Beruflich Dokumente
Kultur Dokumente
Analysis
Prof. Bidyadhar Subudhi
Dept. of Electrical Engineering
National Institute of Technology Rourkela, India
bidyadhar@nitrkl.ac.in
Frequency response
For a RC circuit:
If : ur A sin(wt 0 )
ur
U c ( jw )
1
jwC
U r ( jw )
U r ( jw )
1
jwRC 1
R
jwC
Make:
then:
We have:
G ( jw )
Uc( jw )
1
Ur( jw )
jwRC 1
Uc ( jw ) G( jw )U r ( jw )
uc (t ) Ucm sin(wt c )
uc
Here:
U cm U c ( jw ) G ( jw ) U r ( jw )
1
A
( RCw ) 2 1
We call:
G ( jw )
c U c ( jw ) G( jw ) U r ( jw )
tg -1 ( RCw ) 0
U c ( jw )
1
U r ( jw )
jwRC 1
Here
:
C ( jw )
R ( jw )
And we name:
A(w ) G( jw )
C ( jw )
R( jw )
Data processing
Proof :
C ( s)
M ( s)
R( s ) ( s p1 )( s p2 ) ( s pn )
Aw
r(t) A sinwt R( s )
s2 w 2
assume : G ( s )
and
C ( s ) G( s ) R( s )
M ( s)
Aw
( s p1 )( s p2 ) ( s pn ) ( s jw )( s jw )
Here:
A1
Kn
K1
K2
A2
( s p1 ) ( s p2 )
( s p3 ) ( s jw ) ( s jw )
M ( s)
Ki
( s pi ) R( s )
( s p1 )( s p2 ) ( s p3 )
s p
A1 G ( s )
Aw
( s jw )
( s jw )( s jw )
s jw
A G ( jw ) j ( G ( jw )90o )
A
G ( jw )
e
2j
2
A G ( jw ) j ( G ( jw ) 90o )
A2 A1
e
c( t )
i 1
o
j (wt G ( jw )90o )
j
(
w
t
G
(
j
w
)
90
)
e
e
pi t
Kie
A G ( jw )
i 1
K i e pi t A G ( jw ) sin(wt G ( jw ))
i 1
For the stable system all poles (-pi) have a negative real parts,
we have the steady-state output signal:
n
lim c( t ) c s ( t ) lim [
K i e pi t A G ( jw ) sin(wt G ( jw ))]
i 1
A G ( jw ) sin(wt G ( jw ))
Then we have :
G ( jw )
C ( jw )
G( s)
s jw
R ( jw )
Example
A unity feedback control system, the open-loop transfer
function:
1
G( s)
0.5 s 1
If : r ( t ) 10 sin(4t 60o ) 20cos(4t 45o )
Solution:
1) Determine the steady-state response c(t) of the system.
The closed-loop transfer function is:
1
C ( s)
G( s )
1
0.5 s 1
( s)
R( s ) 1 G( s ) 1 1
0.5 s 2
0.5 s 1
1
R( s )
R( s )
R( s )
1
1 ( s) 1
0.5 s 2
0.5 s 1
0.5 s 2
0.5 jw 1
R( jw )
0.5 jw 2
j 0.5w 1
E ( jw )
R ( jw )
j 0.5w 2
w 4
E ( jw )
5
10
4
5
20
4
j 0.5w 1
E ( jw )
R ( jw )
j 0.5w 2
w 4
The error frequency response:
(63.4 o 45o ) (4t 60o ) 4t 78.4 o
(
63
.
4
2
5
G( s)
10
10
G( jw )
2s 1
j 2w 1
G ( jw )
G ( jw )
0
0.5
1
2
3
4
10
7.07
4.47
2.4
1.64
1.24
0o
45o
63.435o
75.964o
80.538o
82.875o
0 .995
84.29o
10
10
tg 1 ( 2w )
1 ( 2w ) 2
G ( jw ) G ( jw )
5
1
0
- 90o
0. 5 1
Assume :
w r satisfy :
G ( jw )
1 G ( jw ) H ( jw )
d
A(w )
0
dw
w w
Mr
A(0)
0.707A(0)
w w r
(3) Bandwidth b:
w b satisfy :
2
A(w )
A(0)
w wb
2
Fig.
