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Frequency Response
Chapter 14
A
U (s) 2
s 2
14.1
Chapter 14
Input: A sin t
t
Output: Asin
A / A is the normalized amplitude ratio (AR)
is the phase angle, response angle (RA)
AR and are functions of
Assume G(s) known and let
s j
G j K1 K 2 j
G AR K12 K 22
K2
G arctan
K1
2
Example 14.1:
Chapter 14
G s
1
s 1
G j
1
1 j
1 j 1 j
( j 2 1)
G j
j
2 2
2 2
1
1
K1
K2
Chapter 14
1 2 2
arctan
Chapter 14
as , 900
Use a Bode plot to illustrate frequency response
(plot of log |G| vs. log and vs. log )
log coordinates:
G G1 G2
G3
G G1 G2 G3
log G log G1 log G2 log G3
G G1 G2 G3
G1
G
G2
log G log G1 log G2
G G1 G2
Chapter 14
Example 14.3
Chapter 14
Chapter 14
AR G ( j )
G ( j )
A) Proportional Controller
AR K C , 0
GC ( s ) K C
B) PI Controller
1
For GC ( s ) K C 1
I s
1
tan 1
I
AR K C
1
1
2 2
I
Chapter 14
Chapter 14
1
Gc ( s ) K c (1
D s)
Is
(14 48)
(14-50)
I s 1
D s 1
Gc s K c
I
D 1
(14-51)
10
Chapter 14
Gc s 2 1
4s
10s
Series with
Derivative Filter:
4 s 1
10 s 1
Gc s 2
10
s
0.4
s
1
11
Chapter 14
12
Chapter 14
Analyze
GOL(s) = GCGVGPGM
Advantages:
do not need to compute roots of characteristic equation
can be applied to time delay systems
can identify stability margin, i.e., how close you are to instability.
13
14.8
14
Chapter 14
Chapter 14
15
Example 1:
A process has a T.F.,
2
G p (s)
(0.5s 1)3
Chapter 14
Solution:
The OLTF is GOL=GCGPGVGM or...
GOL ( s)
2 KC
(0.5s 1)3
AROL
0.25
1.0
5.0
Stable?
Yes
Conditionally stable
No
16
Chapter 14
Chapter 14
ARG (c )
(14-59)
18
Example 14.7:
Determine the closed-loop stability of the system,
Chapter 14
4e s
G p (s)
5s 1
Where GV = 2.0, GM = 0.25 and GC =KC . Find C from the
Bode Diagram. What is the maximum value of Kc for a stable
system?
Solution:
The Bode plot for Kc= 1 is shown in Fig. 14.11.
Note that:
1
1
K C max =
4.25
AROL 0.235
19
14.11
20
Chapter 14
Chapter 14
2
Ultimate Period: PU
C
KCU can be determined from the OLFR when
proportional-only control is used with KC =1. Thus
K CU
1
AROL
for K C 1
21
Chapter 14
22
23
Chapter 14
Rules of Thumb:
A well-designed FB control system will have:
Chapter 14
1.7 GM 2.0
30 PM 45
o
Closed-Loop FR Characteristics:
An analysis of CLFR provides useful information about
control system performance and robustness. Typical desired
CLFR for disturbance and setpoint changes and the
corresponding step response are shown in Appendix J.
24
Chapter 14
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