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Fondamenti di Automatica
Esercizi su Diagrammi di Bode
Matteo Corno
Esercizio 1
(s !1)
G(s) = !28"
(s + 0.5)(s +1)
Poli:
p1 = -0.5 (sx)
p2 = -1 (sx)
zeri:
z1 = 1 (dx)
Tipo: g=0
Guadagno:
G(0) = 56 = 20log10(56) ~ 35 db
Matteo Corno
Matteo Corno
Scala
Bode Diagram
60
50
40
Magnitude (dB)
30
20
10
-10
-20
1
Phase (deg)
0.1
0.2 0.3
0.5
Matteo Corno
10
Bode Diagram
60
50
40
Magnitude (dB)
30
20
10
-10
-20
1
Phase (deg)
0.1
0.5
(sx)
0.5
Matteo Corno
(sx)
(dx)
10
Bode Diagram
60
50
40
Magnitude (dB)
30
20
10
-10
-20
1
Phase (deg)
0.1
0.5
(sx)
0.5
Matteo Corno
(sx)
(dx)
10
Primo polo
Bode Diagram
60
50
40
-1
Magnitude (dB)
30
20
10
-10
-20
1
Phase (deg)
0.1
0.5
(sx)
0.5
Matteo Corno
(sx)
(dx)
10
Bode Diagram
60
50
40
0
-1
Magnitude (dB)
30
20
10
-10
-20
1
Phase (deg)
0.1
0.5
(sx)
0.5
Matteo Corno
(sx)
(dx)
10
Matteo Corno
Magnitude
Piazzamento singolarit
20
10
10
-10
-20
50
Phase (deg)
-50
-100
-150
-200
-250
-2
10
-1
10
10
(sx)
(dx)
Frequency (rad/sec)
0.5
(sx)
Matteo Corno
10
10
Magnitude
Fase iniziale
20
11
10
-20
50
Phase (deg)
-50
-100
-150
-200
-250
-2
10
-1
10
10
(sx)
(dx)
Frequency (rad/sec)
0.5
(sx)
Matteo Corno
10
10
Magnitude
Primo polo
20
12
10
-20
50
Phase (deg)
-50
-90
-100
-150
-200
-250
-2
10
-1
10
10
(sx)
(dx)
Frequency (rad/sec)
0.5
(sx)
Matteo Corno
10
10
Magnitude
20
13
10
-10
-20
50
Phase (deg)
-50
-90
-100
-150
-200
-250
-2
10
-1
10
10
(sx)
(dx)
Frequency (rad/sec)
0.5
(sx)
Matteo Corno
10
10
Magnitude
Fase approssimata
20
14
10
-10
-20
50
Phase (deg)
-50
-90
-100
-150
-200
-250
-2
10
-1
10
10
(sx)
(dx)
Frequency (rad/sec)
0.5
(sx)
Matteo Corno
10
10
Esercizio 2
15
G(s) =
Poli:
(1+ s)
1
1
(1! s)(1+ s)
5
10
p1 = 5(dx)
p2 = -10(sx)
zeri:
z1 = -1 (sx)
Tipo: g=0
Guadagno:
Esercizio 2
16
Matteo Corno
Scala
17
Bode Diagram
60
50
40
Magnitude (dB)
30
20
10
-10
-20
1
Phase (deg)
10
0.5
Matteo Corno
100
18
Bode Diagram
60
50
40
Magnitude (dB)
30
20
10
-10
-20
1
Phase (deg)
(sx)
5
10
(dx)
(sx)
0.5
Matteo Corno
guadagno
19
Bode Diagram
60
50
40
Magnitude (dB)
30
20
10
0
0
-10
-20
1
Phase (deg)
(sx)
5
10
(dx)
(sx)
0.5
Matteo Corno
guadagno
20
Bode Diagram
60
50
40
Magnitude (dB)
30
20
10
+1
0
-10
-20
1
Phase (deg)
(sx)
5
10
(dx)
(sx)
0.5
Matteo Corno
guadagno
21