wc satisfy :
G ( j) H ( j)
1 G ( jw ) G ( jw ) G(j w ) 1
(2) Gain margin Kg:
1
Kg
; K g ( dB) 20 log G ( jw ) H ( jw )
w w g
G ( jw ) H ( jw )
w w g
Here wg satisfies :
G( jw ) H ( jw ) w w 1800
g
c G ( jw ) H ( jw ) w w ( 1800 )
G ( jw ) H ( jw )
w wc
A( 0 ) A(w ) w 0
assume : G ( s) KG
1
K
then : A(0) H
1
KG K H
1
s
G0 ( s) H ( s) K H H0 ( s)
v 1
v0
A( 0) KG
1 KG
v 1
v0
A()
Mr
G ( jw )
A(0)
A(w )
A(0)
0.707A(0)
1 G ( jw ) H ( jw ) w w
M
0
: allowed reproducin g error
Fig. 5.5.2
Demonstration
assume : E ( jw ) R( jw ) C ( jw ) e ( jw ) R( jw )
and : e ( jw )
wn
G( s) 2
2
s 2wn s wn
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
w b w n (1 2 2 ) 2 4 2 4 4
2
2
w r w n 1 2 (0
)
2
Mr
1
2 1 2
wc wn
1 4 4 2 2
c tg 1
Kg
1 4 4 2 2
, w n p % , t s , t r ...
, w n p % , t s , t r ...
Some dB Values
dB
-20
-10
-5
-3
-2
-1
ratio
0.100
0.316
0.562
0.708
0.794
0.891
dB
20
10
5
3
2
1
ratio
10.000
3.162
1.778
1.413
1.259
1.122
(power)!
Knowing a few logs by memory can help you calculate logs of different
ratios by employing properties of log. For instance, knowing that the
ratio of 2 is 3 dB, whats the ratio of 4?
47
48
49
50
(w ) G( jw ) G1 ( jw ) G2 ( jw ) G3 ( jw ) ...
L(w ) 20 log G 2o log G1 20 log G2 20 log G3 ...
That is, Bode diagram of a open loop system is the
superposition of the Bode diagrams of the typical elements.
G( s )
C ( s)
K
R( s )
Frequency response:
(w ) G( jw ) 0o
L(w ), (w )
(w ) 0o
L(w ) 20 log K dB
0dB, 0o
0.1
10
100
Bode diagram
w (log w )
G( s)
Frequency response:
C ( s) 1
R( s )
s
1
G ( jw ) L(w ) 20 log G ( jw ) 20 log w
G ( jw )
w
jw
o
(
w
)
G
(
j
w
)
90
L(w ), (w )
L(w ) : 20dB / dec
0dB, 0o
0.1
10
Bode diagram
w (log w )
100 (w ) 90o
5
4
5
5
5
6
Transfer
G( s )
jwT 1
R( s ) Ts 1
function:
w 1 T
0
1
G( jw )
L(w ) 20 log 1 (wT ) 2 3dB
w 1 T
20 log(wT ) w 1 T
1 (wT ) 2
1
(w ) tg (wT )
K
1
G
(
s
)
:
1/T: break frequency
T2 s 1 T2
L(w ), (w )
0dB,
0o
20 log K
0.1
10
1
T
100
45o
w (log w )
20dB / dec
90o
Bode diagram
Corrections
6
3
Log-magnitude curve, together with the asymptotes, and phase-angle curve for
61+jT.
4
6
6
Errors obviously exist in the approximation by straightline asymptotes. The magnitude of th error depends on the
value of .
67
69
R( s ) T 2 s 2 2Ts 1
Transfer function:
G( jw )
G ( jw )
(1 w 2T 2 ) j 2Tw
(w ) tg 1 (
1 (w T ) (2Tw )
2
0 1
2Tw
2 2
1w T
w w n ( 1 T )
0
maximum value of G( jw )
d
2
2
Make:
( G( jw ) ) 0 w w r w n 1 2 (0 )
dw
2
1
w r resonant f requency M G( jw )
r
r
M r resonant p eak
2 1 2
L(w ), (w )
20 log M r
20 log( 1
wn 1 / T
wr
0dB, 0o
0.1
10
100
w (log w )
90 o
40dB / dec
180o
Bode diagram
1. w r ( w n ) M r
0 w r w n unstable system
2.
