"> </span>atrav <span class="v0">´</span></div><div class="t m0 x5b h2 y9d ff1 fs0 fc0 sc0 ls1 wsef">es de um operador humano,<span class="_10 blank"> </span>que realiza uma ou mais das</div><div class="t m0 xf he y9e ff1 fs0 fc0 sc0 ls1 wsf0">func<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x3e h2 y9e ff1 fs0 fc0 sc0 ls1 ws9">oes de comparador<span class="_0 blank"></span>, controlador ou sensor<span class="_0 blank"></span>.</div><div class="t m0 xf h13 y9f ffa fs0 fc0 sc0 ls1 wsf1">Controle<span class="_16 blank"> </span>autom <span class="v0">´</span></div><div class="t m0 x4f h10 y9f ffa fs0 fc0 sc0 ls1 wsf2">atico. <span class="ff1 wsd9">T<span class="_0 blank"></span>ipo de controle em malha fechada no qual as func<span class="_14 blank"></span>¸<span class="_6 blank"> </span><span class="v0">\u02dc</span></span></div><div class="t m0 x98 h2 y9f ff1 fs0 fc0 sc0 ls1">oes</div><div class="t m0 xf he ya0 ff1 fs0 fc0 sc0 ls1 ws41">de comparador<span class="_0 blank"></span>,<span class="_17 blank"> </span>controlador e sensor s<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x51 he ya0 ff1 fs0 fc0 sc0 ls1 ws41">ao ex<span class="_0 blank"></span>ecutadas sem a intervenc<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x53 h2 ya0 ff1 fs0 fc0 sc0 ls1 ws7b">ao humana,</div><div class="t m0 xf he ya1 ff1 fs0 fc0 sc0 ls1 wsf3">atrav <span class="v0">´</span></div><div class="t m0 x1d he ya1 ff1 fs0 fc0 sc0 ls1 ws9">es de sistemas eletr<span class="_b blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x4d he ya1 ff1 fs0 fc0 sc0 ls1 wsf4">onicos,<span class="_a blank"> </span>hidr <span class="v0">´</span></div><div class="t m0 x99 he ya1 ff1 fs0 fc0 sc0 ls1 ws4">aulicos ou pneum<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x56 h2 ya1 ff1 fs0 fc0 sc0 ls1 ws4">aticos, por ex<span class="_0 blank"></span>emplo.</div><div class="t m0 xf h2 ya2 ff1 fs0 fc0 sc0 ls1 ws1c">16.<span class="_1b blank"> </span>Uma caracter</div><div class="t m0 x46 h2 ya3 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x46 he ya2 ff1 fs0 fc0 sc0 ls1 wsf5">\u0131stica inerente ao desen<span class="_0 blank"></span>volvimento da<span class="_17 blank"> </span><span class="v0">´</span></div><div class="t m0 x42 h2 ya2 ff1 fs0 fc0 sc0 ls1 wsf5">area de sistemas de con-</div><div class="t m0 xf he ya4 ff1 fs0 fc0 sc0 ls1 wsf6">trole <span class="v0">´</span></div><div class="t m0 x9a he ya4 ff1 fs0 fc0 sc0 ls1 wsf7">e a progressi<span class="_0 blank"></span>va substituic<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x43 h2 ya4 ff1 fs0 fc0 sc0 ls1 wsf7">ao de sistemas de controle manuais por sistemas</div><div class="t m0 xf he ya5 ff1 fs0 fc0 sc0 ls1 wsf8">autom <span class="v0">´</span></div><div class="t m0 x9b he ya5 ff1 fs0 fc0 sc0 ls1 wsc1">aticos, particularmente em atividades que demandem assist<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x61 h2 ya5 ff1 fs0 fc0 sc0 ls1 wse3">encia constante,</div><div class="t m0 xf he ya6 ff1 fs0 fc0 sc0 ls1 wsf9">ac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x64 h2 ya6 ff1 fs0 fc0 sc0 ls1 wsfa">oes repetiti<span class="_0 blank"></span>vas ou que possam ser potencialmente perigosas para a inte<span class="_0 blank"></span>gridade</div><div class="t m0 xf h2 ya7 ff1 fs0 fc0 sc0 ls1">f</div><div class="t m0 x68 h2 ya8 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x68 he ya7 ff1 fs0 fc0 sc0 ls1 wsfb">\u0131sica dos operadores.<span class="_12 blank"> </span>Sistemas de controle autom<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x9c he ya7 ff1 fs0 fc0 sc0 ls1 wsfc">aticos<span class="_c blank"> </span>s <span class="v0">\u02dc</span></div><div class="t m0 x7f h2 ya7 ff1 fs0 fc0 sc0 ls1 wsfd">ao geralmente capazes de</div><div class="t m0 xf he ya9 ff1 fs0 fc0 sc0 ls1 wsfe">ex<span class="_0 blank"></span>ecutar<span class="_12 blank"> </span>suas<span class="_12 blank"> </span>func<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x28 he ya9 ff1 fs0 fc0 sc0 ls1 ws30">oes com maior precis<span class="_e blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x77 he ya9 ff1 fs0 fc0 sc0 ls1 ws30">ao e rapidez do que seria poss<span class="v0">´</span></div><div class="t m0 x53 he ya9 ff1 fs0 fc0 sc0 ls1 wsff">\u0131vel<span class="_a blank"> </span>atrav <span class="v0">´</span></div><div class="t m0 x91 h2 ya9 ff1 fs0 fc0 sc0 ls1">es</div><div class="t m0 xf h2 y1d ff1 fs0 fc0 sc0 ls1 ws4">de controle manual.</div><div class="t m0 xf he y1f ff1 fs0 fc0 sc0 ls1 ws54">17.<span class="_18 blank"> </span>Do ponto de vista da func<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x3f h2 y1f ff1 fs0 fc0 sc0 ls1 ws54">ao a ser ex<span class="_0 blank"></span>ecutada,<span class="_10 blank"> </span>classi\ufb01camos um sistema de</div><div class="t m0 xf h13 y20 ff1 fs0 fc0 sc0 ls1 ws4">controle em malha fechada como sendo do tipo <span class="ffa ws100">servomecanismo </span><span class="ws101">ou <span class="ffa ws102">r<span class="_0 blank"></span>egulac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></span></span></div><div class="t m0 x69 h10 y20 ffa fs0 fc0 sc0 ls1">ao<span class="ff1">.