Beruflich Dokumente
Kultur Dokumente
D Bishakh
Dr.
Bi h kh Bhattacharya
Bh tt h
Professor, Department of Mechanical Engineering
IIT Kanpur
Module 3- Lecture 25
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
ThisLectureContains
IntroductiontoBodePlot
Introduction to Bode Plot
BodePlotofaFirstOrderSystem
BodeplotofHigherOrderSystem
GainandPhaseMargin
Assignment
Module 3- Lecture 25
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 25
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 25
T (s)
K ( s zi )
i 1.
nk
s k (s p j )
j 1
The magnitude (in terms of decibel) and phase of the transfer function are:
nk
i 1
T ( s ) (m n)
j 1
JointInitiativeofIITsandIISc Fundedby
MHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 25
Bode Plot of (s
(s+p)
p)
T ( j ) j p p(1 j
T ( j) p
20logT ( j) 20log(p)
Let us look at the system behavior for higher value of the frequency
(say /p >1).
JointInitiativeofIITsandIISc Fundedby
MHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 25
T ( j ) p ( j
20 log(
g(T ) 20 log(
g( p ) 20 log(
g( ) 20 log(
g( )
p
JointInitiativeofIITsandIISc Fundedby
MHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 25
JointInitiativeofIITsandIISc Fundedby
MHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 25
In this case, one can follow a similar procedure to find the asymptotic behavior.
It can be
b shown
h
that
th t ffor llow ffrequency th
the magnitude
it d iis close
l
tto 20 llog(1/p)
(1/ ) and
d
beyond p, it decreases at the rate of 20dB per decade. The phase plot will show
that the initial phase to be close to zero and then decrease at the rate of 45
degree per decade until reaches -900 as the frequency goes beyond 10p
JointInitiativeofIITsandIISc Fundedby
MHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 25
For a cascaded system having two poles, similar arguments could be placed
and
d the
th change
h
off slope
l
corresponding
di to
t each
h off the
th poles
l att the
th rate
t off -20dB
20dB
0
per decade for the magnitude plot and -45 per decade for the phase plot could
be applied.
For a second order system, again asymptotic plot will show the magnitude to
be reducing at the rate of -40dB per decade and the phase plot will show -900
per decade decay from the initial value till it reaches -1800 .
A typical Bode-plot of a second order system is shown in the next slide. You
can use MATLAB for Bode plot by first defining the transfer function and then
using the command bode(transfer function).
JointInitiativeofIITsandIISc Fundedby
MHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 25
JointInitiativeofIITsandIISc Fundedby
MHRD
10
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 25
From Nyquist Criteria you know that instability occurs if there is encirclement
off -1
1 corresponding
di to
t a phase
h
off 1800 .
This implies that the for stability the magnitude of the transfer function must be
less than unity
y at a frequency
q
y which corresponds
p
to 1800 p
phase. In fact the
actual Gain in dB corresponding to this frequency provides the gain margin.
In a similar manner the phase value corresponding to the frequency where gain
of the system is 0 dB provides the phase margin
margin.
You can use the margin command in MATLAB to obtain both the Bode plot,
Gain and Phase Margin.
JointInitiativeofIITsandIISc Fundedby
MHRD
11
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 25
Assignment
G(s)
( s 6)
( s 2)( s 4)( s 7)( s 8)
Input the transfer function in MATLAB and sketch the bode plot.
Find out the Gain and Phase Margin and comment on the stability of the
system.
JointInitiativeofIITsandIISc Fundedby
MHRD
12
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 25
JointInitiativeofIITsandIISc Fundedby
MHRD
13