Beruflich Dokumente
Kultur Dokumente
log10
2 1 H jr 20 log10 2 1 2
to 2
0 0 0
2
0
2
log10
• Draw low freq. asymptote at 0 dB. • Low freq. asymptote at 0°.
• Draw high freq. asymptote at +40 • Draw high freq. asymptote
Underdamped Zeros*: dB/dec. at +180°.
• Connect asymptotic lines at ω0. • Connect with a straight
0 line from ‡
Draw dip† at freq. r
2
s s • with 2
2 1 1 2 2 log10
0 0 0 to 2
amplitude 2
0
2
H jr 20 log10 2 1 2 . log10
Notes:
* Rules for drawing zeros create the mirror image (around 0 dB, or 0°) of those for a pole with the same ω0.
1
† For underdamped poles and zeros peak exists only for 0 0.707 and peak freq. is typically very near ω0.
2
‡ For underdamped poles and zeros If ζ<0.02 draw phase vertically from 0 to -180 degrees at ω0
For nth order pole or zero make asymptotes, peaks and slopes n times higher than shown (i.e., second order asymptote
is -40 dB/dec, and phase goes from 0 to –180o). Don’t change frequencies, only plot values and slopes.
© Copyright 2005-2007 Erik Cheever This page may be freely used for educational purposes.
Comments? Questions? Suggestions? Corrections?
Erik Cheever Department of Engineering Swarthmore College
Quick Reference for Making Bode Plots
If starting with a transfer function of the form (some of the coefficients bi, ai may be zero).
s n L b1s b0
H(s) C
s m L a1s a 0
Factor polynomial into real factors and complex conjugate pairs (p can be positive, negative, or zero; p is zero if a0 and b0 are both non-
zero).
H(s) C s p
s z1 s z 2 L s 2
2 z10z1s 0z1
2
s2 2 z 20z 2s 0z2 2 L
s sp1 p2 L s 2
2 p10p1s 0p1
2
s2 2 p20p2s 0p2
2
L
Put polynomial into standard form for Bode Plots.
s s 2
2
s s s s
1 1 L
2 z1 1 2 z2 1 L
L 0z10z 2 L p z1 z2
0z1
0z1
0z 2 0z 2
2 2
H(s) C z1 z 2 s
p1p2 L 0p10p2 L2 2
s s s
2
s s 2
s
1 1L 2 p1 1 2 p2 1L
p1 p2 0p1 0p1 0p2
0p2
s s s 2
2
s s s
1 L
2 z1 1
2 z2
1 L
z1 z 2 0z1 0z1
K s p 0z 2 0z2
s s
2 2
s s s s
1 1L 2 p1 1 2 p2 1L
p1 p2 0p1 0p1 0p2 0p2
Take the terms (constant, real poles and zeros, origin poles and zeros, complex poles and zeros) one by one and plot magnitude and
phase according to rules on previous page. Add up resulting plots.
© Copyright 2005-2007 Erik Cheever This page may be freely used for educational purposes.
Comments? Questions? Suggestions? Corrections?
Erik Cheever Department of Engineering Swarthmore College
Matlab Tools for Bode Plots
>> n=[1 11 10]; %A numerator polynomial (arbitrary)
>> d=[1 10 10000 0]; %Denominator polynomial (arbitrary)
>> sys=tf(n,d)
Transfer function:
s^2 + 11 s + 10
----------------------
s^3 + 10 s^2 + 10000 s
>> abs(fr)
ans = 0.0014
>> %You can even find impulse and step response from transfer function.
>> step(sys)
>> impulse(sys)
© Copyright 2005-2007 Erik Cheever This page may be freely used for educational purposes.
Comments? Questions? Suggestions? Corrections?
Erik Cheever Department of Engineering Swarthmore College
>> [n,d]=tfdata(sys,'v') %Get numerator and denominator.
n =
0 1 11 10
d =
1 10 10000 0
© Copyright 2005-2007 Erik Cheever This page may be freely used for educational purposes.
Comments? Questions? Suggestions? Corrections?
Erik Cheever Department of Engineering Swarthmore College