</span></div><div class="t m0 xf h10 yaa ffa fs0 fc0 sc0 ls1 ws103">Servomecanismo. <span class="ff1 ws104">O termo </span><span class="ws105">ser<span class="_0 blank"></span>vomecanismo <span class="ff1 wsd4">surgiu no conte<span class="_0 blank"></span>xto do desen<span class="_0 blank"></span>volvi-</span></span></div><div class="t m0 xf he yab ff1 fs0 fc0 sc0 ls1 ws43">mento de certos mecanismos de controle de posic<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x5a h10 yab ff1 fs0 fc0 sc0 ls1 ws106">ao.<span class="_12 blank"> </span>O termo <span class="ffa ws43">problema do servo-</span></div><div class="t m0 xf h10 yac ffa fs0 fc0 sc0 ls1 ws107">mecanismo <span class="ff1 ws108">serve atualmente para designar o problema de f<span class="_0 blank"></span>azer a sa<span class="_29 blank"> </span><span class="v0">´</span></span></div><div class="t m0 x9d h2 yac ff1 fs0 fc0 sc0 ls1 ws108">\u0131da do sistema</div><div class="t m0 xf h10 yad ff1 fs0 fc0 sc0 ls1 ws9">seguir (<span class="ffa ws4">acompanhar<span class="_7 blank"></span>, rastrear<span class="ff1">) uma refer<span class="_b blank"> </span><span class="v0">\u02c6</span></span></span></div><div class="t m0 x4 h2 yad ff1 fs0 fc0 sc0 ls1 ws4">encia especi\ufb01cada.</div><div class="t m0 xf h13 yae ffa fs0 fc0 sc0 ls1 ws109">Regulac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x55 h13 yae ffa fs0 fc0 sc0 ls1 ws10a">ao. <span class="ff1 ws10b">O termo </span><span class="ws10c">regulac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></span></div><div class="t m0 x4a h10 yae ffa fs0 fc0 sc0 ls1 ws10d">ao <span class="ff1 v0">´</span></div><div class="t m0 x9e he yae ff1 fs0 fc0 sc0 ls1 ws10e">e empregado para designar a func<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x9d h2 yae ff1 fs0 fc0 sc0 ls1 ws10e">ao de controle</div><div class="t m0 xf h10 yaf ff1 fs0 fc0 sc0 ls1 ws10f">que visa <span class="ffa ws110">manter </span><span class="ws45">a sa</span></div><div class="t m0 xb h2 yb0 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 xb he yaf ff1 fs0 fc0 sc0 ls1 ws45">\u0131da do sistema razoav<span class="_0 blank"></span>elmente pr<span class="_15 blank"> </span><span class="v0">´</span></div><div class="t m0 x20 he yaf ff1 fs0 fc0 sc0 ls1 ws111">oxima <span class="v0">`</span></div><div class="t m0 x8c he yaf ff1 fs0 fc0 sc0 ls1 ws45">a uma refer<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x27 h2 yaf ff1 fs0 fc0 sc0 ls1 ws45">encia espe-</div><div class="t m0 xf h13 yb1 ff1 fs0 fc0 sc0 ls1 ws112">ci\ufb01cada.<span class="_10 blank"> </span>O termo <span class="ffa ws113">problema<span class="_a blank"> </span>da<span class="_12 blank"> </span>regulac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></span></div><div class="t m0 x9f h10 yb1 ffa fs0 fc0 sc0 ls1 ws114">ao <span class="ff1 ws115">designa o problema de regular a sa<span class="v0">´</span></span></div><div class="t m0 x22 h2 yb1 ff1 fs0 fc0 sc0 ls1">\u0131da</div><div class="t m0 xf h2 yb2 ff1 fs0 fc0 sc0 ls1 ws4">do sistema.</div><div class="t m0 xf h10 yb3 ff1 fs0 fc0 sc0 ls1 ws116">18. <span class="ffa">Exemplo</span><span class="ws117">.<span class="_12 blank"> </span>No controle em malha fechada do motor DC, o<span class="_a blank"> </span>problema de <span class="ffa ws118">levar </span>o</span></div><div class="t m0 xf he yb4 ff1 fs0 fc0 sc0 ls1 ws9c">eixo do motor da sua posic<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x29 he yb4 ff1 fs0 fc0 sc0 ls1 ws119">ao<span class="_a blank"> </span>inicial<span class="_a blank"> </span>at <span class="v0">´</span></div><div class="t m0 x1f he yb4 ff1 fs0 fc0 sc0 ls1 ws11a">e<span class="_a blank"> </span>a<span class="_a blank"> </span>posic<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x10 he yb4 ff1 fs0 fc0 sc0 ls1 ws9c">ao desejada (isto<span class="_4 blank"> </span><span class="v0">´</span></div><div class="t m0 xa0 he yb4 ff1 fs0 fc0 sc0 ls1 ws9c">e, fazer a posic<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x6a h2 yb4 ff1 fs0 fc0 sc0 ls1">ao</div><div class="c xd yb w2 h7"><div class="t m0 xe h8 yc ff5 fs3 fc0 sc0 ls1">www.mecatronicadegaragem.blogspot.com</div></div></div><div class="pi" data-data='{"ctm":[1.000000,0.000000,0.000000,1.000000,0.000000,0.000000]}'></div></div> <div id="pf8" class="pf w0 h0" data-page-no="8"><div class="pc pc8 w0 h0"><div class="t m1 xf ha y1 ff6 fs4 fc0 sc0 ls1 ws4">EA721 / P<span class="_8 blank"></span>A<span class="_0 blank"></span>ULO V<span class="_7 blank"></span>ALENTE / UNICAMP</div><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls1">8</div><div class="t m0 xf he ye ff1 fs0 fc0 sc0 ls1 wsdb">do eixo comec<span class="_14 blank"></span>¸<span class="_e blank"> </span>ar a seguir uma func<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 xa1 he ye ff1 fs0 fc0 sc0 ls1 wsdb">ao tipo degrau, de amplitude igual a posic<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x6a h2 ye ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf h10 y30 ff1 fs0 fc0 sc0 ls1 ws13">desejada) constitui um problema de servomecanismo.