Procedureforsketchingbodeplots

(mentionedonOct5th notes,Pg.20)
1.Rewritethetransferfunctioninproper p p form. 2.Separatethetransferfunctionintoitsconstituentparts. 3.DrawtheBodediagramforeachpart.(youworkfromatable) 4.DrawtheoverallBodediagrambyaddinguptheresultsfrom step3.

Goodwalkthrough(usedasclasshandoutfortoday):

http://www.ece.utah.edu/~ee3110/bodeplot.pdf

Workthroughafew examplesofthis techniquefromthe handout(likethis one,from f pg.6) )

Whenindoubt,justpluginnumbers and dseewhether h h yourmagnitude i d graph g p iscorrect.

Youcanpluginactualnumericalvaluesofs intoH(s)togetestimatesforthemagnitude plot Thisdoesntworkforthephaseplot(would involvecalculatingcomplexnumbervalues, notworththeeffort)

SowelearnedhowtosketchBodePlotsby h d(when hand ( h wecould ldhave h used dacomputer t programtogeneratesketches).Whyexactly?

Canmoreclearlyseehowindividual terms affectsystemperformanceandsystemoutput. Easiertounderstandwhydifferentcontrollers areusedtocompensateforspecific shortcomingsandspecifictermsinthesystem.

 Definingstability Interpretingstabilityfromthemagnitudeand phaseplots

Stability y definition
A Astablesystemisadynamicsystemwitha boundedresponsetoaboundedinput. E.g.asinewaveinputresultsinasinewave p thatdoesntg growunboundeduntilthe output systemfinallybreaks. Resonanceisstillacceptable p ( (theoutput p can becomeverylarge,aslongasitdoesnot becomeunbounded)
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FromOct6th session,pg.9:

Systemsbecomeunstableinnegative feedbackloopswithanegativeloopgain.
X(s) G( ) G(s) Y(s) X(s)

G (s) 1 G (s) F ( s)

Y(s)

F(s)

overalltransferfunction

Y G H X 1 GF

WhathappenswhenGFgetstobecloseto1? Hg getsbigger gg andbigger, gg ,becoming ganunstable system. GFcanbecome1dependingonthegainand phaseofthesystem.

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Stabilityanalysisforopenloopusuallyhas F(s)=1(unitygain)inthefeedbackloop. loop

Mostofthetime(80%ofthetime?),stabilityanalysisincontroltheoryassumes thatthefeedbackgainisaconstantvalueof1. 1 Thissimplifiesanalysistojust lookingatthetrueopenloopgainG(s):
G(s) Y(s) X(s)

X(s)

G ( s) 1 G ( s)

Y(s)

overalltransferfunction

Y G H X 1 G

HbecomesunstableifGbecomes avalueof1 Giscalledtheopenloopgain sinceGisthegaininthesystemif the h feedback f db kloop l i isremoved. d

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StabilitycomesfromavoidingG(s)=1
G(s) G( )=1when h magnitude i d plot l =1=0dB dB,and dphase h plot* l *=1800 Astablesystemisonewheretheopenloopgainislessthan1 whentheopenloopphase angleis1800 Anunstable bl systemisonewhere h the h openloop l gainisgreater than1whentheopenloopphase is1800(sincethisguarantees thatatsomep point, ,thevalueG(s) ( )wouldbeequal q to1**) )
Aside:
(*thewordphase phase isfromthefactthats s ,H(s), H(s) andG(s)areallreallycomplex number(withrealandimaginarycomponents),whichcanberepresentedwitha magnitudeandphasevalue) (**actually,thisisonlytherealpartofG(s)whichequals1,sinceG(s)isacomplex# withrealandimaginaryparts,butreallythatdoesntmatterinthisanalysis,itstill 9 guaranteesthatthesystemwillbecomeunstableatsomepoint)

Aside:Whyanalyzetheopenloopresponse i instead dof fthe h closed l dloop l responsedi directly? l ?

H(s) X(s)

G (s) 1 G( s)

WhynotanalyzethisentireexpressionH(s) i t dof instead fjust j tanalyzing l i G(s)? G( )? Y(s)

BecauseG(s)remainsboundedandstableevenastheentireexpression H(s)becomesunstable.WecanuseBodeplotsandstraightline asymptotestoexamineG(s)evenwhenthesystembecomesunstable,but wedonthaveanytoolstoaccuratelyanalyzeH(s)astheentireexpression becomesunboundedandunstable.

Youcheckstabilitybylookingatthegainand phasemarginoftheopenloopsystem
FromOct5th,Pg.23

Magnitudeplot

GainMargin theamountofgainthatyou could addtothesystembeforereachinga gainof1=0dB.Measuredatthephase crossingfrequency(phase=+/1800) PhaseMargin theamountofphaseyou couldadd/subtracttothesystembefore reaching+/1800.Measuredatthegain crossingfrequency(gain=1=0dB)

0db

Phaseplot

Wgain_cross

Wphase_cross

Wgain_cross =gaincrossing(frequencyat whichgain=0dB,andphasemarginis measured) Wphase_cross =phasecrossing(frequencyat whichphase=+/ 180deg,gainmarginis 180 measured) d)
Plotfromlecturenotes,8B,pg.12
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Wh canyoudo What d with i hthe h gain i and dphase h margin? i ? Tellsyouhowmuchproportionalgain(k)you canaddtothesystem(tomakethesystem operatefaster)withoutbecomingunstable. Tellsyouhowyoumightselectanddesigna controllertocompensateforaspectsofthe system(e.g.PID,lag/leadcompensators)to increasestabilityorimproveperformance
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