Frequency Response 1.pdfVIP

03/03/2011 1 Frequency Response In this section we will learn: ?Definition of frequency response ?How to plot frequency response (bode asymptotic approximations) ?How to analyse system stability using frequency response ?How to use frequency response to design a systems gain to yield stability Concept of Frequency Response Sinusoids can be represented by complex numbers called phasors: )cos( 11 φ+wtM 11 φ∠M 1M 1φ∠ Consider the sinusoid: The phasor representation would be: is the magnitude of the sinusoid is the phase of the sinusoid 03/03/2011 2 Consider the following mechanical system: The input force f(t) is a sinusoid, hence the output position x(t) is a sinusoid also. )()( ωφω iiM ∠ )()( ωφω ooM ∠ Input phasor Output phasor The system itself can also be represented as a phasor: A sinusoidal input at a frequency ω will yield an output sinusoid with the same frequency However the output amplitude and output phase will not be the same as the input sinusoid. Electromechanical systems will have time delays dependent on the level of Complexity of the system (order) and the output will be out of phase to input. Electromechanical systems will lose energy to friction and heating effects making output amplitude smaller than input, or higher if system has a gain. 03/03/2011 3 Input Output )]()([)()()()( ωφωφωωωφω +∠=∠ iioo MMM Input magnitude System magnitude (gain) Input phase System phase Output magnitude Output phase )]()([)()()()( ωφωφωωωφω +∠=∠ iioo MMM )( )( )( ω ω ω i o M M M = )()()( ωφωφωφ io ?= From the above equation the system function is: Magnitude frequency response Phase frequency response )()( ωφω ∠M Frequency Response 03/03/2011 4 For a system whose transfer function is: )(sG ω ω js sGjG → = )()( )()()( ωφωω GGMjG ∠= It can be shown that: Full proof of this can be found on Nise page 589, but it is not necessary to know this derivation This allows us to substitute the Laplace variable s for jω to which is required to determine the frequency response of