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Dr. S.V. Modak Associate Professor Department of Mechanical Engineering Indian Institute of Technology, Delhi
Frequency Response
G ( j ) = y ( j ) x ( j )
x = X sin t
y = Y sin(t + )
Y = G ( j ) X
Y = G ( j ) + X
Frequency Response
Transfer Function
K G ( s) = (1 + Ts )
K G ( s) = (1 + Ts )
K G ( j ) = (1 + jT )
G ( j ) =
K 1 + (T ) 2
G ( j ) = tan 1 T
Y = G ( j ) X =
K 1 + (T )
2
Y = G ( j ) + X = tan 1 T + 0 = tan 1 T
Bode Plot
Consists of two plots: 1) Magnitude plot: Logarithmic Magnitude (dB) v/s Frequency on a log-scale 2) Phase plot: Phase v/s Frequency on a log-scale Both plots are made on a semi-log paper with - log-scale for frequency on x-axis and - linear-scale for dB on y-axis
Sketching of Bode plots for a given open loop TF of a closed loop system
K1 (1 + T1s ) G( s) = 2 s (1 + T2 s ) s 2 + 2n s + n
K (1 + jT1 ) G ( j ) = j 2 j j (1 + jT2 ) + + 2 1 n n
:
Magnitude of
G( j)
M 1e j1 M 2e j2 G ( j ) = M 3e j3 M 4 e j4 M 5e j5
G ( j ) =
M1 M 2 M3 M4 M5
G ( j ) =
K (1 + jT1 ) j 2 j 2 1 j (1 + jT2 ) + + n n
e j1 e j2 G ( j ) = j3 j4 j5 = e j (1+2 3 4 5 ) = 1 + 2 3 4 5 e e e
K + (1 + jT1 ) j 2 j j + (1 + jT2 ) + + + 2 1 n n
G ( j ) =
:
j 2 j G ( j ) = K + (1 + jT1 ) j (1 + jT2 ) + 2 + 1 n n
)
K (1 + jT1 ) j 2 j + + 2 1 j (1 + jT2 ) n n
G ( j ) =
Four basic factors are: 1) Gain 2) Integral or derivative factor 3) First order factors 4) Second order factors K
( j ) 1
(1 + jT2 )1
j j 2 1 + + n n
2 1
dB = 20 log10 K = 20 0 = 0dB
If gain K is increased by factor of 10, then the bode plot of K shifts up by 20dB.
If gain K is increased by factor of 10n, then the bode plot of K shifts up by 20dB
dB = 20 log10
1 1 = 20 log10 j
= 20 20 log10
Therefore, on log-frequency scale the magnitude plot is a straight line with a slope of -20dB/decade..
Phase:
On the log-frequency scale the magnitude plot is a straight line with a slope of +20dB/decade and a phase of +90 degrees
( j ) + / n
On the log-frequency scale the magnitude plot is a straight line with a slope of +/-20n dB/decade and a phase of +/-90n degrees
(1 + jT )1
Phase
Magnitude
1 jT 1 dB = 20 log10 = 20 log10 1 + 2T 2 1 + jT
:
= 20 log10
1 + 2T 2 1 = 20 log 10 1 + 2T 2 1 + 2T 2
2 2
<<
(1 + jT )1
(1 + jT )1
Asymptotic approximations (Limiting cases) High frequency asymptote
1 Corner frequency c = T
(1 + jT )1
Corrections: a) -3dB at the corner frequency b) -1dB at the frequencies one octave below and above the corner freq.
(1 + jT )+1
Magnitude
dB = 20 log10
Phase
1 j 2 j + 2 + 1 n n
2 2 2 1 2 + n n
1 j j + 2 + 1 n n
2
= 20 log10
0 = tan 1 tan 1 1
n
2
2 = tan 1
n
2
1 n
1 n
Corner frequency c = n
High Freq. Asymptote Low Freq. Asymptote
:
<< n
dB 20 log10 1 = 0dB
at = n 1 G ( j ) = 2
>> n
dB 20 log10 2 n
2 2
40 log10 dB n
( slope of 40dB / decade)
Corrections: Depend on Zeta. More difficult to accurately plot second order factor
2) Identify corner frequency for each factor 3) Draw the magnitude plot for each factor (using asymptotes and the corrections) 4) Algebraically add all magnitude plots. (Note that the slope changes at the corner frequency) 5) Similarly draw phase plot.
Problem
Draw Bode magnitude plot
1000( s + 1) G ( s) = (s + 10)2
10( s + 1) (s / 10 + 1)2
G (s) =
10( j + 1) G ( j ) = ( j / 10 + 1)2
Bode Mag