chapter-5-3-Frequency-Response-Methods（北航）.pptVIP

Chapter 5 Frequency Response Methods Nyquist Criterion Bode Analysis The Nyquist criterion provides us with suitable information concerning the absolute stability and, furthermore, can be utilized to define and ascertain the relative stability of a system. Example Gain margin and phase margin Example The relationship between the damping ratio and the phase margin The relationship between the damping ratio and the phase margin The relationship between the damping ratio and the phase margin Example The Constant-M Loci Constant-M Loci Constant-M Loci Constant-N Loci Nichols chart. Example. Stability using the Nichols chart Performance Specifications in the frequency Domain * * * * * -1 (+) (-) 0 Relative Stability and the Nyquist Criterion The Nyquist stability criterion is defined in terms of (-1,0) point on the polar plot or the 0-dB, -1800 point on the Bode diagram or log-magnitude-phase diagram. Clearly the proximity of the -locus to the this stability point is a measure of the relative stability of a system. Relative Stability and the Nyquist Criterion Let Let The gain margin is defined as The phase margin is or Gain margin Phase margin Consider a second-order system, where the loop transfer function is Let Rearranging above equation, we obtain The phase margin for this system is The slope of the linear approximation is equal to 0.01, and therefore an approximate linear relationship between the damping ratio and the phase margin is This approximation is reasonable accurate for . where the phase margin is measured in degrees. Above approximation is suitable for the second-order system and may be used for higher-order systems if one can assume that the transient response of the system is primarily due to a pair of dominant under-damped roots. Consider system with a loop transfer function Time-Domain Performance Criteria Specified in The Frequency Domain The transient performance of a feedback system can be