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Chapter 13 (3-7-05) PDF
Chapter 13 (3-7-05) PDF
y (t ) =
KA
2 2
ω τ +1
( ωτe −t / τ − ωτ cos ωt + sin ωt ) (5-25)
Note that y(t) and x(t) are in deviation form. The long-time
response, yl(t), can be written as:
KA
yA ( t ) = sin ( ωt + φ ) for t → ∞ (13-1)
ω2 τ 2 + 1
where:
φ = − tan −1 ( ωτ )
1
Chapter 13
Figure 13.1 Attenuation and time shift between input and output
sine waves (K= 1). The phase angle φ of the output signal is given
by φ = −Time shift / P × 360D , where ∆t is the (period) shift and P
is the period of oscillation.
2
Frequency Response Characteristics of
a First-Order Process
For x(t ) = A sin ωt , yA ( t ) = Aˆ sin ( ωt + φ ) as t → ∞ where :
KA
Aˆ = and φ = − tan −1 ( ωτ )
Chapter 13
ω2 τ 2 + 1
1. The output signal is a sinusoid that has the same frequency, ω,
as the input.signal, x(t) =Asinωt.
2. The amplitude of the output signal, Â , is a function of the
frequency ω and the input amplitude, A:
KA
Aˆ = (13-2)
ω2 τ 2 + 1
Aˆ K
AR = = (13-3a)
Chapter 13
A ω2 τ 2 + 1
which can, in turn, be divided by the process gain to yield the
normalized amplitude ratio (ARN)
1
AR N = (13-3b)
ω2 τ 2 + 1
4
Shortcut Method for Finding
the Frequency Response
The shortcut method consists of the following steps:
Step 1. Set s=jω in G(s) to obtain G ( jω ) .
Chapter 13
2 2
⎛ 1 ⎞ ⎛ −ωτ ⎞
AR = R 2 + I 2 = ⎜ 2 2 ⎟ + ⎜ 2 2 ⎟
⎝ ω τ +1⎠ ⎝ ω τ +1⎠
or
AR =
( )=
1 + ω2 τ 2 1
(13-20a)
( ω τ + 1)
2
2 2 ω2 τ 2 + 1
Also,
−1 ⎛
I⎞
φ = tan ⎜ ⎟ = tan −1 ( −ωτ ) = − tan −1 ( ωτ ) (13-20b)
⎝R⎠
7
Complex Transfer Functions
Consider a complex transfer G(s),
Ga ( s ) Gb ( s ) Gc ( s )"
G (s) = (13-22)
G1 ( s ) G2 ( s ) G3 ( s )"
Substitute s=jω,
Chapter 13
Ga ( jω ) Gb ( jω ) Gc ( jω )"
G ( jω ) = (13-23)
G1 ( jω ) G2 ( jω ) G3 ( jω )"
1
AR N ( ω = ωb ) = = 0.707 (13-30)
1+1
11
Integrating Elements
The transfer function for an integrating element was given in
Chapter 5:
Y (s) K
G (s) = = (5-34)
U (s) s
Chapter 13
K K
AR = G ( jω ) = = (13-34)
jω ω
φ = ∠G ( jω ) = ∠K − ∠ ( ∞ ) = −90D (13-35)
Second-Order Process
A general transfer function that describes any underdamped,
critically damped, or overdamped second-order system is
K
G (s) = 2 2 (13-40)
τ s + 2ζτs + 1
12
Substituting s = jω and rearranging yields:
K
AR = (13-41a)
( )
2
+ ( 2ωτζ )
2 2 2
1− ω τ
⎡ −2ωτζ ⎤
φ = tan −1 ⎢ ⎥ (13-41b)
⎣1 − ω2 τ 2 ⎦
Chapter 13
14
Chapter 13
Figure 13.7 Phase angle plots for e−θs and for the 1/1 and 2/2
Padé approximations (G1 is 1/1; G2 is 2/2).
16
Process Zeros
G ( jω ) = K ( jωτ + 1)
Thus:
AR = G ( jω ) = K ω2 τ 2 + 1
φ = ∠G ( jω ) = + tan −1 ( ωτ )
17
Frequency Response Characteristics of
Feedback Controllers
Proportional Controller. Consider a proportional controller with
Chapter 13
positive gain
Gc ( s ) = K c (13-57)
AR c = K c (13-58)
and
φc = 0D (13-59)
18
Proportional-Integral Controller. A proportional-integral (PI)
controller has the transfer function (cf. Eq. 8-9),
⎛ 1 ⎞ ⎛ τI s +1 ⎞
Gc ( s ) = K c ⎜1 + ⎟ = Kc ⎜ ⎟ (13-60)
⎝ τ I ⎠
s τ
⎝ I ⎠ s
Chapter 13
Substitute s=jω:
⎛ 1 ⎞ ⎛ j ωτ I + 1 ⎞ ⎛ 1 ⎞
Gc ( jω) = K c ⎜1 + ⎟ = Kc ⎜ ⎟ = Kc ⎜1 − j⎟
⎝ τ I jω ⎠ ⎝ j ωτ I ⎠ ⎝ τI ω ⎠
Thus, the amplitude ratio and phase angle are:
1 ( ωτ I ) 2
+1
AR c = Gc ( jω ) = K c 1 + = Kc (13-62)
( ωτ I ) 2 ωτ I
⎛ 10 s + 1 ⎞
Figure 13.9 Bode plot of a PI controller, Gc ( s ) = 2 ⎜ ⎟
⎝ 10 s ⎠
20
Ideal Proportional-Derivative Controller. For the ideal
proportional-derivative (PD) controller (cf. Eq. 8-11)
Gc ( s ) = K c (1 + τ D s ) (13-64)
AR c = K c ( ωτ D ) 2
+1 (13-65)
φ = tan −1 ( ωτ D ) (13-66)
⎛ τDs +1 ⎞
Gc ( s ) = K c ⎜ ⎟ (13-67)
ατ
⎝ D s + 1 ⎠
21
Figure 13.10 Bode
plots of an ideal PD
controller and a PD
Chapter 13
controller with
derivative filter.
Idea: Gc ( s ) = 2 ( 4 s + 1)
With Derivative
Filter:
⎛ 4s + 1 ⎞
Gc ( s ) = 2 ⎜ ⎟
⎝ 0.4 s + 1 ⎠
22
PID Controller Forms
Parallel PID Controller. The simplest form in Ch. 8 is
⎛ 1 ⎞
Gc ( s ) = K c ⎜1 + + τDs ⎟
⎝ τ1s ⎠
Chapter 13
⎛ τ1s + 1 ⎞⎛ τ D s + 1 ⎞
Gc ( s ) = Kc ⎜ ⎟⎜ ⎟
⎝ τ1s ⎠⎝ α τ D s + 1 ⎠
23
Figure 13.11 Bode
plots of ideal parallel
PID controller and
series PID controller
Chapter 13
Series with
Derivative Filter:
⎛ 10 s + 1 ⎞⎛ 4 s + 1 ⎞
Gc ( s ) = 2 ⎜ ⎟⎜ ⎟
⎝ 10 s ⎠⎝ 0.4 s + 1 ⎠
24
Nyquist Diagrams
Consider the transfer function
1
G (s) = (13-76)
2s + 1
Chapter 13
with
1
AR = G ( jω ) = (13-77a)
( 2ω ) + 1
2
and
φ = ∠G ( jω ) = − tan −1 ( 2ω ) (13-77b)
25
Chapter 13