台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室

電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
Lab-808: Power Electronic Systems & Chips Lab., NCTU, Taiwan
http://pemclab.cn.nctu.edu.tw/

2nd-Order System
鄒 應 嶼 教 授

國立交通大學 電機與控制工程研究所

2009年5月29日

Lab808: 電力電子系統與晶片實驗室
Power Electronic Systems & Chips, NCTU, TAIWAN
LAB808
NCTU 台灣新竹•交通大學•電機與控制工程研究所

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Normalized Time Responses
Step Responses of a Second-Order System

 n2 y(t) 1.8
R(s) Y (s)
s2  2n s  n2
1.7

0.1
1.6

 =
1.5
j

0 .2
1.4
s plane

0. 3
1.3

1.2

0.4
1.1

5
0.
6
0.
1.0

0.8 . 7
n

0
  n 1   2 0.9

0
1.
0.8

=



1.5
0.7
0
0  0.6 2.
  n
 0.5
  tan1

0.4
 n 
 
0.3

1  2Q  0.2
Q 0.1
2
0 1 2 3 4 5 6 7 8 9 10 11 12 13
n t 2/12
Damping Ratio and Pole Quality Factor

j s plane j s plane

0 0
  0 1   2
cos   
0  0 
0
Rx  0 Q
 0  2 Rx
 
 2Q 

1 1
Pole Quality Factor Q  
2 2  Damping Factor
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 Settling Time of a Unit Step Response for a Second-
Order Under Damped System
L
What is the step response for a duty ratio change?

vi D vo    
C 1 P.O .  100 exp  
1  1 2 
 
1 2

e  n t
L
1
D 1  2

vi C vo
1.05
1.00
0.95

D
e  n t
1
1 2
vi L C vo
0
 2 ts 3 4 nt
1 1
1 1 2
1 2 2
1 2

1 2

0    0.707
 Normalized Rise Time vs. Damping Ratio

5.0
Rise Time, Bandwidth, and Damping Ratio
4.0  n t r  1  0.4167   2.917  2
3.5

 nt r
3.0
 nt r  0.8  2.5 2.85   0 .707  n t r  2 . 163  2 .2
2.2
2.0
  1 .0  n t r  3 .5
3 .5
1.0 Actural  n t r  n   2f n
1  0.4167  2.917 2 tr
3 .5 0 .557
0 0.2 0.4 0.6 0.8 1.0 1.2 fn  
 2 t r tr

 tr and td are proportional to  and inversely proportional to n.

 Increasing (decreasing) the natural undamped frequency n will
reduce (increase) tr and td.
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Rise Time and Bandwidth

Vin(t)
V0
0.9 V0

Empirical relationship between the bandwidth of a signal and its 10–90

rise time, as measured from a re-created ideal square wave with each
harmonic added one at a time. Circles are the values extracted from
0.1 V0 the data; line is the approximation of BW = 0.35/rise time.
t
Tr

V Tr Rise time 0.35

BW  ( rad / sec)
Tr

The rise time of a pulse is

approximately 35% of the period
of the underlying sine wave.
Period  time
6/12
 Understanding Poles and Zeros Im

Pole-Zero Map (s-plane)

Zeros
Re

Poles

Understanding Poles and Zeros,

Analysis and Design of Feedback Control Systems,
MIT course note.
Step Time Responses for 2nd-Order System

j j
s plane s plane
 1 y(t)  0 y(t)
1 1
0  0 

0 t 0 t

j 0    1 j
 1 s plane y(t) s plane y(t)
1 1

0  0 

0 t 0 t

0   1 j y(t) j
s plane   1 s plane y(t)
1 1
0  0 

0 t 0 t
8/12
First-Order Filters
Filter Type and T(s) s-Plane Singularities Bode Plot for |T| Passive Realization Op Amp-RC Realization

(a) Low-Pass (LP) jω T , dB

R R2
a dB
O at  20 log | 0 |  20 R1
ω0 decade + + C
a0 Vi C Vo
T s     +
+
s ω 0 0 σ Vi
ω0 1 1 Vo
0 CR   CR2 
ω0 ω0 
ω0 ω (log)
dc gain  1 R
dc gain   2
R1
R2
(b) High-Pass (HP) jω T , dB C C
R1
20 log | a1 |
dB
 20
decade + + +
Vo Vi +
as Vi R
T s   1    Vo
s ω 0 0 σ
1 
ω0 CR 
1 CR1 
ω0
0 ω0
ω0 ω (log) R2
High - frequency  1 High - frequency gain  
R1
C1 R2
T , dB R1
(c) Central jω dB R1 C
a0  20
20 log | | C1
ω0 decade
+ +
Vi R2 C2 Vo +
a s  a0 20 log | a1 |   +
T s   1 σ
Vi
Vo
s ω 0 0
C1  C 2 R1  R2   1
 C 2 R2 
1
ω0 ω0 ω0 
a a
a0 C1 R1  0 C1 R1  1
a1 a0
a1 0
ω (log) R2 R2
a dc gain  dc gain  
ω0 | 0| R1  R2 R1
a1 C1 C
HF gain 
C1  C 2
HF gain   1
C2
9/12
All-Pass Filter

All-pass filter characterizes a constant transmission at all frequencies and the transmission
zero and the natural mode are symmetrically located relative to the j-axis.

T(s) Singularities |T| and  Passive Realization Op Amp-RC Realization

T , dB
20 log | a1 | R1
+
jω R1
R1 R
0

ω(log) R
s  ω0 Vi Vo + +
T s    a1 Vi Vo
s  ω0 R1 C  C 
0 σ
a1  0 φ

ω0 ω0
0 ω0 ω
1 1
CR  CR 
ω0 ω0
-90 Flat gain(a1 )  0.5 Flat gain(a1)  1

-180

Introduces phase lag at

specified frequency. 10/12
A Zero Means a Feed-Forward Path

R io

ic
Rc
vi vo Ro
C

1
Ro
QC (t0 )
io
vi 1 iC 1 QC 1 vc vo

R s C

Rc

11/12
Power Electronic Systems & Chips Lab., NCTU, Taiwan

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電力電子系統與晶片實驗室
Power Electronic Systems & Chips Lab.
交通大學 • 電機與控制工程研究所

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