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G3
G2
G1
Gn
Gs G1 s G2 s G3 s Gn s
j Gi
G j Gi e i1
i 1
s replaced by j
magnitude characteristic
phase characteristic
G j Gi
i 1
G j Gi
n
i 1
i 1
i 1
20 lg G 20 lg Gi 20 lg Gi
That is, Bode diagram of a open loop system is the superposition of the
Bode diagrams of the typical elements.
Example
10
G1 (s) 10
s(0.5s 1)
Constant gain K =10 (20lg10=20dB)
A pole at origin
First break frequency: 2 rad/s
G( s)
G2 ( s)
1
s
G3 ( s)
1
0.5s 1
Example
G( s)
10
s(0.5s 1)
-20dB/dec
-40dB/dec
10( s 1)
s(0.1s 1)(0.012 s2 0.01s 1)
( ) 90o tg 1 tg 1 (0.1 ) tg 1
0.01
1 (0.01 ) 2
51.3o 1
( ) 56.5o 10
174.9o 100
1
2 1
1.154 1.25 dB
L( ), ( )
40dB
20dB/dec
20dB/dec
1.25dB
20dB
0dB, 0o
0.1
10
100
-45o
-90o
60dB/dec
-135o
-180o
-225o
-270o
function if its zeros and poles all lie in the left hand of s-plane.
A transfer function is called a non-minimum phase transfer
function if it has any zero or pole lie in the right hand of s-plane.
For the minimum phase systems we can affirmatively
determine the relevant transfer function only from the magnitude
response of the Bode diagram.
For the non-minimum phase system we must combine the
magnitude response and phase response together to determine
the transfer function.
L( )
[+20]
1/T
(1)(2)
1/
[-20]
( )
( )
1/T
(1)
900
(3)(4)
(4)
900
(3)
(2)
1/
Example 1#
40dB/dec
20dB/dec
0dB
0.1
1 2
10 20100 200
40dB/dec
K (0.5s 1)
s 2 (0.005s 1)
20
Example 2#
20dB
20dB/dec
20dB/dec
0.5
200
0dB
0.1
10
100
Ks
(T1s 1)(T2 s 1)
and :
L( ) 20 log K 20 log 0.5 0
K 2
Example 3#
we can get the G(s) from the Bode diagram :
K (0.01s 1) 2
G( s)
s(T 2 s 2Ts 1)
1
10 T 0.1
T
L( ) 20 log K 20 log 10 20 dB K 100
20 log
1
2 1
L( )
8.136 0.2
20dB/dec
100(0.01s 1) 2
then : G(s)
s(0.01s 0.04s 1)
8.136 dB
20 dB
0dB
0.1
10
100
60dB/dec
20dB/dec