Beruflich Dokumente
Kultur Dokumente
UNIT 3
P. Kavitha
Associate Professor
SELECT, VIT
kavitha.p@vit.ac.in
OVERVIEW
Frequency-domain techniques
Bode plots
Frequency response for systems with transportation lag
Frequency-domain specifications.
2
Introduction
The frequency response and root locus approaches complement each other.
3
Frequency Response
The sinusoid is a unique input signal, and the resulting output signal for a
linear system, as well as signals throughout the system, is sinusoidal in the
steady-state
The output differs form the input waveform only in amplitude and phase.
and the amount of difference is a function of the input frequency.
G(s)
r (t ) R sin 0t y (t ) Y sin(0t )
H(s)
For a LTI system, when the input to it is a sinusoid signal, the resulting output ,
as well as signals throughout the system, is sinusoidal in the steady-state;
The output differs from the input waveform only in amplitude and phase.
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The closed-loop transfer function of the LTI system:
Y ( s) G( s)
M ( s)
R( s ) 1 G ( s ) H ( s )
For frequency-domain analysis, we replace s by jω:
Y ( j ) G ( j )
M ( j )
R( j ) 1 G ( j ) H ( j )
M ( j ) M ( j ) M ( j )
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magnitude phase
A c
The magnitude of M(jω) is M ( j ) M ( j )
c
0
G ( j ) A
M ( j )
1 G ( j ) H ( j )
G ( j )
1 G ( j ) H ( j )
0 c
Gain characteristic
0
The phase of M(jω) is
M ( j ) M ( j )
G( j ) 1 G( j ) H ( j )
M ( j )
Resonant peak M r
Mr Resonant frequency r
Cutoff
rate Bandwidth BW
0.707
d M ( j )
0
0 r BW d
0
r
M ( j )
9
Typical gain-phase characteristic of a control system
Frequency response of a second-order system
Y ( s) n2
M ( s) 2
R( s ) s 2n s n2
Its frequency-domain transfer function
Y ( j ) n2
M ( j )
R( j ) ( j ) 2 2n ( j ) n2
Define u n
1
M ( ju )
1 j 2 u u 2
10
The magnitude of M(ju) is
1
M ( ju )
[(1 u 2 )2 (2 u ) 2 ]1/2
The phase of M(ju) is
Resonant peak
2 u 1
M ( j ) M ( j ) tan 1
Mr
1 u2 2 1 2
The resonant frequency of M(ju) is
d M ( ju )
0 ur 1 2 2
du
ur r n r n 1 2 2
Since frequency is a real quantity, it requires 1 2 2 0
11 So 0.707
According to the definition of Bandwidth
1 1
M ( ju ) 0.707
[(1 u ) (2 u ) ]
2 2 2 1/2
2
u 2 (1 2 2 ) 4 4 4 2 2
u n
BW n [(1 2 2 ) 4 4 4 2 2]1/2
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For a second-order system 0.707
M r depends on only.
Resonant peak
For 0, the system is unstable;
1
Mr For 0< 0.707, M r ;
2 1 2
For 0.707, M r 1
in db
The other is a plot of the phase angle; both are plotted against the frequency
on a logarithmic scale.
Expanding the low frequency range by use of a logarithmic scale for the
frequency is highly advantageous since characteristics at low frequencies
are most important in practical systems
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Bode Plots
A better way to graphically display the frequency response!
