chapter 10: frequency response techniques 1 ©2000, john wiley & sons, inc. nise/control systems...
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©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 10: Frequency Response Techniques1
Chapter 10
Frequency Response Techniques
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Chapter 10: Frequency Response Techniques2
Figure 10.1The HP 35670A Dynamic Signal Analyzer obtainsfrequency responsedata from a physicalsystem. Thedisplayed data can be used to analyze, design, or determine a mathematical modelfor the system.
Courtesy of Hewlett-Packard.
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Chapter 10: Frequency Response Techniques3
Figure 10.2Sinusoidal frequencyresponse:a. system;b. transfer function;c. input and outputwaveforms
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Figure 10.3System withsinusoidal input
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Figure 10.4Frequency responseplots for G(s) =1/(s + 2):separate magnitudeand phase
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Figure 10.5Frequency responseplots for G(s)= 1/(s + 2): polar plot
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Chapter 10: Frequency Response Techniques7
Figure 10.6Bode plots of(s + a):a. magnitude plot;b. phase plot.
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Table 10.1Asymptotic and actual normalized and scaledfrequency response data for (s + a)
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Chapter 10: Frequency Response Techniques9
Figure 10.7Asymptotic and actual normalized and scaled magnitude response of(s + a)
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Figure 10.8Asymptotic and actual normalized and scaled phase response of (s + a)
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Figure 10.9Normalized and scaledBode plots fora. G(s) = s;b. G(s) = 1/s;c. G(s) = (s + a);d. G(s) = 1/(s + a)
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Figure 10.10 Closed-loop unityfeedback system
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Figure 10.11Bode log-magnitudeplot for Example 10.2:a. components;b. composite
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Table 10.2Bode magnitude plot: slope contribution from each pole and zero in Example 10.2
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Table 10.3Bode phase plot: slope contribution from each pole and zero in Example 10.2
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Figure 10.12Bode phaseplot for Example 10.2:a. components;b. composite
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22 s
Figure 10.13Bode asymptotesfor normalizedand scaled G(s) =
a. magnitude;b. phase
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Table 10.4Data for normalized and scaled log-magnitude and phase plots for(s2 + 2ns + n
2). Mag = 20 log(M/n
2) (table continues)
Freq.n
Mag(dB)
= 0.1
Phase(deg)
= 0.1
Mag(dB)
= 0.2
Phase(deg)
= 0.2
Mag(dB)
= 0.3
Phase(deg)
= 0.3
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Table 10.4 (continued)
Freq.n
Mag(dB)
= 0.5
Phase(deg)
= 0.5
Mag(dB)
= 0.7
Phase(deg)
= 0.7
Mag(dB)= 1
Phase(deg)= 1
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Figure 10.14Normalized and scaledlog-magnitude response for
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Figure 10.15Scaled phase response for
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Table 10.5Data for normalized and scaled log-magnitude and phase plots for1/(s2 + 2ns + n
2). Mag = 20 log(M/n
2) (table continues)
Freq.n
Mag(dB)
= 0.1
Phase(deg)
= 0.1
Mag(dB)
= 0.2
Phase(deg)
= 0.2
Mag(dB)
= 0.3
Phase(deg)
= 0.3
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Table 10.5 (continued)
Freq.n
Mag(dB)
= 0.5
Phase(deg)
= 0.5
Mag(dB)
= 0.7
Phase(deg)
= 0.7
Mag(dB)= 1
Phase(deg)= 1
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Figure 10.16Normalized and scaled log magnitude response for
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Figure 10.17Scaled phase response for
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Figure 10.18Bode magnitudeplot for G(s) =(s + 3)/[(s + 2)(s2 + 2s + 25)]:a. components;b. composite
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Table 10.6Magnitude diagram slopes for Example 10.3
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Table 10.7Phase diagram slopes for Example 10.3
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Figure 10.19Bode phase plot forG(s) = (s + 3)/[(s +2)(s2 + 2s + 25)]:a. components;b. composite
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Figure 10.20Closed-loop controlsystem
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Figure 10.21Mapping contour Athrough function F(s)to contour B
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Figure 10.22Examples of contourmapping
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Figure 10.23Vector representationof mapping
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Figure 10.24Contour enclosingright half-planeto determine stability
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Figure 10.25Mapping examples:a. contour doesnot enclose closed-loop poles;b. contour doesenclose closed-loop poles
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Figure 10.26a. Turbine andgenerator;b. block diagram of speed control system forExample 10.4
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Figure 10.27Vector evaluation ofthe Nyquist diagramfor Example 10.4:a. vectors on contour at low frequency;b. vectors on contour around infinity;c. Nyquist diagram
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Figure 10.28Detouring around open-loop poles:a. poles on contour;b. detour right;c. detour left
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Figure 10.29a. Contour for Example 10.5;b. Nyquist diagram for Example 10.5
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Figure 10.30DemonstratingNyquist stability:a. system;b. contour;c. Nyquist diagram
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Figure 10.31a. Contour for Example 10.6;b. Nyquist diagram
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Figure 10.32a. Contour and root locus of system thatis stable for small gain and unstable for large gain;b. Nyquist diagram
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Figure 10.33a. Contour and root locus of system that is unstable for small gain and stable for large gain;b. Nyquist diagram
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Figure 10.34a. Portion of contour to be mapped for Example 10.7;b. Nyquist diagram of mapping of positive imaginary axis
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Figure 10.35Nyquist diagramshowing gainand phasemargins
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Figure 10.36Bodelog-magnitudeand phase diagramsfor the system of Example 10.9
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Figure 10.37Gain and phasemargins on the Bodediagrams
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Figure 10.38Second-order closed-loopsystem
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Figure 10.39Representative log-magnitude plot ofEq. (10.51)
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Figure 10.40Closed-loop frequency percentovershoot for a two-pole system
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Figure 10.41Normalized bandwidth vs. damping ratiofor:a. settling time;b. peak time;c. rise time
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Figure 10.42Constant M circles
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Figure 10.43Constant N circles
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Figure 10.44Nyquist diagramfor Example 10.11 and constant M and N circles
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Figure 10.45Closed-loopfrequency responsefor Example 10.11
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Figure 10.46Nichols chart
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Figure 10.47Nichols chart with frequency response forG(s) = K/[s(s + 1)(s + 2)] superimposed. Values for K = 1 and K = 3.16 are shown.
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Figure 10.48Phase margin vs.damping ratio
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Figure 10.49Open-loop gain vs. open-loop phase angle for –3 dB closed-loop gain
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Figure 10.50a. Block diagram(figure continues)