ME451: Control Systems

ME451: Control Systems

Dr. Dr. J ongeun Choi J ongeun Choi
Department of Mechanical Engineering Department of Mechanical Engineering
Michigan State University Michigan State University
Relative stability Relative stability
Gain margin (GM)
Gain margin (GM)
Phase crossover Phase crossover
frequency frequency p p: :
Gain margin Gain margin (in dB) (in dB)
Indicates how much Indicates how much
OL gain can be OL gain can be
multiplied without multiplied without
violating CL stability. violating CL stability.
Nyquist Nyquist plot of plot of L(s L(s) )
Examples of GM
Examples of GM
Re Re
Im Im
Re Re
Im Im
Reason why GM is inadequate
Reason why GM is inadequate
Same gain margin, Same gain margin,
but different relative stability but different relative stability
Gain margin is often inadequate Gain margin is often inadequate
to indicate relative stability to indicate relative stability
Phase margin! Phase margin!
Phase margin (PM)
Phase margin (PM)
Gain crossover Gain crossover
frequency frequency g g: :
Phase margin Phase margin
Indicates how much Indicates how much
OL phase can be OL phase can be
added without added without
violating CL stability. violating CL stability.
Nyquist Nyquist plot of plot of L(s L(s) )
Example 9.5
Example 9.5
Relative stability on Bode plot
Relative stability on Bode plot
g g
p p
GM GM
PM PM
Frequency shaping (Loop shaping)
Frequency shaping (Loop shaping)
Reshape Reshape Bode plot of Bode plot of G( G(j j ) )
into a into a desired desired shape of shape of
by a series connection of by a series connection of
appropriate appropriate C(s C(s). ).
G(s G(s) ) C(s C(s) )
Stable plant Stable plant Controller Controller
Typical shaping goal (review)
Typical shaping goal (review)
Steady Steady- -state accuracy state accuracy
Sensitivity Sensitivity
Disturbance rejection Disturbance rejection
Noise Noise
reduction reduction
Transient Transient
Response speed Response speed
Transient Transient
Overshoot Overshoot
Relative stability Relative stability
Relative stability Relative stability
Noise Noise
reduction reduction
Notes on Bode plot
Notes on Bode plot
Advantages Advantages
Without computer, Bode plot can be sketched easily. Without computer, Bode plot can be sketched easily.
GM, PM, crossover frequencies are easily determined GM, PM, crossover frequencies are easily determined
on Bode plot. on Bode plot.
Controller design on Bode plot is simple. (Next week) Controller design on Bode plot is simple. (Next week)
Disadvantage Disadvantage
If OL system is unstable, we cannot use Bode plot for If OL system is unstable, we cannot use Bode plot for
stability analysis. stability analysis.
10
0
10
1
10
2
10
3
-100
-50
0
10
0
10
1
10
2
10
3
-180
-270
Example 9.6
Example 9.6
g g p p
GM GM
PM PM
10
-1
10
0
-20
0
20
10
-1
10
0
-180
-90
Relative stability with time delay
Relative stability with time delay
PM PM
GM GM
Time delay reduces Time delay reduces
relative stability! relative stability!
Delay time Delay time
10
-2
10
-1
10
0
10
1
10
2
-1
-0.5
0
0.5
1
10
-2
10
-1
10
0
10
1
10
2
-6000
-4000
-2000
0
Bode plot of a time delay (review)
Bode plot of a time delay (review)
Huge phase lag! Huge phase lag!
The phase lag causes instability The phase lag causes instability of the closed of the closed- -loop loop
system, and thus, the difficulty in control. system, and thus, the difficulty in control.