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Bode Plots of 1st Order Poles
Standard Form of Transfer Function:
1
G p1 ( s ) , 0 0
s 1 -3
Frequency Response:
1 20dB/decade
G p1 ( j ) , 0
j 1 -20
1
20 log10 G p1 ( j )
10 log10 2 2 1
-45
1
0dB, 1 or b
1
3dB, 1 or b
-90
1
-20log10 , 1 or b
b 0.01/ 0.1/ 1/ 10/ 100/
Frequency (rad/sec)
break frequency
Example
20
10
Transfer Function:
5
50
1
20 log10 G ( j ) 20 20 log10
1
j 1 -90
5
-1 0 1 2
10 10 10 10
1 Frequency (rad/sec)
G ( j ) j 1
5 1
b 5
Bode Plots of 1st Order Zeros
Standard Form of Transfer Function
40
Gz1 ( s ) s 1 , 0
Frequency Response
Gz1 ( j ) j 1 0
20
,
R
|SG ( j ) 2 2 1
|T
G z 1 ( j ) atan2( ,1)
3
0
af
tan 1
20log10 G p1 ( j ) 90
10log10 2 2 1
1
0dB, 1 or b 45
1
3dB, 1 or b
0
1 0.01/ 0.1/ 1/ 10/ 100/
20log10 , 1 or b
b Frequency (rad/sec)
Example
20
1st Order Real Zeros
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Transfer Function:
10
G ( s ) 0.7 s 0.7 5
G ( j ) 0.7 j 1 45
G ( j ) j 1 0
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
Ex:1
Bode Plots
s 1 ( j ) 1
G( s) G ( j )
s 2 10s ( j )2 10( j )
G ( j ) ( j 1) 2 10 j
G ( j ) 20 log10 G( j) G ( j )
0.1 1.0049 0.0428 -83.8623
0.2 0.5098 -5.8520 -79.8358
1 2
G ( j )
0.5 0.2233 -13.0211 -66.2974 100 2
1 0.1407 -17.0329 -50.7016
2 0.1096 -19.2012 -37.8750
5 0.0912 -20.7988 -37.8750
10 0.0711 -22.9671 -50.7106
20 0.0448 -26.9789 -66.2974
50 0.0196 -34.1480 -79.8358
100 0.0100 -40.0428 -84.8623
Bode Plots of LTI Systems
Transfer Function
bm s m bm1s m1 b1s b0 bm ( s z1 )( s z2 ) ( s zm )
G (s) n n 1
s an1s a1s a0 ( s p1 )( s p2 ) ( s pn )
Frequency Response
bm ( j z1 ) ( j zm ) 1 1
G ( j ) bm ( j z1 ) ( j zm )
( j p1 ) ( j pn ) ( j p1 ) ( j pn )
20log10 ( j z1 ) 20log10 ( j z1 )
Ex: Find the magnitude and the phase of the following transfer function:
3s 3 12 s 2 9 s 3s s 3 s 1
G( s)
2 s 3 22 s 2 76 s 80 2 s 2 s 4 s 5
3 3 1 1
s s 1 s 1 s s 1 s 1
2245 3 9 3
1 1 1 80 1 1 1
s 1 s 1 s 1 s 1 s 1 s 1
2 4 5 2 4 5
9 1
j j 1 9 1
G ( j )
80 3 20log10 G ( j ) 20log10 20log10 j 20log10 j 1
1 1 1 80 3
j 1 j 1 j 1
2 4 5 1 1 1
20log10 j 1 20log10 j 1 20log10 j 1
2 4 5
9 1
G ( j ) j j 1 j 1
80 3
1 1 1
j 1 j 1 j 1
2 4 5
Bode Plots of Complex Poles
Standard Form of Transfer Function
1
Gp2 j 20
2
2
1 j
n2 n 0
40dB/decade
n2 -20
G p 2 ( s) 2 , 1 0
s 2 n s n
2
-40
2 2
G p 2 j 1 2
j
n n
2 2 -90
= atan2 , 1
n n2
The gain margin is defined as the change in open loop gain required to make the system
unstable.
The phase margin is defined as the change in open loop phase shift required to make a
closed loop system unstable.
Phase Margin: Difference in phase between the phase curve and -180 deg at the point
corresponding to the frequency that gives us a gain of 0dB (the gain cross over
frequency, Wgc).
Gain Margin: Difference between the magnitude curve and 0dB at the point
corresponding to the frequency that gives us a phase of -180 deg (the phase cross over
frequency, Wpc).
Gain and Phase Margin
-180
Bode Plot – Example
1. Calculate the gain and phase margins of the following system from
frequency response
2500
L( s )
s( s 5)( s 50)
EX. 1 The open loop transfer function of certain unity feedback
control system is given by
1. Draw the bode plot and determine gain margin and phase
margin.
2. Determine the value of K for the desired specifications
a) Gain margin = 20 db
b) Phase margin = 45°
32
33
PROCEDURE FOR DRAWING BODE PLOT
Magnitude Plot
34
Step 2: Calculate corner frequencies (ωc), slope, and change in
slope where corner frequency is the reciprocal of coefficient of S
term in standard form of transfer function
35
Step 3: Choose two arbitrary frequencies (ωl and ωh), one decade
less than the lowest corner frequency and one decade greater than
the highest corner frequency.
Write the frequencies in the increasing order
Step 4: Calculate db magnitude at first two frequencies using first
factor
Step 5: Calculate db magnitude at 3rd and higher frequencies using
the following formula
36
Phase Angle Plot
37
End of Slides
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