2 w 0 No resonan ce, Optimal Second - order System
inverse
inverse
1
1
Ts 1
T 2 s 2 2Ts 1
L(w ), (w )
180o
L(w ) : 20dB / dec
0dB,
0o
0.1
10 100
40dB / dec
(w ) 90o
w (log w )
90o
0dB, 0o
differential
L(w ), (w )
90
20dB / dec
45
0.1
10
0.1
10
100
w (log w )
20 log( 1
0dB, 0o
wn 1 T
100
w (log w )
1th-order differential
20 log M r
2th-order differential
C ( s)
G( s )
e s
R( s )
G ( jw ) 1 L(w ) 0
j
w
G ( jw ) e
(w ) G( jw ) w
L(w ), (w )
0dB, 0o
0.1
10
Bode diagram
100
w (log w )
G( s ) H ( s )
10( s 1)
s 2 (0.01s 1)
10( s 1)
1
1
G ( s) H ( s)
10 (s 1)
2
s (0.01s 1)
s2 0.01s 1
Then we have:
20dB/de
L(w ), (w )
c
40dB/dec
40dB, 90o
20dB, 45o
0dB,
0o
-20dB,
-45o
-40dB, -90o
-60dB.-135o
-80dB,-180o
20dB/dec
0.1
10
100
w (log w )
20dB/dec
-40dB/dec
40dB/dec
G ( s)
10( s 1)
s(0.1s 1)( 0.012 s 2 0.01s 1)
20log10 20log (w 1)
(w ) 90o tg 1w tg 1 (0.1w )
20log10 20logw
0.01w
1
(1 w 10)
tg
20logw
2
(
0
.
01
w
)
20logw 20log(0.1w )
56.5o
w 10
(
w
)
20log10 20logw
o
174
.
9
w 100
40log(0.01w )
G ( s)
10( s 1)
2 2
20dB,
0dB, 0o
45o
-40dB,
-90o
0.1
-20dB, -45o
10
20dB/dec
1.25dB
100
wr
w (log w )
60dB/dec
-60dB.-135o
-80dB,-180o
-100dB,-225o
-120dB,-270o
1
2 1 2
1.154 1.25 dB
G1 ( s)
G2 ( s )
(Ts 1)
(Ts 1)
K ( s 1)
K (s 1)
G3 ( s)
G4(s)
(Ts 1)
(Ts 1)
G1 (w ) G2 (w ) G3 (w ) G4 (w )
(w ) 2 1
(Tw ) 2 1
L(w )
40dB/dec
20dB/dec
0dB, 0o
0.1
20
200
10 100
w (log w )
40dB/dec
and :
Example.4
we can get the G(s) from the
Bode diagram :
Ks
G ( s)
(T1s 1)(T2 s 1)
w 20
0 K 40
L(w )
20dB
0dB
20dB/dec
0.5
0.1
20dB/dec
200
10 100
w (log w )
20dB
0dB
20dB/dec
0.5
0.1
20dB/dec
200
10 100
w (log w )
K 2
Example 5.3.5
we can get the G(s) from
the Bode diagram :
G ( s)
K ( 0.01s 1)
s(T 2 s 2Ts 1)
20dB/dec
L(w )
8.136 dB
20 dB
0dB
0.1
10
w (log w )
100
60dB/dec
20dB/dec
K ( 0.01s 1)2
20dB/dec
L(w )
0dB
0.1
s(T 2 s 2Ts 1)
1
10 T 0.1
T
L(w ) 20 log K 20 log w w 10 20 dB K 100
20 log
1
2 1 2
8.136 0.2
8.136 dB
20 dB
10
w (log w )
100
60dB/dec
20dB/dec
then :
100(0.01s 1) 2
G(s)
s(0.01s 0.04s 1)
Example 6
10(0.1s 1)
10(0.1s 1) 0dB,
G1
G2
( s 1)
( s 1)
10( 0,1s 1)
10(0.1s 1)
G3
G4 ( s )
( s 1)
( s 1)
0o
0.1
90o
180o
20dB/dec
10
100
w (log w )
1
G ( jw ) H ( jw )
K g ( dB ) 20 log G ( jw ) H ( jw )
w w g
w w g
2. Phase margin c
c : G( jw ) H ( jw )
w wc
Examples
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
-180
1
0
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
EXAMPLE 8-5
124
Bode diagram of
125
126
128
130
131
132
133
134
135
136
137
Example
138
1
3
1
4
Frequency Response
Methods Using
MATLAB
1
4
Frequency Response
Methods Using
MATLAB
1
4
Bode Plots
Bode plot is the representation of the magnitude and phase of G(j*w)
(where the frequency vector w contains only positive frequencies).
To see the Bode plot of a transfer function, you can use the MATLAB
bode
command.
For example,
bode(50,[1 9 30 40])
displays the Bode plots for the
transfer function:
1
4
Examples Bode
1
4
Examples - Bode
1
4
Examples - Bode
1
4
Examples Bode
1
4
Questions???
Thank you
148