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Freq Resp BodePlots Part1

This document discusses frequency response and Bode plots. It provides examples of Bode plots for common transfer functions, such as integrators and differentiators. It also shows how to construct a Bode plot for a more complex transfer function with multiple poles and zeros. Bode plots are useful for analyzing the stability of control systems by examining the gain and phase margins from both the magnitude and phase plots.

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varasala sanjay
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46 views28 pages

Freq Resp BodePlots Part1

This document discusses frequency response and Bode plots. It provides examples of Bode plots for common transfer functions, such as integrators and differentiators. It also shows how to construct a Bode plot for a more complex transfer function with multiple poles and zeros. Bode plots are useful for analyzing the stability of control systems by examining the gain and phase margins from both the magnitude and phase plots.

Uploaded by

varasala sanjay
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Frequency Response and Bode Plots

– Part 1

K. Sridharan
Introduction

 We have studied various aspects (performance,


stability) in time domain
 We now begin with a review of basics in frequency
domain

2
Linear System in Frequency Domain

3
Input and output for linear, time-
invariant system

 If input x(t) is sinusoidal, the output will also


be a sinusoidal signal of the same frequency
 The output can possibly have different
amplitude and phase angle
 The amplitude of the output is given by the
product of that of the input and |G(j ω)|
 The phase angle will differ from that of the
input by Angle(G(j ω))
4
Input and response

5
How does one present frequency
response characteristics ?

Via plots such as


 Bode plot (also called Bode diagram)
 Nyquist plot

6
Question for students

 What happens if the system is not linear and


you apply a sinusoidal input ?

7
Why is frequency domain
important in control ?

 We can study stability of a system using


quantities defined in frequency domain
 In particular, two notions termed gain margin
and phase margin are used (together) to
characterize stability
 These can be calculated from plots for the
frequency domain, in particular the Bode plot
and Nyquist plot
8
What is a Bode Plot ?

 Bode plot comprises of a combination of two


plots: a log-magnitude plot and a phase
angle plot
 Both of these are plotted against the
frequency on a logarithmic scale

9
Is there anything special about the Bode plot ?

 Yes; sometimes, we do not know the exact


model of the system
 We can, however, study the response of the
system (obtain the magnitude and phase
angle) for a range of frequencies
 Using these, we can obtain the transfer
function model of the system

10
Bode plot for standard cases

 Will now show the Bode magnitude and


phase angle plots for various open-loop
transfer functions

11
Case 1

Exercise:
Verify this

12
Case 2

Exercise:
Verify this

13
Case 3: G(jω) = 1/(1 + jωT)

Exercise:
Verify this

14
Case 4: G(jω) = 1 + jωT

Exercise:
Verify this

15
Case 5: Consider

 C(s) ωn 2
G(s) = ----- = ----------------------
R(s) s 2 + 2 ζ ωn s + ω n 2
or equivalently:
G(jω) = 1
------------------------------
[1 – (ω /ωn)2] + j 2 ζ (ω /ωn)

16
Exercise

 Plot (i) the magnitude of G(jω) in dB


versus (ω /ωn)
and (ii) the phase of G(jω) versus (ω /ωn)

Assume logarithmic scale for (ω /ωn) and damping ratio


ζ ≤ 1 (otherwise G(s) would have two real and unequal
poles and Bode plot can be obtained by methods
discussed earlier for functions with simple poles)

17
General case

 We have considered various simple (basic)


cases
 Can now look at a transfer function which
has a combination of the basic cases

18
Consider

 G(jω ) = 5 (1 + j 0.1ω )
---------------------------------------------
jω (1 + j0.5ω ) (1 + j 0.6(ω/50) + (jω/50)2)

19
Components of the transfer function

 The components can be listed in the order in


which they occur as frequency increases:
1. Constant gain K = 5
2. Pole at the origin
3. Pole at ω = 2
4. Zero at ω = 10
5. Pair of complex poles at ω = ωn = 50

20
Magnitude characteristics

 1. Constant gain is 20 log 5 = 14 dB

2. Magnitude of pole at the origin extends from zero


frequency to infinite freq and has a slope of -20
dB/decade intersecting the 0-dB line at ω = 1

3. Asymptotic approx of magnitude of pole at ω= 2


has a slope of -20 dB/decade beyond break frequency
at ω= 2 (below this, the magnitude is 0 dB)

21
More on the magnitude characteristics

4. The (asymptotic) magnitude for zero at ω =


10 has a slope of +20 dB/decade beyond the
break frequency at ω = 10
5. The asymptotic approx for the pair of
complex poles at ω = 50 has a slope of -40
dB/decade due to the quadratic form
 Individual magnitude plots and the overall
plot are shown in successive slides
22
The individual magnitude plots

23
Overall magnitude plot

24
Now, we come to the phase plot

 Phase of constant gain is 00


 Phase of pole at the origin is -900
 Linear approximation of the phase characteristic for
pole at ω = 2 will involve phase shift of – 450 at ω = 2
 Similarly, for the zero at ω = 10, phase shift is 450 at
ω = 10
 For the pair of complex poles, phase shift in line with
observations from the exercise earlier
 Complete plot shown next

25
Phase plot

26
What is done with the magnitude and phase plots ?

 For stability analysis purposes, we need to


look at the two plots together
 The gain and phase margins are obtained by
placing one plot below the other
 Both of these (gain margin and phase
margin) should be positive for stability (we’ll
assume minimum phase systems which we
will define in the next session)
27
References

 K. Ogata, Modern Control Engineering,


Pearson Education, 2008
 R. Dorf and R. Bishop, Modern Control
Systems, Pearson, 2004

28

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