Chapter 14 Frequency Response

Force dynamic process with A sin t ,

Chapter 14

A U (s) = 2 s +2

14.1

Input: A sin t

Chapter 14

sin ( t + ) Output: A / A is the normalized amplitude ratio (AR) A is the phase angle, response angle (RA) AR and are functions of Assume G(s) known and let
s = j G ( j ) = K1 + K 2 j

2 G = AR = K12 + K 2

K2 = G = arctan K1

Example 14.1:
G ( s) = 1 s +1
1 1 j 1 + j 1 j ( j 2 = 1)

Chapter 14

G ( j ) =

1 G ( j ) = j 2 2 2 2 1+ 1+
K1 K2

Chapter 14

1 + 2 2 = arctan ( ) as , 900

G =

Chapter 14

Use a Bode plot to illustrate frequency response (plot of log |G| vs. log and vs. log ) log coordinates:

G = G1 G2 G3 G = G1 G2 G3 log G = log G1 + log G2 + log G3 G = G1 + G2 + G3 G1 G= G2 log G = log G1 log G2 G = G1 G2

Chapter 14

Figure 14.4 Bode diagram for a time delay, e-s.

Example 14.3
5(0.5s + 1)e0.5 s G ( s) = (20 s + 1)(4 s + 1)

Chapter 14

F.R. Characteristics of Controllers

Recall that the F.R. is characterized by: 1. Amplitude Ratio (AR) 2. Phase Angle () For any T.F., G(s)

Chapter 14

AR = G ( j )

= G ( j )
A) Proportional Controller

GC ( s ) = K C
B) PI Controller

AR = K C , = 0
AR = K C 1 +1 2 2 I

1 For GC ( s) = KC 1 + s I 1 = tan 1 I

The Bode plot for a PI controller is shown in next slide. Note b = 1/I . Asymptotic slope ( 0) is -1 on log-log plot.

Chapter 14

Ideal PID Controller.

1 Gc ( s ) = K c (1 + + D s) Is

(14 48)

Chapter 14

Series PID Controller. The simplest version of the series PID controller is I s +1 Gc ( s ) = K c ( D s + 1) I s (14-50)

Series PID Controller with a Derivative Filter. The series controller with a derivative filter was described in Chapter 8

I s + 1 D s + 1 Gc ( s ) = K c s s + 1 I D

(14-51)

Click to edit Master text styles Second level Third level Fourth level Fifth level

Chapter 14

Figure 14.6 Bode plots of ideal parallel PID controller and series PID controller with derivative filter ( = 1). Ideal parallel: 1 Gc ( s ) = 2 1 + + 4s 10s Series with Derivative Filter: 10 s + 1 4 s + 1 Gc ( s ) = 2 10 s 0.4 s + 1

Advantages of FR Analysis for Controller Design: 1. Applicable to dynamic model of any order (including non-polynomials). 2. Designer can specify desired closed-loop response characteristics. 3. Information on stability and sensitivity/robustness is provided. Disadvantage: The approach tends to be iterative and hence time-consuming -- interactive computer graphics desirable (MATLAB)

Chapter 14

Controller Design by Frequency Response - Stability Margins

Analyze

GOL(s) = GCGVGPGM

(open loop gain)

Chapter 14

Three methods in use:

(1) Bode plot |G|, vs. (open loop F.R.) - Chapter 14

Nyquist plot - polar plot of G(j) - Appendix J Nichols chart |G|, vs. G/(1+G) (closed loop F.R.) - Appendix J

Advantages:

do not need to compute roots of characteristic equation can be applied to time delay systems can identify stability margin, i.e., how close you are to instability.

Chapter 14

14.8

Frequency Response Stability Criteria

Two principal results: 1. Bode Stability Criterion 2. Nyquist Stability Criterion I) Bode stability criterion A closed-loop system is unstable if the FR of the open-loop T.F. GOL=GCGPGVGM, has an amplitude ratio greater than one at the critical frequency, . Otherwise C the closed-loop system is stable.

Chapter 14

Note: C Thus, value of is -1800.

where the open-loop phase angle

The Bode Stability Criterion provides info on closed-loop stability from open-loop FR info. Physical Analogy: Pushing a child on a swing or bouncing a ball.

Example 1:
A process has a T.F.,

2 G p ( s) = (0.5s + 1)3
And GV = 0.1, GM = 10 . If proportional control is used, determine

Chapter 14

closed-loop stability for 3 values of Kc: 1, 4, and 20.

Solution:
The OLTF is GOL=GCGPGVGM or...

GOL ( s ) =

2 KC (0.5s + 1)3

The Bode plots for the 3 values of Kc shown in Fig. 14.9. Note: the phase angle curves are identical. From the Bode diagram:
KC 1 4 20 AROL 0.25 1.0 5.0 Stable? Yes Conditionally stable No

Chapter 14

Figure 14.9 Bode plots for GOL = 2Kc/(0.5s + 1)3.

 For proportional-only control, the ultimate gain Kcu is defined to be the largest value of Kc that results in a stable closedloop system. For proportional-only control, GOL= KcG and G = GvGpGm.

Chapter 14

AROL()=Kc ARG() where ARG denotes the amplitude ratio of G.

(14-58)

At the stability limit, = c, AROL(c) = 1 and Kc= Kcu. K cu 1 = ARG (c ) (14-59)

Example 14.7:
Determine the closed-loop stability of the system,

4e s G p ( s) = 5s + 1

Chapter 14

Where GV = 2.0, GM = 0.25 and GC =KC . Find C from the Bode Diagram. What is the maximum value of Kc for a stable system?

Solution:
The Bode plot for Kc= 1 is shown in Fig. 14.11. Note that:

C = 1.69 rad min

AROL = = 0.235
C

1 1 K C max = = = 4.25 AROL 0.235

Chapter 14

14.11

Ultimate Gain and Ultimate Period

Ultimate Gain: KCU = maximum value of |KC| that results in a stable closed-loop system when proportional-only control is used.

Chapter 14

Ultimate Period: P U

2 C

KCU can be determined from the OLFR when proportional-only control is used with KC =1. Thus

K CU =

1 AROL =
C

for K C = 1

Note: First and second-order systems (without time delays) do not have a KCU value if the PID controller action is correct.

Gain and Phase Margins

The gain margin (GM) and phase margin (PM) provide measures of how close a system is to a stability limit. Gain Margin: Let AC = AROL at = C. Then the gain margin is defined as: GM = 1/AC According to the Bode Stability Criterion, GM >1 stability Phase Margin: Let g = frequency at which AROL = 1.0 and the corresponding phase angle is g . The phase margin is defined as: PM = 180 + g According to the Bode Stability Criterion, PM >0 stability See Figure 14.12.

Chapter 14

Chapter 14

Rules of Thumb:
A well-designed FB control system will have:

1.7 GM 2.0
Chapter 14

30 PM 45
o

Closed-Loop FR Characteristics:
An analysis of CLFR provides useful information about control system performance and robustness. Typical desired CLFR for disturbance and setpoint changes and the corresponding step response are shown in Appendix J.

Chapter 14
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