<span class="_13 blank"> </span><span class="ffa ws11b">Manter </span><span class="ws11c">a<span class="_4 blank"> </span>posic<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></span></div><div class="t m0 xa2 h2 y30 ff1 fs0 fc0 sc0 ls1 ws13">ao do eixo</div><div class="t m0 xf he y31 ff1 fs0 fc0 sc0 ls1 ws11d">su\ufb01centemente<span class="_a blank"> </span>pr <span class="v0">´</span></div><div class="t m0 x71 he y31 ff1 fs0 fc0 sc0 ls1 ws11e">oxima <span class="v0">`</span></div><div class="t m0 xa3 he y31 ff1 fs0 fc0 sc0 ls1 ws11f">a<span class="_a blank"> </span>posic<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x43 he y31 ff1 fs0 fc0 sc0 ls1 ws120">ao desejada, a despeito de poss<span class="v0">´</span></div><div class="t m0 x52 he y31 ff1 fs0 fc0 sc0 ls1 ws121">\u0131veis<span class="_a blank"> </span>dist <span class="v0">´</span></div><div class="t m0 xa2 h2 y31 ff1 fs0 fc0 sc0 ls1 ws122">urbios que</div><div class="t m0 xf he yf ff1 fs0 fc0 sc0 ls1 ws4">possam afetar o sistema, constitui um problema de regulac<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x90 h2 yf ff1 fs0 fc0 sc0 ls1">ao.</div><div class="t m0 xf he y10 ff1 fs0 fc0 sc0 ls1 ws123">19.<span class="_1d blank"> </span>O objeti<span class="_0 blank"></span>vo num problema de re<span class="_0 blank"></span>gulac<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x40 he y10 ff1 fs0 fc0 sc0 ls1 ws124">ao <span class="v0">´</span></div><div class="t m0 x3a he y10 ff1 fs0 fc0 sc0 ls1 ws123">e manter uma certa condic<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 xa4 h2 y10 ff1 fs0 fc0 sc0 ls1 ws123">ao nomi-</div><div class="t m0 xf he y11 ff1 fs0 fc0 sc0 ls1 ws3e">nal de operac<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x4b he y11 ff1 fs0 fc0 sc0 ls1 ws3e">ao, caracterizada pelos valores nominais das v<span class="_0 blank"></span>ari<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x8f h2 y11 ff1 fs0 fc0 sc0 ls1 ws1c">aveis presentes no</div><div class="t m0 xf h2 y12 ff1 fs0 fc0 sc0 ls1 ws1e">sistema.<span class="_11 blank"> </span>Quando a sa</div><div class="t m0 xa5 h2 yb5 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 xa5 he y12 ff1 fs0 fc0 sc0 ls1 ws1e">\u0131da se desvia do seu v<span class="_0 blank"></span>alor nominal por in\ufb02u<span class="_b blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x44 h2 y12 ff1 fs0 fc0 sc0 ls1 ws1e">encia de algum</div><div class="t m0 xf he y34 ff1 fs0 fc0 sc0 ls1 ws125">dist <span class="v0">´</span></div><div class="t m0 x3 he y34 ff1 fs0 fc0 sc0 ls1 ws126">urbio,<span class="_12 blank"> </span>as<span class="_12 blank"> </span>demais<span class="_a blank"> </span>vari <span class="v0">´</span></div><div class="t m0 xa3 he y34 ff1 fs0 fc0 sc0 ls1 ws127">aveis<span class="_a blank"> </span>dev<span class="_0 blank"></span>em<span class="_12 blank"> </span>tamb <span class="v0">´</span></div><div class="t m0 x36 h2 y34 ff1 fs0 fc0 sc0 ls1 ws128">em sofrer desvios no sentido de restau-</div><div class="t m0 xf he y52 ff1 fs0 fc0 sc0 ls1 ws129">rar<span class="_c blank"> </span>a<span class="_a blank"> </span>condic<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x8e he y52 ff1 fs0 fc0 sc0 ls1 ws117">ao anterior ao dist<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x50 he y52 ff1 fs0 fc0 sc0 ls1 ws45">urbio.<span class="_12 blank"> </span>Podemos representar o problema da regulac<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x6a h2 y52 ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf he y13 ff1 fs0 fc0 sc0 ls1 wsf3">atrav <span class="v0">´</span></div><div class="t m0 x1d he y13 ff1 fs0 fc0 sc0 ls1 ws12a">es do diagrama da Figura 1.5, substituindo cada vari<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x42 h2 y13 ff1 fs0 fc0 sc0 ls1 ws12a">avel pelo respecti<span class="_0 blank"></span>vo des-</div><div class="t m0 xf he y6a ff1 fs0 fc0 sc0 ls1 ws12b">vio em relac<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x9 he y6a ff1 fs0 fc0 sc0 ls1 ws12b">ao ao seu v<span class="_0 blank"></span>alor nominal.<span class="_1d blank"> </span>A refer<span class="_b blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x10 h2 y6a ff1 fs0 fc0 sc0 ls1 ws12b">encia seria o v<span class="_0 blank"></span>alor constante zero,</div><div class="t m0 xf he y14 ff1 fs0 fc0 sc0 ls1 ws12a">uma vez que o objeti<span class="_0 blank"></span>vo agora seria le<span class="_0 blank"></span>v<span class="_0 blank"></span>ar o desvio da sa<span class="_29 blank"> </span><span class="v0">´</span></div><div class="t m0 x84 h2 y14 ff1 fs0 fc0 sc0 ls1 ws12c">\u0131da para zero, restaurando-</div><div class="t m0 xf he y15 ff1 fs0 fc0 sc0 ls1 ws4">se desta forma a condic<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x1b he y15 ff1 fs0 fc0 sc0 ls1 ws4">ao nominal de operac<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 xa6 h2 y15 ff1 fs0 fc0 sc0 ls1 ws4">ao do sistema.</div><div class="t m0 xf hb y6c ff7 fs2 fc0 sc0 ls1 ws12d">Malha<span class="_12 blank"> </span>aber ta<span class="_4 blank"> </span><span class="ffe ls1f">×</span><span class="ws12e">malha fechada</span></div><div class="t m0 xf he yb6 ff1 fs0 fc0 sc0 ls1 ws12b">20.