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Transfer Function:
Considerations:
Factorization:
K ( s z )( s z ) ... ( s z )
( s p )( s p ) ... ( s p )
1
m
n
( s 8)( s 14)
s ( s 4)( s 10)
j axis
S - plane
-14
-10
-8
x
-4
origin
0
axis
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1
1
,
,
s ( s / p 1)
( s / z 1)
Expressing in dB:
G ( jw)
K ( jw / z 1)
( jw)( jw / p 1)
B
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dB Mag
Phase
(deg)
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(rad/sec)
20
-20db/dec
0
-20
=1
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-20db/dec
-20
-40
=p
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20
+20db/dec
0
-20
-40
=z
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Example 1:
50, 000( jw 10)
G ( jw)
( jw 1)( jw 500)
Given:
First: Always, always, always get the poles and zeros in a form such that
the constants are associated with the jw terms. In the above example
we do this by factoring out the 10 in the numerator and the 500 in the
denominator.
G ( jw)
Second:
When you have neither poles nor zeros at 0, start the Bode
at 20log10K = 20log10100 = 40 dB in this case.
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Example 1:
(continued)
Third: Observe the order in which the poles and zeros occur.
This is the secret of being able to quickly sketch the Bode.
In this example we first have a pole occurring at 1 which
causes the Bode to break at 1 and slope 20 dB/dec.
Next, we see a zero occurs at 10 and this causes a
slope of +20 dB/dec which cancels out the 20 dB/dec,
resulting in a flat line ( 0 db/dec). Finally, we have a
pole that occurs at w = 500 which causes the Bode
to slope down at 20 dB/dec.
We are now ready to draw the Bode.
Before we draw the Bode we should observe the range
over which the transfer function has active poles and zeros.
This determines the scale we pick for the w (rad/sec)
at the bottom of the Bode.
The dB scale depends on the magnitude of the plot and
experience is the best teacher here.
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60
1
1
1
1
1
1
1
1
40
20
dB Mag
dB Mag
Phase (deg)
Phase (deg)
-20
-60
-60
0.1
10
(rad/sec) 1000
100
(rad/sec)
10000
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( s 1)( s 500)
[ s 501s 500]
2
Bode Diagrams
From: U(1)
40
20
10
0
-10
0
10
100
500
-20
To: Y(1)
30
-40
-60
Bode for:
-80
-100
-1
10
10
G ( jw)
1
10
100(1 jw / 10)
(1 jw)(1 jw / 500)
2
10
10
10
Frequency (rad/sec)
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Illustration:
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Bode Plots
Example 2:
100(1 s / 10)
s (1 s / 100)
2
40
dB
-20db/dec
20
0
The
is
a tentative line we use
until we encounter the
first pole(s) or zero(s)
not at the origin.
-20
(rad/sec)
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Bode Plots
Example 2: (continued)
60
100(1 s / 10)
s (1 s / 100)
-20db/dec
40
20
dB Mag
-40 db/dec
Phase (deg)
-20
G ( s)
-40
-60
0.1
10
(rad/sec)
100
1000
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100(1 s / 10)
s (1 s / 100)
2
Bode Plots
Example 3:
80(1 jw)3
G( s)
( jw)3 (1 jw / 20) 2
Given:
1
20log80 = 38 dB
1
-60 dB/dec
60
dB Mag 40
-40 dB/dec
20
-20
.
0.1
(rad/sec)
10
100
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Bode Plots
Example 4:
Given:
1
G ( jw)
1
10(1 jw / 2)
(1 j 0.025w)(1 jw / 500) 2
1
60
40
+ 20 dB/dec
-40 dB/dec
20
dB Mag
Phase (deg)
Sort of a low
pass filter
-20
-40
-60
0.1
10
(rad/sec)
100
1000
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Bode Plots
Given:
(1 jw / 30) (1 jw / 100)
G ( jw)
(1 jw / 2) (1 jw / 1700)
2
Example 5
1
2
2
60
40
20
dB Mag
Phase (deg)
-40 dB/dec
-20
Sort of a low
pass filter
+ 40 dB/dec
-40
-60
0.1
10
(rad/sec)
100
1000
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Bode Plots
Given:
Example 6
H ( jw)
( jw) ( jw 10)
( jw) (0.1 jw 1)
2
-40dB/dec
40
-20db/dec
20
-40dB/dec
dB mag
-20
-20dB/dec
-40
0.01
0.1
10
100
1000
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Bode Plots
Design Problem:
Example 7
40
30 dB
20
dB mag
-40dB/dec
+40 dB/dec
0.1
10
30
rad/sec
100
900
1000
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Bode Plots
Procedure: The two break frequencies need to be found.
Recall:
#dec = log10[w2/w1]
Then we have:
(#dec)( 40dB/dec)
= 30 dB
log10[w1/30] = 0.75
w1 = 5.33 rad/sec
Also:
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Bode Plots
Procedure:
(1 s / 5.3) 2 (1 s / 5060) 2
G(s)
(1 s / 30) 2 (1 s / 900) 2
Clearing:
( s 5.3) 2 ( s 5060) 2
G( s)
( s 30) 2 ( s 900) 2
N 1 ( s 2 10.6s 28.1)
N1 = [1 10.6 28.1]
N = conv(N1,N2)
1
1.86e+3
2.58e+7
s4
s3
s2
2.73e+8 7.222e+8
s1
s0
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Bode Plots
Procedure:
Testing:
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Not to scale
68
20 db/dec
-20 db/dec
30
dB
20
db/dec
110
850
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100 dB
-40 dB/dec
Not to scale
50 dB
-20 dB/dec
-20 dB/dec
10 dB
-40 dB/dec
0.5
40
w (rad/sec)
300
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Appendix
dB Mag
P
(