Bode Diagram
60
50
40
Magnitude (dB)
30
20
10
+1
-10
-20
1
Phase (deg)
(sx)
5
10
(dx)
(sx)
0.5
Matteo Corno
guadagno
22
Bode Diagram
60
50
40
Magnitude (dB)
30
20
10
+1
-1
-10
-20
1
Phase (deg)
(sx)
5
10
(dx)
(sx)
0.5
Matteo Corno
23
Matteo Corno
Magnitude
Piazzamento singolarit
20
24
10
-10
-20
50
Phase (deg)
-50
-100
-150
-200
-250
-2
10
-1
10
10
10
Frequency (rad/sec)
1
(sx)
Matteo Corno
5
10
(dx)
(sx)
10
Magnitude
Fase iniziale
20
25
10
-10
-20
50
Phase (deg)
-50
-100
-150
-200
-250
-2
10
-1
10
10
10
Frequency (rad/sec)
1
(sx)
Matteo Corno
5
10
(dx)
(sx)
10
Magnitude
Zero a sx
20
26
10
-10
-20
50
0
90
Phase (deg)
-50
-100
-150
-200
-250
-2
10
-1
10
10
10
Frequency (rad/sec)
1
(sx)
Matteo Corno
5
10
(dx)
(sx)
10
Magnitude
Polo a dx
20
27
10
-10
-20
180
50
0
90
Phase (deg)
-50
-100
-150
-200
-250
-2
10
-1
10
10
10
Frequency (rad/sec)
1
(sx)
Matteo Corno
5
10
(dx)
(sx)
10
Magnitude
Polo a sx
20
28
10
-10
-20
180
50
0
90
Phase (deg)
-50
-100
-150
-200
-250
-2
10
-1
10
10
10
Frequency (rad/sec)
1
(sx)
Matteo Corno
5
10
(dx)
(sx)
10
Esercizio 3
29
10 (1 + s / 2)(1 1 / 10 s)
G( s) =
2
s
(1 + s / 20)
Poli:
p1 = 0
p2 = -20 (sx)
p3 = -20 (sx)
zeri:
Tipo: g=1
Matteo Corno
z1 = -2 (sx)
z2 = 10 (dx)
30
Bode Diagram
60
50
40dB
40
30
Magnitude (dB)
20dB
20
0dB10
0
-10
-20
1
Phase (deg)
(sx)
10
20
(dx) (sx)
(sx)
0.5
Matteo Corno
Bode Diagram
60
50
40dB
40
-1
30
Magnitude (dB)
20dB
20
0dB10
0
-10
Phase (deg)
-20
1
10
G(s) =
s
2
(sx)
10
20
(dx) (sx)
(sx)
0.5
Matteo Corno
31
32
Bode Diagram
60
50
40dB
40
-1
30
Magnitude (dB)
20dB
20
0dB10
0
-10
-20
1
Phase (deg)
(sx)
10
20
(dx) (sx)
(sx)
0.5
Matteo Corno
33
Bode Diagram
60
50
40dB
40
-1
20dB
Magnitude (dB)
+1
30
20
0dB10
0
-10
-20
1
Phase (deg)
(sx)
10
20
(dx) (sx)
(sx)
0.5
Matteo Corno
34
Bode Diagram
60
50
40dB
40
-1
20dB
Magnitude (dB)
+1
30
-1
20
0dB10
0
-10
-20
1
Phase (deg)
(sx)
10
20
(dx) (sx)
(sx)
0.5
Matteo Corno
35
Bode Diagram
60
50
40
Magnitude (dB)
90 30
0
20
10
-90
-180
-10
-270
-20
1
Phase (deg)
(sx)
10
20
(dx) (sx)
(sx)
0.5
Matteo Corno
50
40
Magnitude (dB)
90 30
0
20
10
-90
-180
-10
-270
-20
1
Phase (deg)
(sx)
10
20
(dx) (sx)
(sx)
0.5
Matteo Corno
36
37
Bode Diagram
60
50
40
Magnitude (dB)
90 30
0
20
10
-90
-180
-10
-270
-20
1
Phase (deg)
(sx)
10
20
(dx) (sx)
(sx)
0.5