<span class="_1d blank"> </span>Sistemas de controle em malha aberta s<span class="_e blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x3a he yb6 ff1 fs0 fc0 sc0 ls1 ws12f">ao<span class="_16 blank"> </span>de<span class="_16 blank"> </span>implementac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 xa0 he yb6 ff1 fs0 fc0 sc0 ls1 ws130">ao<span class="_16 blank"> </span>e<span class="_16 blank"> </span>manutenc<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x6a h2 yb6 ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf he y6e ff1 fs0 fc0 sc0 ls1 ws2d">mais simples e s<span class="_e blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 xa7 h2 y6e ff1 fs0 fc0 sc0 ls1 ws2d">ao mais baratos - possuem menos componentes - do que os corres-</div><div class="t m0 xf h2 y6f ff1 fs0 fc0 sc0 ls1 wsd">pondentes sistemas de controle em malha fechada.<span class="_4 blank"> </span>Sistemas de controle em malha</div><div class="t m0 xf he y70 ff1 fs0 fc0 sc0 ls1 ws4e">aberta podem ser a<span class="_12 blank"> </span><span class="v0">´</span></div><div class="t m0 x6e he y70 ff1 fs0 fc0 sc0 ls1 ws4e">unica alternati<span class="_0 blank"></span>va quando a medic<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 xa8 h2 y70 ff1 fs0 fc0 sc0 ls1 ws4e">ao da sa</div><div class="t m0 x8c h2 y71 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x8c he y70 ff1 fs0 fc0 sc0 ls1 ws131">\u0131da <span class="v0">´</span></div><div class="t m0 xa9 he y70 ff1 fs0 fc0 sc0 ls1 ws132">e<span class="_c blank"> </span>t <span class="v0">´</span></div><div class="t m0 xaa h2 y70 ff1 fs0 fc0 sc0 ls1 ws4e">ecnica ou econo-</div><div class="t m0 xf he y72 ff1 fs0 fc0 sc0 ls1 ws133">micamente<span class="_a blank"> </span>in<span class="_0 blank"></span>vi <span class="v0">´</span></div><div class="t m0 x11 he y72 ff1 fs0 fc0 sc0 ls1 ws134">avel.<span class="_4 blank"> </span>Eletrodom <span class="v0">´</span></div><div class="t m0 x43 he y72 ff1 fs0 fc0 sc0 ls1 ws135">esticos<span class="_a blank"> </span>como<span class="_a blank"> </span>m <span class="v0">´</span></div><div class="t m0 x10 he y72 ff1 fs0 fc0 sc0 ls1 ws10e">aquinas de lav<span class="_0 blank"></span>ar con<span class="_0 blank"></span>vencionais s<span class="_e blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x6a h2 y72 ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf h2 y74 ff1 fs0 fc0 sc0 ls1 ws136">ex<span class="_0 blank"></span>emplos t</div><div class="t m0 x6c h2 yb7 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x35 he y74 ff1 fs0 fc0 sc0 ls1 ws136">\u0131picos.<span class="_13 blank"> </span>Por ser ainda economicamente invi<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x3b h2 y74 ff1 fs0 fc0 sc0 ls1 ws136">avel medir <span class="ffb">gr<span class="_0 blank"></span>au de limpeza</span></div><div class="t m0 xf he y75 ffb fs0 fc0 sc0 ls1 ws137">da r<span class="_0 blank"></span>oupa <span class="ff1 ws138">para<span class="_a blank"> </span>comparac<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></span></div><div class="t m0 x23 h2 y75 ff1 fs0 fc0 sc0 ls1 ws15">ao com o grau de limpeza desejado, funcionam a base de</div><div class="t m0 xf he y76 ff1 fs0 fc0 sc0 ls1 ws139">ciclos<span class="_a blank"> </span>(refer <span class="v0">\u02c6</span></div><div class="t m0 x8e he y76 ff1 fs0 fc0 sc0 ls1 ws13a">encias<span class="_a blank"> </span>pr <span class="v0">´</span></div><div class="t m0 xb h2 y76 ff1 fs0 fc0 sc0 ls1 ws9">e-programadas) controlados por <span class="ffb ws38">timers</span>.</div><div class="t m0 xf h2 yb8 ff1 fs0 fc0 sc0 ls1 ws12c">21.<span class="_16 blank"> </span>Se adequadamente projetados, sistemas de controle em malha fechada tornam</div><div class="t m0 xf h2 yb9 ff1 fs0 fc0 sc0 ls1 ws8d">a sa</div><div class="t m0 x66 h2 yba ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x66 he yb9 ff1 fs0 fc0 sc0 ls1 ws32">\u0131da do sistema relati<span class="_0 blank"></span>vamente insens<span class="v0">´</span></div><div class="t m0 xab he yb9 ff1 fs0 fc0 sc0 ls1 ws8d">\u0131vel a dist<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x9c h2 yb9 ff1 fs0 fc0 sc0 ls1 ws8d">urbios externos ou internos.<span class="_10 blank"> </span>Em</div><div class="t m0 xf h2 ybb ff1 fs0 fc0 sc0 ls1">princ</div><div class="t m0 x25 h2 ybc ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x25 he ybb ff1 fs0 fc0 sc0 ls1 ws13b">\u0131pio<span class="_6 blank"> </span>s <span class="v0">\u02dc</span></div><div class="t m0 xac h2 ybb ff1 fs0 fc0 sc0 ls1 ws13c">ao mais caros - possuem mais componentes - mas por terem a capacidade</div><div class="t m0 xf he ybd ff1 fs0 fc0 sc0 ls1 ws9">de compensar dist<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x46 h2 ybd ff1 fs0 fc0 sc0 ls1 ws9">urbios internos, podem ser implementados com componentes de</div><div class="t m0 xf he y79 ff1 fs0 fc0 sc0 ls1 ws13d">menor qualidade e custo,<span class="_10 blank"> </span>sem preju<span class="v0">´</span></div><div class="t m0 x6f h2 y79 ff1 fs0 fc0 sc0 ls1 ws13d">\u0131zo signi\ufb01cati<span class="_0 blank"></span>vo em termos de desempenho</div><div class="t m0 xf he ybe ff1 fs0 fc0 sc0 ls1 ws1c">global.<span class="_1b blank"> </span>Por outro lado, a realimentac<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x15 h10 ybe ff1 fs0 fc0 sc0 ls1 ws3e">ao pode produzir <span class="ffa">instabilidade</span><span class="ws13e">.