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Diagramas de Bode
Diagramas de Bode
cg
1/Gm
argG(j)H(j)
0
cp
cp
(a)
cg
Pm
-180o
(b)
Figure 9.1: Magnitude (a) and phase (b) of the open-loop transfer function
381
382
System Bandwidth: This represents the frequency range in which the magnitude
of the closed-loop frequency transfer function drops no more than
(decibels)
from its zero-frequency value. The system bandwidth can be obtained from the
next equality, which indicates the attenuation of
, as
(9.2)
Mr
Y(j)
= M(j)
U(j)
Y(j)
Mr = max
U(j)
3 dB
BW
Bandwidth
383
and
384
(9.3)
the magnitude and phase of this element are easily drawn and are presented in
Figure 9.3.
K
|K|dB
K>1
0
log
K<1
-180 o
arg{K>0}
log
arg{K<0}
(9.5)
385
It can be observed that the phase for a pure integrator is constant, whereas the
magnitude is represented by a straight line intersecting the frequency axis at
and having the slope of
. Both diagrams are
represented in Figure
and a gain attenuation
9.4. Thus, a pure integrator introduces a phase shift of
of
.
1
j dB
20
0
0.1
10
10
log
-20
0
1
j
o
0.1
log
-90 o
!"
#$
(9.7)
386
'
(9.8)
dB
20
0
0.1
10
10
log
-20
)90
0
0.1
log
+,
-.
/ -10 /
2 -
(9.9)
387
The phase diagram for a real pole can be plotted directly from (9.10). It can
be seen that for large values of ,
, the phase contribution is
3 . For
small,
, the phase is close to zero, and for
the phase contribution is
as given in Figure 9.6.
3 . This information is sufficient to sketch
For the magnitude, we see from (9.10) that for small
the magnitude is
very close to zero. For large values of
we can neglect 1 compared to
so that we have a similar result as for a pure integrator, i.e. we obtain an
attenuation of
. For small and large frequencies we have straightline approximations. These straight lines intersect at
, which is also known
as a corner frequency. The actual magnitude curve is below the straightline
approximations. It has the biggest deviation from the asymptotes at the corner
frequency (see Figure 9.6).
1
1+j/p dB
0.1
0.1
0
10
10
1
1+j/p
log(/p)
log(/p)
-45 o
-90 o
388
576
: 81; :
89
< 8
(9.11)
For small frequencies an asymptote for the magnitude is equal to zero and for large
and intersects the
frequencies the magnitude asymptote has a slope of
real axis at
(the corner frequency). The phase diagram for small frequencies
also has an asymptote equal to zero and for large frequencies an asymptote of = .
>|1+j/z|
dB
20
0
)90
0.1
log(/z)
10
10
1+j/z
o
45 o
0
0.1
o
log(/z)
389
@
?
@
@
ACB
A DB
(9.12)
A
AD
EF
GH
@
@
K G
? ? GJI ?
(9.13)
EF
GH
K G
@
@
GH
K G
@
K
At low frequencies the approximations can be obtained directly from (9.13), that is
EF
The asymptotes for small and large frequencies are, respectively, zero and
@ ) for the magnitude, and
(with the corner frequency at
L
zero and
for the phase. At the corner frequency @ the phase is equal to
390
. Note that the actual plot in the neighborhood of the corner frequency depends
.
on the values of the damping ratio . Several curves are shown for
It can be seen from Figure 9.8 that the smaller , the higher peak.
|G(j)|dB
0
= 0.1
0.1
= 0.3
10
log(/ )
n
= 1
-20
-40
G(j)
0o
0.1
10
log(/n)
-90 o
-180 o
Figure 9.8: Magnitude and phase diagrams for complex conjugate poles
(9.14)
so that the corresponding Bode diagrams will be the mirror images of the Bode
diagrams obtained for the complex conjugate poles represented by (9.13). Here, the
asymptotes for small frequencies are equal to zero for both the magnitude and phase
plots; for high frequencies the magnitude asymptote has a slope of
N , and the phase plot asymptote is P .
