Signals and Dynamic Plots

Mechatronic system design
Mechatronic system design wb2414‐2013/2014
Course part 2
Signals and dynamic

plots
Prof.ir. R.H.Munnig Schmidt
Mechatronic System Design
1
WB2414-Mechatronic System Design 2013-2014
Delft
University of
Technology
Contents
• Signals
• Periodic, Harmonic signals
• Fourier analysis
• Dynamic plots
• Laplace & Fourier transform
• Time domain
• Frequency domain
2
Delft
University of
Technology
1
Signals
• A Signal is a function that conveys information about the
behavior or attributes of some phenomenon.
• DC (Direct current) signal remains constant in a measured
time period. It equals the average value of any signal.
• AC (Alternating current) has periodically alternating
negative and positive values at a certain frequency (f )
It’s average value is zero.
f  amount of events per time (Hz)
1
Period: T  (s)
f
• Any signal can be described as a combination of different
AC and DC signals, varying over time or space.
3
Delft
University of
Technology
Special periodic function:

Harmonic oscillations (sine-cosine)
Angular frequency
y
A sin(ωt) A
  2 f ωt t=0
A cos(ωt) x
cos and sin have 90 degrees different phase angle
4
Delft
University of
Technology
2
Harmonic movement
x(t )  Asin(t )
dx(t )
 x (t )  Acos(t )
dt
d 2 x(t )
x(t )   A 2sin(t )
 
dt 2
x( )  x(t )
  A 1 Derivative gives phase lead   t
5
Delft
University of
Technology
Phase relation by means of

complex number
Im
Z( )
A
j sin
Eulers formula

cos Re Z ( )  A(cos   j sin  )  Ae j
Z (t )  A(cos t  j sin t )  Ae jt
6
Delft
University of
Technology
3
Fourier decomposition of signals
• Periodic signals can be seen as a combination of
harmonically related sinusoidal functions
• Fourier decomposition is based on the mathematical

fact that the multiplication of one sinusoidal function
with another can only give a non‐zero average value
over time when they have an equal frequency and
phase
 cos(1t  2t )  cos(1t  2t )

sin(1t ) sin(2t ) 
2
7
Delft
University of
Technology
Triangle waveform
8  1 1 
fˆ (t )  2  cos(t )  2 cos(3t )  2 cos(5t )  ..... 
  3 5 
8
Delft
University of
Technology
4
Square wave form
4 1 1 
fˆ (t )   sin(t )  sin(3t )  sin(5t )  ..... 
 3 5 
9
Delft
University of
Technology
Sawtooth waveform
2 1 1 
 2 3 
10
Delft
University of
Technology
5
Random signals
11
Delft
University of
Technology
Fast Fourier Transform
Mind the window!
12
Delft
University of
Technology
6
Window functions
13
Delft
University of
Technology
Contents
• Signals
• Periodic, Harmonic signals
• Fourier analysis
• Dynamic plots
• Laplace & Fourier transform
• Time domain
• Frequency domain
14
Delft
University of
Technology
7
Laplace transform, first step from the
time into the frequency domain via
the transfer function

f ( s )  { f (t )}   e  st f (t )dt s    j
0
 dx(t ) 
Fd ( s )      sx( s )  x(0)
 dt 
 t  x( s )
Fi ( s )     x(t )dt  
0  s
15
Delft
University of
Technology
Laplace domain = complex plane with poles

and zeros. Fourier transform gives frequency
response  dx(t ) 
Fd ( )      j x( )
 dt 
s    j  t  x( ) x( )
Fi ( )     x(t )dt   j
0  j 
16
Delft
University of
Technology
8
With a phase change depending on the
location of s
 dx(t ) 
Fd ( s )      sx( s )  x(0)
 dt 
 dx(t ) 
Fd ( )      j x( )
 dt 
 t  x( s)
Fi ( s )     x(t )dt  
0  s
t
  x( ) x( )
Fi ( )     x(t )dt   j
0  j 
Derivative gives phase lead (+j), Integral gives phase lag (‐j)
Multiply with s  90ᵒ phase lead, divide by s  90ᵒ phase lag
17
Delft
University of
Technology
Test and analysis stimuli of

dynamic systems
• Frequency domain related responses
• Step and impulse
• Frequency sweep
• Noise
• Multi‐sines
18
Delft
University of
Technology
9
Stimuli in the frequency domain
• Step and impulse
• Need for limitation of force
• Frequency sweep
• Not too fast to enable stabilising of resonances (energy)
• Noise
• White noise, constant “Power Spectral Density”
• Multi‐sines
• Tuneable to frequency area of interest
19
Delft
University of
Technology
Step response
Fourier analysis of a unit step gives wide spectrum with
decreasing magnitude at higher frequencies
It is a squarewave of almost 0Hz
4 1 1 
 3 5 
20
Delft
University of
Technology
10
Impulse time response
Fourier analysis of impulse is constant amplitude density over
all frequencies (linear scale).
21
Delft
University of
Technology
Bode plot
• Magnitude and phase
• Output versus input
• Output and input can be different (Force vs displacement)
• Double logarithmic scale loglog 1/x = straight line ‐1
• Horizontal frequency axis in Hz or rad/s
• Vertical axis magnitude abs or in dB
• Vertical axis phase in degrees
22
Delft
University of
Technology
11
Nyquist plot, the most important
of all!
And don’t show the

negative
frequencies!
23
Delft
University of
Technology
12

Signals and Dynamic Plots

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Signals and Dynamic Plots

Uploaded by

Copyright:

Available Formats

Mechatronic system design

Signals and dynamic

Special periodic function:

cos and sin have 90 degrees different phase angle

  A 1 Derivative gives phase lead   t

Phase relation by means of

• Fourier decomposition is based on the mathematical

 cos(1t  2t )  cos(1t  2t )

Fast Fourier Transform

Mind the window!

Laplace domain = complex plane with poles

Test and analysis stimuli of

And don’t show the

You might also like