<span class="_1b blank"> </span>A<span class="_4 blank"> </span>quest <span class="v0">\u02dc</span></span></div><div class="t m0 x6a h2 ybe ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf h2 ybf ff1 fs0 fc0 sc0 ls1 ws13f">da estabilidade da malha de controle de<span class="_0 blank"></span>ve ser cuidadosamente tratada ao se imple-</div><div class="t m0 xf h2 yc0 ff1 fs0 fc0 sc0 ls1 ws13f">mentar sistemas realimentados.</div><div class="t m0 xf hb yc1 ff7 fs2 fc0 sc0 ls1 ws140">Exemplos ilustrativ<span class="_0 blank"></span>os</div><div class="t m0 xf h2 yc2 ff1 fs0 fc0 sc0 ls1 ws2d">22.<span class="_12 blank"> </span>Sistemas de controle foram originalmente introduzidos para solucionar proble-</div><div class="c xd yb w2 h7"><div class="t m0 xe h8 yc ff5 fs3 fc0 sc0 ls1">www.mecatronicadegaragem.blogspot.com</div></div></div><div class="pi" data-data='{"ctm":[1.000000,0.000000,0.000000,1.000000,0.000000,0.000000]}'></div></div> <div id="pf9" class="pf w0 h0" data-page-no="9"><div class="pc pc9 w0 h0"><img fetchpriority="low" loading="lazy" class="bi x92 yc3 w9 h1b" alt="" src="https://files.passeidireto.com/ff16b915-da4f-432e-b78a-9c49b242e6bf/bg9.png"><div class="t m1 xf ha y1 ff6 fs4 fc0 sc0 ls1 ws4">EA721 / P<span class="_8 blank"></span>A<span class="_0 blank"></span>ULO V<span class="_7 blank"></span>ALENTE / UNICAMP</div><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls1">9</div><div class="t m0 xf he ye ff1 fs0 fc0 sc0 ls1 ws141">mas de regulac<span class="_14 blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x24 he ye ff1 fs0 fc0 sc0 ls1 ws141">ao de sistemas mec<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x3d he ye ff1 fs0 fc0 sc0 ls1 ws141">anicos.<span class="_12 blank"> </span>A partir da compreens<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x8f h2 ye ff1 fs0 fc0 sc0 ls1 ws141">ao e do dom</div><div class="t m0 xad h2 y68 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 xad h2 ye ff1 fs0 fc0 sc0 ls1 ws141">\u0131nio do</div><div class="t m0 xf h2 y30 ff1 fs0 fc0 sc0 ls1">princ</div><div class="t m0 x25 h2 y50 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x25 he y30 ff1 fs0 fc0 sc0 ls1 ws142">\u0131pio<span class="_a blank"> </span>b <span class="v0">´</span></div><div class="t m0 x6c he y30 ff1 fs0 fc0 sc0 ls1 ws143">asico da realimentac<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x21 h2 y30 ff1 fs0 fc0 sc0 ls1 wsaf">ao, passaram a ser utilizados em diferentes campos</div><div class="t m0 xf he y31 ff1 fs0 fc0 sc0 ls1 ws4">da tecnologia e da ci<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 xae h2 y31 ff1 fs0 fc0 sc0 ls1">encia.</div><div class="t m0 xf h13 y32 ffa fs0 fc0 sc0 ls1 ws144">Eletromec <span class="v0">\u02c6</span></div><div class="t m0 x6c h10 y32 ffa fs0 fc0 sc0 ls1">anica</div><div class="t m0 xf he y11 ff1 fs0 fc0 sc0 ls1 ws145">23.<span class="_18 blank"> </span>Atualmente uma parcela expressi<span class="_0 blank"></span>va das aplicac<span class="_14 blank"></span>¸<span class="_6 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x56 h2 y11 ff1 fs0 fc0 sc0 ls1 ws145">oes de sistemas de controle</div><div class="t m0 xf he y12 ff1 fs0 fc0 sc0 ls1 ws146">en<span class="_0 blank"></span>volv<span class="_0 blank"></span>em sistemas eletromec<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x50 he y12 ff1 fs0 fc0 sc0 ls1 ws78">anicos,<span class="_17 blank"> </span>como motores e rob<span class="_15 blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x90 h2 y12 ff1 fs0 fc0 sc0 ls1 ws78">os.<span class="_27 blank"> </span>Um ex<span class="_0 blank"></span>emplo nesta</div><div class="t m0 xf h2 y51 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 xf he y34 ff1 fs0 fc0 sc0 ls1 ws147">area <span class="v0">´</span></div><div class="t m0 x25 he y34 ff1 fs0 fc0 sc0 ls1 ws148">e o controle de uma unidade de leitura de discos magn<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x52 h2 y34 ff1 fs0 fc0 sc0 ls1 ws148">eticos,<span class="_10 blank"> </span>ilustrado na</div><div class="t m0 xf he y52 ff1 fs0 fc0 sc0 ls1 ws9c">Figura 1.6.<span class="_4 blank"> </span>Um disco magn<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x79 he y52 ff1 fs0 fc0 sc0 ls1 ws149">etico <span class="v0">´</span></div><div class="t m0 x47 h2 y52 ff1 fs0 fc0 sc0 ls1 ws9c">e um dispositi<span class="_0 blank"></span>vo para armazenamento de dados e</div><div class="t m0 xf h2 y13 ff1 fs0 fc0 sc0 ls1 ws17">consiste de uma superf</div><div class="t m0 x16 h2 yc4 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 xaf he y13 ff1 fs0 fc0 sc0 ls1 ws15">\u0131cie circular coberta por material magn<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x52 he y13 ff1 fs0 fc0 sc0 ls1 ws15">etico.<span class="_10 blank"> </span>Os dados s<span class="_e blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x6a h2 y13 ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf he y6a ff1 fs0 fc0 sc0 ls1 ws14a">armazenados numa s<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x32 h2 y6a ff1 fs0 fc0 sc0 ls1 ws14b">erie de c</div><div class="t m0 x59 h2 yc5 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x59 he y6a ff1 fs0 fc0 sc0 ls1 ws14c">\u0131rculos<span class="_4 blank"> </span>conc <span class="v0">\u02c6</span></div><div class="t m0 x96 h2 y6a ff1 fs0 fc0 sc0 ls1 ws14a">entricos, chamados de <span class="ffb">trilhas</span><span class="ws14d">. Existem</span></div><div class="t m0 xf he y14 ff1 fs0 fc0 sc0 ls1 ws4">milhares de trilhas num disco magn<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x0 h2 y14 ff1 fs0 fc0 sc0 ls1">etico.