and starts at the corner frequency of
391
dB
20log Kp
0
cg
Q(a)
argG(j)H(j)
0
-90
-180
-Gm
cp
cg
cp
log
log
RPm
(b)
392
S
Using MATLAB
num=[1 1];d1=[1 0];d2=[1 2];d3=[1 2 2];
den1=conv(d1,d2); den=conv(den1,d3);
bode(num,den);[Gm,Pm,wcp,wcg]=margin(num,den);
The phase and gain stability margins and the crossover frequencies are
UWV
UYX
Gain dB
50
50
100 1
10
10
Frequency (rad/sec)
10
Phase deg
90
180
270
1
10
10
Frequency (rad/sec)
10
393
]
_
^
]
(9.15)
] ^
_
] ^
g
_
where
g
is known as Bodes gain, and
`bc a d
`eZ a d
`bcba d
`eca f
`bZ a d
`bZ a f
`bc a f
(9.16)
`bZ a f
] ^
] ^
(9.17)
394
jelek m
jblk n
jbh k m
jbh k n
ej kqp o
(9.18)
20log Kp
log
Figure 9.12: Magnitude Bode diagram of type zero control systems at small frequencies
r
x
sbuet v
sby t v
sbuJt w
sey t w
r
x
(9.19)
It follows that the corresponding magnitude Bode diagram of type one control
systems for small values of has a slope of
and the values of
(9.20)
395
From (9.20) and (6.33) it is easy to conclude that for type one control systems the
velocity constant is z
{ . Using this fact and the frequency plot of (9.21), we
conclude that z is equal to the frequency | at which the line (9.21) intersects
the frequency axis, that is
|
{
|
{
(9.21)
|G(j)H(j)|dB
-20 dB/dec
* =Kv
-20 dB/dec
=1
20log Kv
log
* =Kv
20log Kv
K >1
Kv <1
=1
log
(a)
(b)
Figure 9.13: Magnitude Bode diagram of type one control systems at small frequencies
Note that if ~
, the corresponding frequency is obtained at the point
where the extended initial curve, which has a slope of
, intersects
the frequency axis (see Figure 9.13b).
Similarly, for type two control systems,
, we have at low frequencies
ee
b
b
b
(9.22)
396
(9.23)
From (9.23) and (6.35) it is easy to conclude that for type two control systems the
. From the frequency plot of the straight line
acceleration constant is
, where represents the intersection of the
(9.24), it follows that
initial magnitude Bode plot with the frequency axis as represented in Figure 9.14.
|G(j)H(j)|dB
-40 dB/dec
|G(j)H(j)|dB
** = Ka
=1
-40 dB/dec
** = Ka
log
=1
20log Ka
log
20log Ka
(b)
(a)
Figure 9.14: Magnitude Bode diagram of type two control systems at small frequencies
It can be seen from Figures 9.129.14 that by increasing the values for the
magnitude Bode diagrams at low frequencies (i.e. by increasing ), the constants
, and are increased. According to the formulas for steady state errors,
given in (6.30), (6.32), and (6.34) as
JJ
JJW
J WW
397
we conclude that in this case the steady state errors are decreased. Thus, the bigger
, the smaller the steady state errors.
Example 9.3: Consider Bode diagrams obtained in Examples 9.1 and 9.2. The
Bode diagram in Figure 9.10 has an initial slope of
which intersects
the frequency axis at roughly
. Thus, we have for the Bode diagram
in Figure 9.10
Note that the accurate results about steady state error constants are obtained easily
by using the corresponding formulas; hence the Bode diagrams are used only for
quick and rough estimates of these constants.
398
(9.24)
leading to
(9.26)
(9.25)
(9.27)
(9.28)
399
|G (j)|
c
dB
z1
(9.29)
log
0
20log(p1 / z1)
arg{G (j)}
max
log
max
400
|G (j)|
c
z
arg{G (j)}
c
(9.30)
dB
20log(p2/z2 )
log
2
max
log
max
401
so that
Assume that
Substituting
(9.31)
(9.32)
(9.33)
in (9.32) implies
7
The parameter
(9.34)
Note that the same formulas for
for a phase-lag controller with
as
(9.35)
402
(9.36)
|G (j)|
c
dB
z2
log
arg{G (j)}
c
log
403
given by (9.18) as
404
frequency at the point where the magnitude Bode diagram has the value of
. Using the value for parameter obtained in step 4 find the value
for the compensator pole from (9.34) as
and the value for
. Note that one can also guess a value for
compensators zero as
and then evaluate and
. The phase-lead compensator now can be
represented by
6. Draw the Bode diagram of the given system with controller and check the values
for the gain and phase margins. If they are satisfactory, the controller design is
done, otherwise repeat steps 15.
Example 9.4: Consider the following open-loop frequency transfer function
Step 1. Let the design requirements be set such that the steady
state error due to a
we conclude that
will satisfy the steady state error requirement of being
less than 2%. We know from the root locus technique that high static gains can
damage system stability, and so for the rest of this design problem we take
.
Step 2. We draw Bode diagrams of the uncompensated system with the Bode gain
obtained in step 1 and determine the phase and gain margins and the crossover
frequencies. This can be done via MATLAB
405
[den]=[1 6 11 6];
[num]=[50 300];
[Gm,Pm,wcp,wcg]=margin(num,den);
bode(num,den)
The corresponding Bode diagrams are presented in Figure 9.18a. The phase and
gain margins are obtained as
and the crossover frequencies
are
.
