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    18 views27 pages

    MECH 371 Final Crash Part 3

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    asdfg

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    © All Rights Reserved
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    Vc RADESAVERS MECH 371: ANALYSIS AND DESIGN OF CONTROL SYSTEMS FINAL CRAST PART 3 — Bode Diagram. The Nyquist Criterion. YoraDesAvERs ener Frequency Response Methods Bode Diagram Depending on the frequency of the input, the magnitude of the response and the phase would change. To get a good visual of these changes, the Bode plot is used in order to see the magnitude and phase for any input frequency w. ‘The transfer must be in the form of: K(1+Tys)(1 + Teas) (1+ TemS) G io ‘(14 Tp1s)C + Tpi8) (1 + Tons) To get the above equation in terms of frequency, replace the complex variable ‘s’ with ‘ju’. To find the ‘magnitude and phase: M = 20logi0VRe? + Im? dB Note that sometimes the phase angle can vary when there are zeros. Recall that the real component is. the x-axis and the imaginary component is the y-axis. To draw the Bode diagram, each term will be analyzed and will be combined through superposition. The difficulty is that plotting the magnitude and phase curves becomes difficult. Therefore, approximations are used. ‘Method of Solving (Matlab): 1. Put the transfer function in the form of a polynomial, 2. Use the input:h=tf({a b c],[d e £]).Note that a, b, and care the coefficients of the polynomial in the numerator, and d, e, and fare the coefficients of the polynomial in the denominator. 3. Use the input: bode (h) . This will give the bode plot. Note: Use Matlab to compare answers. ‘ForaDesavers ‘There are 5 types of possible terms in a transfer function. Le Cartier 3410 Pee}, Suite 82, Montreal QC, #3A1H3__ 1. Constant Term (Gain ‘Magnitude: M = 20logioK dB Phase: 0 0°,K >0 19 ; @ = tan (2) = 480° (or — 180°),K <0 2. Poles (or zeros) at the origin (s Magnitude: M =0dBwhenw =1 M: £20 dB/decade Phase: g = 490° 3. Poles (or zeros) on the real axis (s + us) ‘Magnitude: The break frequency, ws, is where two asymptotes meet for the magnitude. M =0dBwhenw « wy M: £20 dB/decade when w > wy Phase: At the break frequency, the phase lag is exactly #45° 9 = 0 when w « 0.1w» g: £45°/decade when 0.10 > 10%, Le Cartier 3410 Peel, Suite B2, 4, Complex conjugate poles (or zeros) [w,?/(s? + 2% + we ‘Magnitude: The asymptotes will meet at frequency of wp. This is similar to the break frequency. M = 0dBwhenw « ay ‘M: £40 dB/decade when w > wy Phase: At the frequency, wn, the phase lag is exactly #90" g = 0° when w « 01a, 9: £90°/decade when 0.1dq < w < 100y y = £180° when w > 100, 5. Pure time delay (e Magnitude: Phase: g=-0 Note that for all poles, magnitudes and phases will take the negative, whereas for zeros, they will take the positive. Method of Solving: 1. Make sure the transfer function is of the proper form. Analyze each term pole/zero separately and find the magnitude and phase change behavior of each. 3. Onsemi: 4. Use superposition to add the curves together from each term. 'g Paper, choose the appropriate scale for decades on the x-axis. FoRADESAVERS _ Stability Analysis Using the Sede Plot Gain Margin (GM): ___Le Cartier 3410 Peel, Suite 82, Montreal QC, H3A 1H3 This is the amount of gain (dB) that can be added to the loop before the closed-loop system becomes either marginally stable or marginally unstable. 1 'M = 20log———_ *[6Gop)l Note that w, is the phase-crossover frequency. This is found on the phase diagram when the curve crosses the -180" line, Phase Margin (PM): ‘This is the shift angle in degrees when M marginally stable. that will cause the closed-loop system to become PM = 180° + 2G(jw,) Note that wis the gain-crossover frequency. This can be found where the curve of the magnitude plot crosses 0. Stability Check: In order for a system to be relatively stable, ‘+ The phase should not below -180° and, ‘+ The gain should not be below 0 48. If one of the two conditions are not met, the system becomes unstable. The system becomes marginally stable if the phase is -180° and the magnitude is 0 dB. YorabEsAvers Lecitetp sues oro 88 1. Arrobotic arm has a joint-control open-loop transfer function 40(s +8) GO) = Serr as+ 16) a) Plot the Bode diagram (Asymptotic) on the provided semi-log paper. b) Find the phase-crossover frequency (w,) and Gain Margin (GM) and indicate on the Bode Diagram, ©) Find the gain-crossover frequency (w,) and Phase Margin (PM) and indicate on the Bode Diagram. d)_ Is the unity negative feedback system stable? Explain your answer clearly. OME . 