</div><div class="c xe y36 w5 h14"><div class="t m0 x20 h2 yc6 ff1 fs0 fc0 sc0 ls1 ws4">PSfrag replacements</div></div><div class="t m0 x4a h2 yc7 ff1 fs0 fc0 sc0 ls1">trilha</div><div class="t m0 x81 h2 yc8 ff1 fs0 fc0 sc0 ls1 ws14e">disco <span class="ws14f v7">brac<span class="_14 blank"></span>¸ o</span></div><div class="t m0 x73 h2 yc9 ff1 fs0 fc0 sc0 ls1">motor</div><div class="t m0 x6 he yca ff1 fs0 fc0 sc0 ls1 ws4">Figura 1.6:<span class="_12 blank"> </span>Unidade<span class="_a blank"> </span>de leitura de disco magn<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x49 h2 yca ff1 fs0 fc0 sc0 ls1">etico.</div><div class="t m0 xf he ycb ff1 fs0 fc0 sc0 ls1 ws150">24.<span class="_12 blank"> </span>O objetiv<span class="_0 blank"></span>o no sistema ilustrado na Figura 1.6<span class="_16 blank"> </span><span class="v0">´</span></div><div class="t m0 x9c h2 ycb ff1 fs0 fc0 sc0 ls1 ws150">e posicionar a cabec<span class="_14 blank"></span>¸<span class="_e blank"> </span>a da unidade</div><div class="t m0 xf h2 ycc ff1 fs0 fc0 sc0 ls1 ws151">de leitura de forma a ler os dados armazenados numa trilha qualquer do disco.</div><div class="t m0 xf he ycd ff1 fs0 fc0 sc0 ls1 ws7b">A cabec<span class="_14 blank"></span>¸<span class="_e blank"> </span>a de leitura,<span class="_17 blank"> </span>constru<span class="v0">´</span></div><div class="t m0 x86 he ycd ff1 fs0 fc0 sc0 ls1 ws7b">\u0131da com material do tipo <span class="ffb">\ufb01lme \ufb01no</span><span class="ls20">,</span><span class="v0">´</span></div><div class="t m0 xb0 h2 ycd ff1 fs0 fc0 sc0 ls1 ws7b">e montada num</div><div class="t m0 xf he yce ff1 fs0 fc0 sc0 ls1 ws23">dispositi<span class="_0 blank"></span>vo deslizante conectado na extremidade de um brac<span class="_14 blank"></span>¸<span class="_e blank"> </span>o mec<span class="_b blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 xb1 h2 yce ff1 fs0 fc0 sc0 ls1 ws23">anico e paira a</div><div class="t m0 xf he ycf ff1 fs0 fc0 sc0 ls1 ws152">uma<span class="_c blank"> </span>dist <span class="v0">\u02c6</span></div><div class="t m0 xd he ycf ff1 fs0 fc0 sc0 ls1 ws108">ancia de 100 nm da superf<span class="v0">´</span></div><div class="t m0 x7e he ycf ff1 fs0 fc0 sc0 ls1 ws108">\u0131cie do disco.<span class="_12 blank"> </span>A velocidade de rotac<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x80 h2 ycf ff1 fs0 fc0 sc0 ls1 ws108">ao do disco,</div><div class="t m0 xf h2 yd0 ff1 fs0 fc0 sc0 ls1 ws4">constante, encontra-se entre 1800 e 7800 rpm.</div><div class="t m0 xf h2 yd1 ff1 fs0 fc0 sc0 ls1 ws153">25.<span class="_11 blank"> </span>Um sistema de controle em malha fechada para o posicionamento da cabec<span class="_14 blank"></span>¸<span class="_e blank"> </span>a</div><div class="t m0 xf he yd2 ff1 fs0 fc0 sc0 ls1 ws14b">de leitura de um disco magn<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x2f he yd2 ff1 fs0 fc0 sc0 ls1 ws154">etico <span class="v0">´</span></div><div class="t m0 x7e h2 yd2 ff1 fs0 fc0 sc0 ls1 ws14b">e ilustrado na Figura 1.7.<span class="_11 blank"> </span>Cada trilha do disco</div><div class="t m0 xf he yd3 ff1 fs0 fc0 sc0 ls1 ws155">possui um <span class="v0">´</span></div><div class="t m0 x35 he yd3 ff1 fs0 fc0 sc0 ls1 ws156">\u0131ndice<span class="_12 blank"> </span>que<span class="_12 blank"> </span>pr <span class="v0">´</span></div><div class="t m0 x23 he yd3 ff1 fs0 fc0 sc0 ls1 ws157">e-registra<span class="_12 blank"> </span>a<span class="_12 blank"> </span>sua<span class="_12 blank"> </span>posic<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x3a he yd3 ff1 fs0 fc0 sc0 ls1 ws158">ao.<span class="_2 blank"> </span>A cabec<span class="_d blank"></span>¸<span class="_e blank"> </span>a de leitura l<span class="_e blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x27 he yd3 ff1 fs0 fc0 sc0 ls1 ws159">e<span class="_12 blank"> </span>a<span class="_12 blank"> </span>posic<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x6a h2 yd3 ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf h2 yd4 ff1 fs0 fc0 sc0 ls1">(</div><div class="t m0 x68 h2 yd5 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x68 he yd4 ff1 fs0 fc0 sc0 ls1 wsb3">\u0131ndice) da trilha corrente,<span class="_16 blank"> </span>a qual<span class="_2 blank"> </span><span class="v0">´</span></div><div class="t m0 x34 he yd4 ff1 fs0 fc0 sc0 ls1 ws123">e comparada com a posic<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x49 h2 yd4 ff1 fs0 fc0 sc0 ls1 ws123">ao (</div><div class="t m0 x94 h2 yd5 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x94 h2 yd4 ff1 fs0 fc0 sc0 ls1 wsb3">\u0131ndice) desejada.