Matteo Corno
38
Bode Diagram
60
50
40
Magnitude (dB)
90 30
0
20
10
-90
-180
-10
-270
-20
1
Phase (deg)
(sx)
10
20
(dx) (sx)
(sx)
0.5
Matteo Corno
39
Bode Diagram
60
50
40
Magnitude (dB)
90 30
0
20
10
-90
-180
-10
-270
-20
1
Phase (deg)
(sx)
10
20
(dx) (sx)
(sx)
0.5
Matteo Corno
Esercizio 4
40
5
(1 + s)(1 0.25s)
G( s) =
2
s (1 + 0.1s)(s + 2s + 4)
Poli:
p1 = 0
p2 = -10 (sx)
p3 = -1+1.7j (sx)
p4 = -1-1.7j (sx)
Wn = 2
Xi = 0.5
zeri:
z1 = -1 (sx)
z2 = 4 (dx)
41
Bode Diagram
60
50
40dB
40
30
Magnitude (dB)
20dB
20
0dB10
0
-10
Phase (deg)
-20
1
(sx)
4
(sx) (dx)
(sx)
10
20
(sx)
0.5
Matteo Corno
42
Bode Diagram
60
50
40dB
40
30
Magnitude (dB)
20dB
1.25
-1
20
0dB10
0
-10
Phase (deg)
-20
1
(sx)
4
(sx) (dx)
(sx)
10
20
(sx)
0.5
Matteo Corno
1 5
G(s) = ! "
s 4
43
Bode Diagram
60
50
40dB
40
30
Magnitude (dB)
20dB
-1
20
0dB10
0
-10
Phase (deg)
-20
1
(sx)
4
(sx) (dx)
(sx)
10
20
(sx)
0.5
Matteo Corno
Bode Diagram
60
50
40dB
40
30
Magnitude (dB)
20dB
-1
20
-2
0dB10
0
-10
Phase (deg)
-20
1
(sx)
4
(sx) (dx)
(sx)
10
20
(sx)
0.5
Matteo Corno
44
45
Bode Diagram
60
50
40dB
40
30
Magnitude (dB)
20dB
-1
20
-2
0dB10
-1
-2
-10
Phase (deg)
-20
1
(sx)
4
(sx) (dx)
(sx)
10
20
(sx)
0.5
Matteo Corno
confronto
46
Bode Diagram
60
50
40dB
40
30
Magnitude (dB)
20dB
-1
20
-2
0dB10
-1
-2
-10
Phase (deg)
-20
1
(sx)
4
(sx) (dx)
(sx)
10
20
(sx)
0.5
Matteo Corno
Bode Diagram
60
50
180
90 40
30
Magnitude (dB)
-9020
10
-180
-10
Phase (deg)
-20
1
(sx)
4
(sx) (dx)
(sx)
10
20
(sx)
0.5
Matteo Corno
47
48
Bode Diagram
60
50
180
90 40
30
Magnitude (dB)
-9020
10
-180
-10
Phase (deg)
-20
1
(sx)
4
(sx) (dx)
(sx)
10
20
(sx)
0.5
Matteo Corno
Bode Diagram
60
50
180
90 40
30
Magnitude (dB)
-9020
10
-180
-10
Phase (deg)
-20
1
(sx)
4
(sx) (dx)
(sx)
10
20
(sx)
0.5
Matteo Corno
49
50
Bode Diagram
60
50
180
90 40
30
Magnitude (dB)
-9020
10
-180
-10
Phase (deg)
-20
1
(sx)
4
(sx) (dx)
(sx)
10
20
(sx)
0.5
Matteo Corno
51
Bode Diagram
60
50
180
90 40
30
Magnitude (dB)
-9020
10
-180
-10
Phase (deg)
-20
1
(sx)
4
(sx) (dx)
(sx)
10
20
(sx)
0.5
Matteo Corno
Magnitu
52
-50
-100
180
Phase (deg)
90
-90
-180
-1
10
10
10
Frequency (rad/sec)
Matteo Corno
10
10
Esercizio 5
53
Matteo Corno
Esercizio 3
54
Bode Diagram
60
50
180
40
Magnitude (dB)
90 30
20
-90
10
-180 0
-10
-20
1
10
100
Bode Diagram
60
40
0.5