2015+ ) Gps = TUCO = S00 FS) GE \. Gon W = 20 N = 2010320 =26-02. 48 geo PHA = LGC ag) BO” 2. Pole ot orrgia M: -20 a@ldecode P=- 40° 4) The sen TS obey slate Sie 3, Ze! (5 +8) a ae ape well naver ergs —[B0" ob ws hn Gen id N52 ‘ak CO>8 Vro asblee ee mute Op apewedo : [ne oh 248s 4le) UL, Conger pales (Stab Mi -40 dalderade of aed 60 oF wed P' bacr[decde © (-\g0e of cup4o ewedo Li) 26.2 4B 9 wowed sig 2) -90° z q g a er ea e Fae i Woravesavers Le Cartier 3410 Peel, Suite 82, Montreal QC, H3A 1H3 2. A unity feedback system has a plant transfer function given by: 3200 oO) = Sear) a) On the semi-log paper provided, plot the asymptotic Bode diagram. Show all relevant steps. Indicate the relevant slopes on the diagram. bb) (1) From the asymptotic Bode diagram, determine phase-crossover frequency, gain ma gain-crossover frequency, and phase margin. Show these values on the diagram clearly. (2) Is the closed loop system stable or unstable? Explain your answer clearly. ¢) Introduce a constant gain K controller (ie: proportional controller) to obtain a phase margin of 45 degrees. Find out the numerical value of gain K controller. a) _ 2250 GO" Tae) \. Gon &= ISO wy Mz 29 \ealeo =4o | PM P=o 7 2D. Ble ot ong Ne -20 placed @ = -40" 3, Tole fo) a wet Miao alu d 74 00 & weeod Pi nastfdscde ON < 40 40° ak eu 40 AL Pde: (348) co eh wed M [te abaode ob cor B fo & weod Db Ucauesde 0 BELLS -40fdagde C0? TO aot ~ > A_ay-t0 de Hac ~~ 2) -roste fda KS 2) 20 arldee ON ou __YoraDESAVERS 3. A.unity feedback system has a plant transfer function given by: ___le Cartier 3410 Peel, Suite 82, Montreal QC, H3A.1H3 67.4(5 +6) SoS) = EE D Ge? + 10s +64) a) On the semi-log paper provided, plot the asymptotic Bode diagram. Show all relevant steps. Indicate the relevant slopes on the diagram. b) From the asymptotic Bode diagram, determine phase-crossover frequency, gain margin, gain- crossover frequency, and phase margin. Show these values on the diagram clearly. ©) Isthe closed loop system stable or unstable? Explain your answer clearly. 2) 6 - AIOE) = lon (S29 f SOE) Er HBF 4) a20sG naa) % -lOs +64 \. Gem > SS & Cupex pats Gos ) Ne Do oy B= 2:99 NM: (vctldon of wrk =O E O tf weeoB & 2, RL ob ongn Pp f Iaacede 0: B09<80 “1% oF o> BO ig 8, oF wee a {20 daldeode wre 2.2 Al DF 4s/dake O.6<< 60 qe ob Wr O 4. Poe: (s+?) Og wer w {ode due ob 72 debe bebe we SY, since the syren ee oe © dB east —1BO? [int han wy >s.q mats, rf hes mone become at we or vast a {Cie o2ewe20 =? a} wW>> 20 ° 1 ' \ | 2 Nae) é \ iS weft e On s)2deldec span 6 NO) 2d, SAS 20-20 debi “s\-4o apldec, S)-A0"(aae r x Sy (Hey, 4 YoRADESAVERS _ corte es gene 4, Aunity feedback control system has a loop transfer function 6.68) = TERETE Determine the phase margin, the crossover frequency, and the gain margin when K = 1300. Co eee eee ne eae) © SANS") Gon c= \ . Me ele = 22.28 ae ae h _ Guz 12-48 as dae? F94fs M220 dal dacede. pant Ble: (+2) Me oO + Wert ~WoAdldecale of W>D (SO a wear Ca “tat Orewcr 9? ot W720 Phe’ (Sew) ot wed {oan at wr D Ot was Clade Se 09 <500 -Fo® ot worn (22.28 4B B29 Ave 2) -20 48d — dB ler pe re é zg a 1 on OR ‘ YorADESAVERS See eect 5. Consider a unity feedback system with the loop transfer function _ 10(1 + 0.45) G(S)G() = THC + 0245 + 0.085) (a) Plot the Bode diagram. (b) Find the gain margin and the phase margin. a Qmam=__lo(ods+1) = 10(oa) (3 +25) a Clee to.tero ote) SC (s+0.5)C0 ou) (2s + et s*) = S0(s12.5) o(sros)(st res +25) L. Goan 210 5. Compec poles, (SbeOox25) M = 20le\0 =20 a8 1 woes Pp-o Gecatuote ch ose 2. Pe cbonga Mito dB lducede G: 40 2.2m C4E8) LOO ab we2T » {20 abldaeade eal O + wars L f Sve Org ce 2S aoe of Cur? BS 4: Bale: ($108) o of woot Ww deldsceke of WOT ob Wee 0.08

