Chapter 14Frequency Response.ppt

* * * * * * * * * * * * * * * * * * * Chapter 14 Frequency Response Force dynamic process with A sin ?t , Chapter 14 14.1 * Input: Output: is the normalized amplitude ratio (AR) ? is the phase angle, response angle (RA) AR and ? are functions of ω Assume G(s) known and let Chapter 14 * Example 14.1: K1 K2 Chapter 14 * Chapter 14 * (plot of log |G| vs. log ? and ? vs. log ?) Use a Bode plot to illustrate frequency response log coordinates: Chapter 14 * Figure 14.4 Bode diagram for a time delay, e-qs. Chapter 14 * Chapter 14 Example 14.3 * The Bode plot for a PI controller is shown in next slide. Note ?b = 1/?I . Asymptotic slope (?? 0) is -1 on log-log plot. Recall that the F.R. is characterized by: 1. Amplitude Ratio (AR) 2. Phase Angle (?) F.R. Characteristics of Controllers For any T.F., G(s) A) Proportional Controller B) PI Controller For Chapter 14 * Chapter 14 * Series PID Controller. The simplest version of the series PID controller is Series PID Controller with a Derivative Filter. The series controller with a derivative filter was described in Chapter 8 Chapter 14 Ideal PID Controller. * Figure 14.6 Bode plots of ideal parallel PID controller and series PID controller with derivative filter (α = 1). Ideal parallel: Series with Derivative Filter: Chapter 14 * Advantages of FR Analysis for Controller Design: 1. Applicable to dynamic model of any order (including non-polynomials). 2. Designer can specify desired closed-loop response characteristics. 3. Information on stability and sensitivity/robustness is provided. Disadvantage: The approach tends to be iterative and hence time-consuming -- interactive computer graphics desirable (MATLAB) Chapter 14 * Controller Design by Frequency Response - Stability Margins Analyze GOL(s) = GCGVGPGM (open loop gain) Three methods in use: (1) Bode plot |G|, ? vs. ? (open loop F.R.) - Chapter 14 Nyquist plot - polar plot of G(j?) - Appendix J Nichols chart |G