30
Magnitude (dB)
20db
Phase (deg)
50
20
10
0
-2
010
-1
10
10
Frequency (rad/sec)
-10
-20
1
Matteo Corno
10
10
Esercizio 3
55
Bode Diagram
60
50
180
40
Magnitude (dB)
90 30
20
-90
10
-180 0
-10
-20
1
10
100
Bode Diagram
60
40
0.5
30
Magnitude (dB)
20db
Phase (deg)
50
20
10
0
-2
010
-1
10
10
Frequency (rad/sec)
-10
-20
1
Matteo Corno
10
10
Esercizio 3
56
Bode Diagram
60
50
180
40
Magnitude (dB)
90 30
20
-90
10
-180 0
-10
-20
1
10
100
Bode Diagram
60
40
0.5
-1
30
Magnitude (dB)
20db
Phase (deg)
50
20
10
0
-2
010
-1
10
10
Frequency (rad/sec)
-10
-20
1
Matteo Corno
10
10
Esercizio 3
57
Bode Diagram
60
50
180
40
Magnitude (dB)
90 30
20
-90
10
-180 0
-10
-20
1
10
100
Bode Diagram
60
40
0.5
-1
30
Magnitude (dB)
20db
Phase (deg)
50
20
10
0
-2
010
-1
10
10
Frequency (rad/sec)
-10
-20
1
Matteo Corno
10
10
Esercizio 3
58
Bode Diagram
60
50
180
40
Magnitude (dB)
90 30
20
-90
10
-180 0
-10
-20
1
10
100
Bode Diagram
60
Rimane incertezza
sul valore del guadagno
40
0.5
-1
30
Magnitude (dB)
20db
Phase (deg)
50
20
-2
10
0
-2
010
-1
10
10
Frequency (rad/sec)
-10
-20
1
Matteo Corno
-1
10
10
Esercizio 6
59
Matteo Corno
Magnitude (dB)
Phase (deg)
Esercizio 6
60
Bode Diagram
60
50
40
30
20
10
0
-10
-20
-30
-40
0
-45
-90
-135
-180
-2
10
-1
10
10
10
10
Frequency (rad/sec)
Matteo Corno
10
10
10
Esercizio 6
61
Bode Diagram
60
Parte con
pendenza -1
e -90 =>
mu >0
g = 1.
50
40
Phase (deg)
Magnitude (dB)
30
20
-1
10
Taglia lasse
a 0dB a 0.2
=>
mu = + 0.2
0
-10
-20
-30
-40
0
Guardando
solo la fase :
parte con
-90 =>
mu < 0
g=3
-45
-90
-135
-180
-2
10
-1
10
10
10
10
Frequency (rad/sec)
Matteo Corno
10
10
10
Esercizio 6
62
Bode Diagram
60
-40
0
A 1 rad/sec
ho
+20 dB/dec
=> zero.
Devo
stabilire se a
destra o a
sinistra.
Guadagno
fase quindi
a sinistra
-45
(1+s)
50
40
Phase (deg)
Magnitude (dB)
30
20
-1
10
0
-10
-20
-30
-90
-135
-180
-2
10
-1
10
10
10
10
Frequency (rad/sec)
Matteo Corno
10
10
10
Esercizio 6
63
Bode Diagram
60
-40
0
A 10 rad/sec
ho
+20 dB/dec
=> zero.
Devo
stabilire se a
destra o a
sinistra.
Perdo fase
quindi a
destra
-45
(1-s/10)
50
40
Phase (deg)
Magnitude (dB)
30
20
-1
10
+1
-10
-20
-30
-90
-135
-180
-2
10
-1
10
10
10
10
Frequency (rad/sec)
Matteo Corno
10
10
10
Esercizio 6
64
Bode Diagram
60
-40
0
A 100 rad/
sec ho
-20 dB/dec
=> polo.