</div><div class="c xd yb w2 h7"><div class="t m0 xe h8 yc ff5 fs3 fc0 sc0 ls1">www.mecatronicadegaragem.blogspot.com</div></div></div><div class="pi" data-data='{"ctm":[1.000000,0.000000,0.000000,1.000000,0.000000,0.000000]}'></div></div> <div id="pfa" class="pf w0 h0" data-page-no="a"><div class="pc pca w0 h0"><img fetchpriority="low" loading="lazy" class="bi x66 yd6 wa h1c" alt="" src="https://files.passeidireto.com/ff16b915-da4f-432e-b78a-9c49b242e6bf/bga.png"><div class="t m1 xf ha y1 ff6 fs4 fc0 sc0 ls1 ws4">EA721 / P<span class="_8 blank"></span>A<span class="_0 blank"></span>ULO V<span class="_7 blank"></span>ALENTE / UNICAMP</div><div class="t m0 x6a h2 y1 ff1 fs0 fc0 sc0 ls1">10</div><div class="t m0 xf he ye ff1 fs0 fc0 sc0 ls1 ws2a">O sinal de erro de posic<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x23 he ye ff1 fs0 fc0 sc0 ls1 ws15a">ao <span class="v0">´</span></div><div class="t m0 x79 h2 ye ff1 fs0 fc0 sc0 ls1 ws2a">e transmitido ao ampli\ufb01cador<span class="_0 blank"></span>, o qual por sua vez gera</div><div class="t m0 xf he y30 ff1 fs0 fc0 sc0 ls1 ws7a">uma entrada de controle para um motor DC de im<span class="_b blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 xb2 he y30 ff1 fs0 fc0 sc0 ls1 ws15b">a<span class="_12 blank"> </span>permanente,<span class="_12 blank"> </span>respons <span class="v0">´</span></div><div class="t m0 xa4 h2 y30 ff1 fs0 fc0 sc0 ls1 ws7a">avel pelo</div><div class="t m0 xf h2 y31 ff1 fs0 fc0 sc0 ls1 ws4">posicionamento do brac<span class="_14 blank"></span>¸<span class="_e blank"> </span>o da leitora.</div><div class="c xe y36 w5 h14"><div class="t m0 x8c h2 yd7 ff1 fs0 fc0 sc0 ls1 ws9">PSfrag replacements</div></div><div class="t m0 x4b h16 yd8 ffd fs0 fc0 sc0 ls1">+</div><div class="t m0 x82 h16 yd9 ff9 fs0 fc0 sc0 ls1">\u2212</div><div class="t m0 x50 h1d yda ff1 fs0 fc0 sc0 ls1 ws4">Ampli\ufb01cador<span class="_2a blank"> </span>Motor e Brac<span class="_14 blank"></span>¸<span class="_e blank"> </span>o<span class="_2b blank"> </span><span class="ws15c v8">Posic<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></span></div><div class="t m0 xb3 he ydb ff1 fs0 fc0 sc0 ls1 ws15c">ao<span class="_2c blank"></span>Posic<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 xb4 h2 ydb ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 x64 h2 ydc ff1 fs0 fc0 sc0 ls1 ws15d">Desejada Leitura</div><div class="t m0 x10 h2 ydd ff1 fs0 fc0 sc0 ls1">Sensor</div><div class="t m0 x24 he yde ff1 fs0 fc0 sc0 ls1 ws4">Figura 1.7:<span class="_12 blank"> </span>Sistema de controle<span class="_a blank"> </span>da posic<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x8b h2 yde ff1 fs0 fc0 sc0 ls1 ws4">ao de leitura.</div><div class="t m0 xf he ydf ff1 fs0 fc0 sc0 ls1 ws15e">26.<span class="_12 blank"> </span>As<span class="_c blank"> </span>especi\ufb01cac<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x46 h2 ydf ff1 fs0 fc0 sc0 ls1 ws7f">oes de desempenho para o sistema de controle em malha fechada</div><div class="t m0 xf he ye0 ff1 fs0 fc0 sc0 ls21">s<span class="ls1 v0">\u02dc</span></div><div class="t m0 x68 h2 ye0 ff1 fs0 fc0 sc0 ls1 ws89">ao bastante r</div><div class="t m0 x4b h2 ye1 ff1 fs0 fc0 sc0 ls1">´</div><div class="t m0 x4b he ye0 ff1 fs0 fc0 sc0 ls1 ws8a">\u0131gidas:<span class="_4 blank"> </span>o erro entre a posic<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x77 he ye0 ff1 fs0 fc0 sc0 ls1 ws8a">ao desejada e a posic<span class="_14 blank"></span>¸<span class="_f blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 x73 h2 ye0 ff1 fs0 fc0 sc0 ls1 ws8a">ao \ufb01nal da cabec<span class="_14 blank"></span>¸<span class="_e blank"> </span>a de</div><div class="t m0 xf h2 ye2 ff1 fs0 fc0 sc0 ls1 ws12b">leitura de<span class="_0 blank"></span>ve ser da ordem de <span class="ff9">±<span class="ffd ls22">1</span><span class="ffc">µ</span></span>m;<span class="_10 blank"> </span>a cabec<span class="_14 blank"></span>¸<span class="_e blank"> </span>a dev<span class="_0 blank"></span>e mover<span class="_0 blank"></span>-se entre duas trilhas</div><div class="t m0 xf h2 ye3 ff1 fs0 fc0 sc0 ls1 ws4">quaisquer do disco num interv<span class="_0 blank"></span>alo de 50 ms.</div><div class="t m0 xf h10 ye4 ffa fs0 fc0 sc0 ls1">Biomedicina</div><div class="t m0 xf he ye5 ff1 fs0 fc0 sc0 ls1 ws8d">27.<span class="_2 blank"> </span>O uso de conceitos e t<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x29 he ye5 ff1 fs0 fc0 sc0 ls1 ws8d">ecnicas de controle autom<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x20 he ye5 ff1 fs0 fc0 sc0 ls1 wsa8">atico na<span class="_16 blank"> </span><span class="v0">´</span></div><div class="t m0 x18 h2 ye5 ff1 fs0 fc0 sc0 ls1 ws8d">area de biomedicina</div><div class="t m0 xf he ye6 ff1 fs0 fc0 sc0 ls1 ws15f">pode ser ilustrado atrav<span class="_29 blank"> </span><span class="v0">´</span></div><div class="t m0 x16 he ye6 ff1 fs0 fc0 sc0 ls1 ws160">es<span class="_6 blank"> </span>da<span class="_6 blank"> </span>discuss <span class="v0">\u02dc</span></div><div class="t m0 x0 he ye6 ff1 fs0 fc0 sc0 ls1 ws15f">ao de um sistema autom<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 x93 he ye6 ff1 fs0 fc0 sc0 ls1 ws161">atico<span class="_6 blank"> </span>para<span class="_6 blank"> </span>administrac<span class="_d blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x1 h2 ye6 ff1 fs0 fc0 sc0 ls1">ao</div><div class="t m0 xf h10 ye7 ff1 fs0 fc0 sc0 ls1 ws162">de <span class="ffa">insulina</span><span class="ws163">,<span class="_a blank"> </span>um<span class="_a blank"> </span>horm <span class="v0">\u02c6</span></span></div><div class="t m0 x26 h13 ye7 ff1 fs0 fc0 sc0 ls1 ws4">onio produzido no <span class="ffa ls23">p<span class="ls1 v0">\u02c6</span></span></div><div class="t m0 x96 h10 ye7 ffa fs0 fc0 sc0 ls1 ws38">ancreas<span class="ff1">.