自动控制与实验.ppt

自動控制與實驗 Bode Plots Advantage of Working with Frequency Response in terms of Bode Plots Bode plots of systems in series (or tandem) simply add which is quite convenient. Bode’s important phase-gain relationship is given in terms of logarithms of phase and gain. Advantage of Working with Frequency Response in terms of Bode Plots A much wider range of system behavior (from low to high frequency behavior) can be displayed on a single plot. Bode plots can be determined experimentally. Dynamic compensator design can be based entirely on Bode plots. Bode Form of the Transfer Function Bode form： all one K0 is transfer function magnitude at very low frequencies. Classes of terms of transfer functions (1) (2) (3) Class1:singularities at the origin Class2: first-order term a) For b) For we call the break point below: magnitude is approximately constant 1 above: magnitude is like class 1 phase a) For b) For c) For Class3:second order term Break point Peak amplitude magnitude change slop +40dB or -40dB phase change +1800 or -1800 Matlab’s Bode Plots bode(num,den) Example: Result: (response of G(s)=1/(s2+s+3)to sint ) Example: KG1=10/s(s2+0.4s+4) KG2=0.01*(s2+0.01s+1)/s2[(s2/4)+0.02(s/2)+1] * * Exp: Exp: G(s) U0sinωt Y(t) U0 ω/(s2+ ω2) ? 1/(s2+s+3) numG=0.01*[1 0.01 1] denG=[0.25 0.01 1 0 0] bode(numG,denG) numG=10 denG=[1 0.4 4 0] bode(numG,denG) * * * * *