Devo
stabilire se a
destra o a
sinistra.
Perdo fase
quindi a
sinistra
-45
(1+s/100)
50
40
Phase (deg)
Magnitude (dB)
30
20
-1
10
+1
-10
-20
-30
-90
-135
-180
-2
10
-1
10
10
10
10
Frequency (rad/sec)
Matteo Corno
10
10
10
Esercizio 6
65
Bode Diagram
60
-40
0
A 1000 rad/
sec ho
-20 dB/dec
=> polo.
Devo
stabilire se a
destra o a
sinistra.
Guadagno
fase quindi
a destra
-45
(1-s/1000)
50
40
Phase (deg)
Magnitude (dB)
30
20
-1
10
+1
-10
-1
-20
-30
-90
-135
-180
-2
10
-1
10
10
10
10
Frequency (rad/sec)
Matteo Corno
10
10
10
Esercizio 6
66
0.2
(1 + s)(1 s / 10)
G( s) =
s (1 + s / 100)(1 s / 1000)
Matteo Corno
Esercizio 7
67
G(s) =
10
!
3
s
!
1 2
s+
s )
2
100 100
"
1
(1+ 2 s + 2 s 2 )
30
30
(1+ s)(1+ 2
Matteo Corno
Esercizio 7
68
G(s) =
10
!
3
s
!
1 2
s+
s )
2
100 100
"
1
(1+ 2 s + 2 s 2 )
30
30
(1+ s)(1+ 2
69
Bode Diagram
60
50
40
60dB
30
Magnitude (dB)
40dB
20
20dB
0dB10
0
-10
-20
1
(sx)
10
(sx)
(sx)
100
(sx)
Phase (deg)
(sx)
0.5
Matteo Corno
70
Bode Diagram
60
60dB
50
40dB
40
20dB
Magnitude (dB)
0dB30
20
10
-10
Phase (deg)
-20
1
10
G(s) = 3
s
(sx)
~2.15
10
(sx)
(sx)
100
(sx)
(sx)
0.5
Matteo Corno
Bode Diagram
60
60dB
50
40dB
71
-3
40
20dB
Magnitude (dB)
0dB30
-2
20
10
-10
-20
1
(sx) ~2.15
10
(sx)
(sx)
100
(sx)
Phase (deg)
(sx)
0.5
Matteo Corno
Bode Diagram
60
60dB
50
40dB
72
-3
40
20dB
Magnitude (dB)
0dB30
-2
20
-4
10
-10
-20
1
(sx) ~2.15
10
(sx)
(sx)
100
(sx)
Phase (deg)
(sx)
0.5
Matteo Corno
Bode Diagram
60
60dB
50
40dB
73
-3
40
20dB
Magnitude (dB)
0dB30
-2
20
-4
10
-2
-10
-20
1
(sx) ~2.15
10
(sx)
(sx)
100
(sx)
Phase (deg)
(sx)
0.5
Matteo Corno
Bode Diagram
90 60
0
74
50
-9040
Magnitude (dB)
30
-180
20
-270
10
-10
-20
1
(sx)
10
(sx)
(sx)
100
(sx)
Phase (deg)
(sx)
0.5
Matteo Corno
Bode Diagram
90 60
0
75
50
-9040
Magnitude (dB)
30
-180
20
-270
10
-10
-20
1
(sx)
10
(sx)
(sx)
100
(sx)
Phase (deg)
(sx)
0.5
Matteo Corno
Bode Diagram
90 60
0
76
50
-9040
Magnitude (dB)
30
-180
20
-270
10
-10
-20
1
(sx)
10
(sx)
(sx)
100
(sx)
Phase (deg)
(sx)
0.5
Matteo Corno
Bode Diagram
90 60
0
77
50
-9040
Magnitude (dB)
30
-180
20
-270
10
-10
-20
1
(sx)
10
(sx)
(sx)
100
(sx)
Phase (deg)
(sx)
0.5
Matteo Corno
Esercizio 7
78
Matteo Corno
Esercizio 7
79
Matteo Corno