    SWB sue tO SOBA Yorabesavers 2. The loop transfer function of a system is given by: Le Cartier 3410 Peel, Suite B2, Montreal QC, H3A 1H3 K(s +3) s6-D a). Sketch the Nyquist plot of S*5> b) Determine K so that the feedback system is stable. a) snp © = Nogesh Cnive eD a; Im Piles, Oy 1 Guciw> rd ae oe 05 yee ee -4 n= Tete Foe woe) me +) Pe Fee Wel, He a Qos Dee) Be BOTT (Bed FS ig hee ah eu ce ee ans Rex Ti =o Tras 14 TRO Pe cron x3 _ +3 s(t) 2° a. = . seal cect OO > - 3. (9) ga) Bp ee b) Sece Mayr pls _ covet AA, the ype ® pcunasly sanat bw P=\ 2=N+0 oeh+\ Nen\ eB One COD encreelined chok po cw) Bay rarentray AE sn Pe ects Pot weeds The eal ont cell shoe Leh. Therehe Bayhen STABLE Sor __Yorapesavers 3. The loop transfer function of a system is given by: __Le Cartier 3410 Peel, Suite B2, Montreal QC, H3A 1H3 10 (+ D6+4) a) Sketch the Nyquist plot. Please show your procedures. b)_ Investigate the stabitity of the system based on the Nyquist diagram. ¢) From the Nyquist plot, estimate the gain margin and the phase margin. Show your procedures clearly. GH) = ROD Wy unt Cur “ES Pai Te Pa: Ort Sw (os -?) eo © TER Geo wb)” Sat} ee tiaeea pelengeil: __ a inl gaga}= low dow Sede Su" (dw) ae om |-a.e5 | +20 Wa \ Emr ~0.88 WO" , Tine —co 2 SRE 0.6 —2 WOT, Tine +00 =O Com) Tos 4oyf=0 Re = -0.5 wee SEP®; Pa + org ce 2 SCSHNNCS TAY eae Qty b. O70 o OEE So N=o BaNtP =o => SOBBLE Se wo Ze in PAS <) e352, Re=-O __Yoravesavers “cai ste 4, The open-loop transfer function of a unity negative feedback system is given by 50 GH) = SIHEFH a) Plot the Nyquist diagram. b) Investigate the stability of the system based on the Nyquist diagram. ¢) Use Routh-Hurwitz stability criterion to validate the stat 2) SRD. Nyprt Cote we @: Re Tin Phe. © “2-4 Qa) =$ 2 —_. a ; Cort ‘ gecsnery 2 : - Bo > T ee B awe o sos 2 stad = tn-o8 = se 5 SA * gat = fier” “est yee 2 = oman? = | (acon SO © Beust CBw ws ssous — 2 Dake RelanQd= eo LEM? Bere (Ques) Bhs (bo sow ope OF THO Den = te —w ov OT, Tm e400 BUCA (508) - PY =-04 16 SEQ), Pde ot ony an i sO ae | oer ED bere Ee oo Bre? 4. O=-E 66-00 C.07 »-E 6) P=0 Nez Z=NaP Bad —e ewe oe ee oh enn wn PAS 2 \rGtoo =o \ + 38 = at eest sts 450 =O sey Rath Moda, > st. G(R =83 eo) B Sal |e oo ss 3 _ |x YoraDESAVERS _ 5. The open-loop transfer function of a unity negative feedback system is given by ___Le Carter 3410 Peel, Suite 82, Montreal QC, H3A 113 OSk(s +14 /(s+1-s) s(5— 2) GH(s) = a) Plot the Nyquist diagram for k= 1. b) Investigate the stability of the system for k= 1. ©) Using the Nyquist diagram, determine the range of k where the closed-loop system is stable. 4d) If GH(s) is multiplied by e'®, what is the maximum time delay T allowed before the closed-loop system becomes unstable, assuming k is the minimum value allowed in part c). 1 Tees Nyunk Code GAGs) = Ons [jetta ain +24 Qe ye ona Yee a yaad) aust gto +05 (2-0 y ae a eosaks penne ok eH {dus — wo? + Tit = ee : cok AU 5 - = 2u DoS { N= Os ust-Fw Tn LONG (= Se Re (aigr = osucsee Eee Tt = O.Sa-3 > 2-2u* [oe eed wweQ Pee -098 , T= wot, De 90

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