</span></div><div class="t m0 xf he ye8 ff1 fs0 fc0 sc0 ls1 ws150">28.<span class="_12 blank"> </span>A maioria dos alimentos que ingerimos<span class="_16 blank"> </span><span class="v0">´</span></div><div class="t m0 x5e h10 ye8 ff1 fs0 fc0 sc0 ls1 wsd">e transformada em <span class="ffa">glicose</span><span class="ws150">, uma forma</span></div><div class="t m0 xf he ye9 ff1 fs0 fc0 sc0 ls1 ws164">de<span class="_12 blank"> </span>ac<span class="_d blank"></span>¸ <span class="v0">´</span></div><div class="t m0 x9a he ye9 ff1 fs0 fc0 sc0 ls1 ws83">ucar que<span class="_16 blank"> </span><span class="v0">´</span></div><div class="t m0 x24 h2 ye9 ff1 fs0 fc0 sc0 ls1 ws83">e transformada pelo corpo humano em energia.<span class="_2 blank"> </span>A insulina ajuda a</div><div class="t m0 xf he yea ff1 fs0 fc0 sc0 ls1 ws4">glicose de origem alimentar a penetrar nas c<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 xb5 h2 yea ff1 fs0 fc0 sc0 ls1 ws4">elulas, de forma a que estas produzam</div><div class="t m0 xf he yeb ff1 fs0 fc0 sc0 ls1 ws165">energia.<span class="_12 blank"> </span>Na<span class="_c blank"> </span>aus <span class="v0">\u02c6</span></div><div class="t m0 x11 he yeb ff1 fs0 fc0 sc0 ls1 ws166">encia de insulina, a glicose se acumula no corpo ao in<span class="_0 blank"></span>v<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 x80 h2 yeb ff1 fs0 fc0 sc0 ls1 wsb">es de ser ab-</div><div class="t m0 xf he yec ff1 fs0 fc0 sc0 ls1 ws167">sorvida<span class="_c blank"> </span>pelas<span class="_a blank"> </span>c <span class="v0">´</span></div><div class="t m0 x24 h10 yec ff1 fs0 fc0 sc0 ls1 ws168">elulas.<span class="_12 blank"> </span>O <span class="ffa ws169">diabetes </span><span class="ws16a">se manifesta quando o corpo n<span class="_b blank"> </span><span class="v0">\u02dc</span></span></div><div class="t m0 x97 h2 yec ff1 fs0 fc0 sc0 ls1 ws16a">ao produz insulina</div><div class="t m0 xf he yed ff1 fs0 fc0 sc0 ls1 ws4">su\ufb01ciente ou<span class="_4 blank"> </span><span class="v0">´</span></div><div class="t m0 x5f h2 yed ff1 fs0 fc0 sc0 ls1 ws4">e incapaz de utilizar e\ufb01cientemente a insulina que produz.</div><div class="t m0 xf he yee ff1 fs0 fc0 sc0 ls1 ws1f">29.<span class="_16 blank"> </span>A Figura 1.8 ilustra os per\ufb01s de produc<span class="_d blank"></span>¸<span class="_15 blank"> </span><span class="v0">\u02dc</span></div><div class="t m0 xb6 h2 yee ff1 fs0 fc0 sc0 ls1 wsa9">ao de glicose e insulina de uma pessoa</div><div class="t m0 xf he yef ff1 fs0 fc0 sc0 ls1 ws16b">saud <span class="v0">´</span></div><div class="t m0 x1d he yef ff1 fs0 fc0 sc0 ls1 ws6d">avel, os quais serv<span class="_0 blank"></span>em de refer<span class="_b blank"> </span><span class="v0">\u02c6</span></div><div class="t m0 x9e he yef ff1 fs0 fc0 sc0 ls1 ws6d">encia para um sistema autom<span class="_e blank"> </span><span class="v0">´</span></div><div class="t m0 xa9 h2 yef ff1 fs0 fc0 sc0 ls1 wsd">atico para adminis-</div><div class="t m0 xf he yf0 ff1 fs0 fc0 sc0 ls1 ws16c">trac<span class="_14 blank"></span>¸ <span class="v0">\u02dc</span></div><div class="t m0 x3 h10 yf0 ff1 fs0 fc0 sc0 ls1 ws16d">ao de <span class="ffa ws16e">insulina </span><span class="ws143">a ser implantado num paciente diab<span class="_b blank"> </span><span class="v0">´</span></span></div><div class="t m0 x3b h2 yf0 ff1 fs0 fc0 sc0 ls1 ws143">etico.<span class="_12 blank"> </span>O sistema de controle</div><div class="t m0 xf he yf1 ff1 fs0 fc0 sc0 ls1 ws16f">representado na Figura 1.9<span class="_16 blank"> </span><span class="v0">´</span></div><div class="t m0 x79 h2 yf1 ff1 fs0 fc0 sc0 ls1 ws72">e do tipo malha aberta porque a tecnologia atual ainda</div><div class="t m0 xf he yf2 ff1 fs0 fc0 sc0 ls3">n<span class="ls1 v0">\u02dc</span></div><div class="t m0 x87 he yf2 ff1 fs0 fc0 sc0 ls1 ws170">ao permite miniaturarizar um sensor para n<span class="v0">´</span></div><div class="t m0 x5e h2 yf2 ff1 fs0 fc0 sc0 ls1 ws171">\u0131veis de glicose.<span class="_a blank"> </span>Um sistema composto</div><div class="t m0 xf he yf3 ff1 fs0 fc0 sc0 ls1 ws172">por um reserv<span class="_0 blank"></span>at<span class="_15 blank"> </span><span class="v0">´</span></div><div class="t m0 x6 he yf3 ff1 fs0 fc0 sc0 ls1 ws173">orio de insulina, motor<span class="_0 blank"></span>,<span class="_16 blank"> </span>bomba e v<span class="_b blank"> </span><span class="v0">´</span></div><div class="t m0 xa8 h2 yf3 ff1 fs0 fc0 sc0 ls1 ws172">alvula administra uma taxa de</div><div class="c xd yb w2 h7"><div class="t m0 xe h8 yc ff5 fs3 fc0 sc0 ls1">www.mecatronicadegaragem.blogspot.com</div></div></div><div class="pi" data-data='{"ctm":[1.000000,0.000000,0.000000,1.000000,0.000000,0.000000]}'></div></div>
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