Step 3. Since the desired
phase is well above
the actual one, the phase-lead controller
must make up for
. We add
, for the reason explained in
step 3 of Algorithm 9.1, so that
.
Gain dB
50
(b)
0
(a)
50 1
10
10
10
10
Frequency (rad/sec)
Phase deg
90
(b)
(a)
180
1
10
10
10
10
Frequency (rad/sec)
406
407
numc=conv(num,nc);
denc=conv(den,dc);
[Gmc,Pmc,wcp,wcg]=margin(numc,denc);
bode(numc,denc)
The phase-lead compensator obtained is given by
)
(
)
Step 6. The Bode diagrams of the compensated control system are presented in
Figure 9.18b. Both requirements are satisfied, and therefore the controller design
procedure is successfully completed.
Note that num, den, numc, denc represent, respectively, the numerators and
denominators of the open-loop transfer functions of the original and compensated
systems. In order to find the corresponding closed-loop transfer functions, we use
the MATLAB function cloop, that is
[cnum,cden]=cloop(num,den,-1);
% 1 indicates a negative unit feedback
[cnumc,cdenc]=cloop(numc,denc,-1);
The closed-loop step responses are obtained by
[y,x]=step(cnum,cden);
[yc,xc]=step(cnumc,cdenc);
and are represented in Figure 9.19. It can be seen from this figure that both
the maximum percent overshoot and the settling time are drastically reduced. In
addition, the rise time of the compensated system is shortened since the phase-lead
controller increases the frequency bandwidth of the system.
408
2
1.8
(a)
1.6
1.4
1.2
(b)
1
0.8
0.6
0.4
0.2
0
0
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
Figure 9.19: Step responses for the original (a) and compensated (b) systems
10
Imag Axis
10
10
0
Real Axis
10
409
4 *
which implies
68927 :<;>=@?BADCFEHGJI1KMLNPO';>QSR
,2-#.3/0
Note that
,2-#.3/0
,2-#.3/0
,-#.%/0
,2-#.3/0
,2-#.3/0
410
4. Place the controller zero one decade to the left of the new gain crossover
frequency, that is
U2V<W%X1Y
U
UV#W%XY
5. Redraw the Bode diagram of the given system with the controller and check the
values for the gain and phase margins. If they are satisfactory, the controller
design is done, otherwise repeat steps 15.
Example 9.5: Consider a control system represented by
Design a phase-lag compensator such that the following specifications are met:
ZZM[\1]3^
_ . The minimum value for the static gain that produces
the required steady state error is equal to
. The original system with this
_
static gain has phase and gain margins given by
U`
and crossover frequencies of U2V
.
The new gain crossover frequency can be estimated as U2V#W3XY
since
for that frequency the phase margin of the original system is approximately _ . At
UV#W%X'Y
the required gain attenuation is obtained by MATLAB as
411
wcgnew=1.4;
d1=1200;
g1=abs(j*1.4);
g2=abs(j*1.4+2);
g3=abs(j*1.4+30);
dG=d1/(g1*g2*g3);
which produces
and
. The
a
ab#c%de
and
compensators pole and zero are obtained as
(see step 4 of Algorithm 9.2). The transfer
a
a2b#c3de
function of the phase-lag compensator is
a
Gain dB
50
(a)
0
(b)
50
100 1
10
10
10
10
Frequency (rad/sec)
0
Phase deg
(a)
90
(b)
180
270
1
10
10
10
10
Frequency (rad/sec)
412
The new
phase and gain margins and the actual crossover frequencies are
f
,
, g2h#i3jk
, glmi%j'k
and
so the design requirements are satisfied. The step responses of the original and
compensated systems are presented in Figure 9.22.
2
1.8
(a)
1.6
1.4
(b)
Amplitude
1.2
1
0.8
0.6
0.4
0.2
0
0
5
6
Time (secs)
10
It can be seen from this figure that the overshoot is reduced from roughly 0.83 to
0.3. In addition, it can be observed that the settling time is also reduced. Note that
no ) so that the
the phase-lag controller reduces the system bandwidth ( n2o#p3qr
rise time of the compensated system is increased.
413
tuv
(9.37)
w
5. Compute the values for the phase-lead compensators pole and zero from
x w
x2y#z3{|
x w
w
x w
w
(9.38)
x w
xM}
x}
w
(9.39)
414
F
J
~M
~1
~M
8. Plot Bode diagrams of the compensated system and check whether the design
specifications are met. If not, repeat some of the steps of the proposed algorithmin most cases go back to steps 3 or 4.
The phase-lead part of this compensator helps to increase the phase margin
(increases the damping ratio, which reduces the maximum percent overshoot and
settling time) and broaden the systems bandwidth (reduces the rise time). The
phase-lag part, on the other hand, helps to improve the steady state errors.
