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• Describing function analysis • Analyze existence and stability of periodic solutions by describing
function analysis
Lecture 6 1 Lecture 6 2
Motivating Example
y
r e u y
2
u A Frequency Response Approach
G(s) 1
− 0 Nyquist / Bode:
−1
A (linear) feedback system will have sustained oscillations
(center) if the loop-gain is 1 at the frequency where the phase lag
−2
0 5 10 15 20
is −180o
4 But, can we talk about the frequency response, in terms of gain and
G(s) = and u = sat e give a stable oscillation.
s(s + 1)2 phase lag, of a static nonlinearity?
Lecture 6 3 Lecture 6 4
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Fourier Series
A periodic function u(t) = u(t + T ) has a Fourier series expansion
The Fourier Coefficients are Optimal
a0 X
∞
u(t) = + (an cos nωt + bn sin nωt) The finite expansion
2 n=1
k
a0 X p 2
∞ a0 X
= + an + b2n sin[nωt + arctan(an /bn )] u
bk (t) = + (an cos nωt + bn sin nωt)
2 2 n=1
n=1
solves Z
where ω = 2π/T and T
2 2
Z Z min u(t) − u
bk (t) dt
2 T 2 T û T 0
an (ω) = u(t) cos nωt dt, bn (ω) = u(t) sin nωt dt
T 0 T 0
Note: Sometimes we make the change of variable t → φ/ω
Lecture 6 5 Lecture 6 6
That is, we assume all higher harmonics are filtered out by G Amplitude dependent gain and phase shift!
Lecture 6 7 Lecture 6 8
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Lecture 6 9 Lecture 6 10
eplacements
Periodic Solutions in Relay System
Existence of Periodic Solutions
0.1 −1/N (A)
G(iω) r e u y 0
0 e u y G(s) −0.1
f (·) G(s) −
− −0.2
−0.3 G(iω)
−1/N (A) −0.4
A −0.5
3
Proposal: sustained oscillations if loop-gain 1 and phase-lag −180o G(s) = with feedback u = −sgn y
(s + 1)3
G(iω)N (A) = −1 √
No phase lag in f (·), arg G(iω) = −π for ω = 3 = 1.7
The intersections of the curves G(iω) and −1/N (A) √
give ω and A for a possible periodic solution. G(i 3) = −3/8 = −1/N (A) = −πA/4 ⇒ A = 12/8π ≈ 0.48
Lecture 6 11 Lecture 6 12
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0
0 1 2
φ
3 4 5 6
Lecture 6 13 Lecture 6 14
1
Hence, if H = D , then N (A) = 2φ0 + sin 2φ0 .
π
If H 6= D , then the rule Nαf (A) = αNf (A) gives
Z
1 2π
a1 = u(φ) cos φ dφ = 0 H
π 0 N (A) = 2φ0 + sin 2φ0
Z Z Dπ
1 2π 4 π/2
b1 = u(φ) sin φ dφ = u(φ) sin φ dφ 1.1
π 0 π 0 1
Z Z
4A φ0 2 4D π/2 0.9
N (A) for H = D = 1
= sin φ dφ + sin φ dφ 0.8
π 0 π φ0 0.7
0.6
A
= 2φ0 + sin 2φ0 0.5
π 0.4
0.3
0.2
0.1
0 2 4 6 8 10
Lecture 6 15 Lecture 6 16
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Lecture 6 17 Lecture 6 18
Ω G(Ω)
G(Ω)
−1/N (A)
Lecture 6 19 Lecture 6 20
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0.15 G(iω)
r e u y 0.1 PID
G(s) 0.05
Σ A u y
− 0 T
Process
−0.15
−0.2
−1
−5 −4 −3 −2 −1 0
(s + 10)2 1
y u
G(s) = with feedback u = −sgn y
(s + 1)3 0
gives one stable and one unstable limit cycle. The left most
intersection corresponds to the stable one. −1
0 5 10
Time
Lecture 6 21 Lecture 6 22
−0.6
π 0 π φ0
−0.8
4 4p
−1
0 1 2 3 4 5 6 = cos φ0 = 1 − D2 /A2
π π
Let e(t) = A sin ωt = A sin φ. Then for φ ∈ (0, π) (
0, A<D
0, φ ∈ (0, φ0 ) N (A) = 4 p
u(φ) = 1 − D2 /A2 , A ≥ D
1, φ ∈ (φ0 , π − φ0 ) πA
Lecture 6 23 Lecture 6 24
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Lecture 6 25 Lecture 6 26
0.8
−1 z = 1/3
0.6
0 5 10 15 20 25 30
_ 0.4
yref y 0.4
_ 0 0
−0.2 −0.2
−0.4 −0.4
0 5 10 15 20 25 30 −1 −0.5 0 0.5
Corresponds to DF gives period times and amplitudes (T, A) = (11.4, 1.00) and
G s(s − z) (17.3, 0.23), respectively.
= 3 with feedback u = −sgn y
1 + GC s + 2s2 + 2s + 1 Accurate results only if y is close to sinusoidal!
The oscillation depends on the zero at s = z.
Lecture 6 27 Lecture 6 28
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Harmonic Balance
e(t) = A sin ωt u(t)
f (·)
Lecture 6 29 Lecture 6 30
• Approximate results
• Powerful graphical methods
Lecture 6 31 Lecture 6 32
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Next Lecture
• Saturation and anti-windup compensation
• Friction modeling and compensation
Lecture 6 33