Example 9.6: Consider a control system that has the open-loop transfer function
415
Gain dB
50
50 1
10
10
10
10
Frequency (rad/sec)
0
Phase deg
90
180
270
360 1
10
10
10
10
Frequency (rad/sec)
It can be seen from these diagramsand with help of MATLAB determined accuratelythat the phase and gain margins and the corresponding crossover frequencies are given by
, and
.
According to step 3 of Algorithm 9.3, a controller has to introduce a phase lead
of
.
. We take
and find the required parameter
Taking 2#3
in step 4 and completing the design steps 58 we find
that
, which is not satisfactory. We go back to step 3 and take
, which implies
.
Step 4 of Algorithm 9.3 can be executed efficiently by MATLAB by performing
the following search. Since
we search the magnitude
diagram for the frequency where the attenuation is approximately equal to
.
We start search at
since at that point, according to Figure 9.23, the
416
for
controller zeros and poles are obtained as
the phase-lead part and
for the phase-lag part;
M
hence the phase-lag-lead controller has the form
Gain dB
50
50 2
10
10
10
Frequency (rad/sec)
10
10
Phase deg
90
180
270
360 2
10
10
10
Frequency (rad/sec)
10
10
417
1.5
(a)
(b)
Amplitude
0.5
0
0
0.2
0.4
0.6
0.8
1
1.2
Time (secs)
1.4
1.6
1.8
Figure 9.25 Step responses of the original (a) and compensated (b) systems
418
The transfer function of the ship positioning system is obtained by the MATLAB
instruction [num,den]=ss2tf(A,B,C,D) and is given by
and
The phase and gain stability margins of this system are
, with the crossover frequencies
and 2
(see the Bode diagrams in Figure 9.26). From known values for the
phase and gain margins, we can conclude that this system has very poor stability
properties.
Since the phase margin is well below the desired one, we need a controller which
will make up for almost a increase in phase. In general, it is hard to stabilize
systems that have large negative phase and gain stability margins. In the following
we will design phase-lead, phase-lag, and phase-lag-lead controllers to solve this
problem and compare the results obtained.
419
Gain dB
100
100 3
10
10
10
Frequency (rad/sec)
10
10
Phase deg
90
180
270
360 3
10
10
10
Frequency (rad/sec)
10
10
420
100
Gain dB
(b)
0
(a)
100
200 1
10
10
10
10
Frequency (rad/sec)
Phase deg
150
180
(b)
210
(a)
240
270
300 1
10
10
10
10
Frequency (rad/sec)
The gain and phase stability margins of the compensated system are found from
, and the
the above Bode diagrams as
,
crossover frequencies are m
. The step
#
response of the compensated system exhibits an overshoot of 45.47% (see Figure
9.28).
Phase-Lag-Lead Controller: By using Algorithm 9.3 we find the compensator
transfer function as
421
1.5
Amplitude
0.5
0
0
5
6
Time (secs)
10
Figure 9.28: Step response of the compensated system with a phase-lead controller
(a)
Gain dB
(b)
50
100
150 1
10
10
10
10
Frequency (rad/sec)
Phase deg
150
(b)
180
(a)
210
240
270 1
10
10
10
10
Frequency (rad/sec)
422
1.2
Amplitude
0.8
0.6
0.4
0.2
0
0
10
15
Time (secs)
20
25
30
Figure 9.30: Step response of the compensated system with a phase-lag-lead controller
423
response reveals that the obtained system is too sluggish since the response peak
time is
(note that in the previous two cases the peak time is only
a few seconds).
One may try to get better agreement by designing a phase-lag compensator, which
will reduce the phase margin of the compensated system to just above . In order
to do this we write a MATLAB program, which searches the phase Bode diagram
and finds the frequency corresponding to the prespecified value of the phase. That
.
frequency is used as a new gain crossover frequency. Let
The Bode diagrams of the compensated system are given in Figure 9.31.
424
Gain dB
200
200 6
10
10
10
Frequency (rad/sec)
10
10
Phase deg
90
180
270
360 6
10
10
10
Frequency (rad/sec)
10
10
It can be seen
that the phase and gain margins are satisfactory and given by
and
. The actual gain crossover frequencies are
#%1
and m%
.
The closed-loop step response of the phase-lag compensated system, given in
which is still fairly
Figure 9.32, shows that the peak time is reduced to
bigand that the maximum percent overshoot is increased to
,
which is comparable to the phase-lead and phase-lag-lead compensation.
425
1.5
Amplitude
0.5
0
0
50
100
150
Time (secs)
200
250
300
Comparing all three controllers and their performances, we can conclude that,
for this particular problem, the phase-lag compensation produces the worst result,
and therefore either the phase-lead or phase-lag-lead controller should be used.