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1
Outline
Introduction
Transfer Function
Bode Plot
2
Bode Plot
3
(90 )( M 11 )
H ( j ) K 0
M 2 2 M 33
Bode Diagram Lines
7
( )( M1 )
20 log 10 H ( j ) 20 log 10 K 0
M 2 M 3
So, the gain in dB is:
H ( j ) 20 log 10 K 0 20 log 10 20 log 10 M1 20 log 10 M 2
20 log 10 M 3
The phase:
q (w ) = ÐK0 + 90° + q1 - q2 - q3
Plot of Log Magnitude
8
j
j 1
Kz1 z1
H ( j )
p1 p2 j j
1 1
p1 p2
Zeros and Poles Not at the Origin
13
Sketch the Bode log magnitude diagram for the transfer function
given.
1
H (s) =
2s +100
Answer:
Example 2
15
Find the Bode log magnitude plot for the transfer function:
5´10 4 s
Answer:
H (s) = 2
s + 505s + 2500
Chapter 5 – Part I
Plot of Phase Angle
16
q (w ) = ÐK0 + 90° + q1 - q2 - q3
Effect of Zeros at the Origin on Phase
17
Zeros at the origin, jω, cause a constant +90o shift for each zero.
Poles at the origin, 1/jω, cause a constant -90o shift for each
pole.
æ jw ö
æ Kz1 ö è ç1+ ÷ Poles at the origin
z1 ø
H ( jw ) = ç ÷
è p1 p2 ø æ jw ö
jw ç1+ ÷
è p1 ø
Effect of Zeros Not at the Origin on Phase
19
For the transfer function given, sketch the Bode diagram which
shows how the phase system is affected by changing the input
frequency. 5´10 4 s
H (s) =
s 2 + 505s + 2500
Chapter 5 – Part I
Exercise
22
Draw the Bode plot (magnitude and phase response) for each
of the transfer function below:
200s 20
a) H s
s2s 1s 40
s2
b) H s s 1
100 103 s 1
H s
c) s 10s 1000
Chapter 5 – Part II
Example: Final Exam Question
23
+ 20 kΩ
V1
–
–
H j
ii) Evaluate at ω = 0 and as ω .
H j
iii) At what value of ω will be at -3db point? Verify your
Chapter 5 – Part II
answer.
Exercise- Bode Plot
H s
10s
s 1s 100
10( s 1)
H s
ss 100
H (s) dB
H2(s)=s
EXERCISE BODE PLOT
40
20
0
1 10 100 1000
-20 H1(s)=K
-40 H4(s)=
H (s)=
H3(s)=
Ø(degree)
90 H2(s)=s
45
H1(s)=K
0
0.1 1 10 100 1000
-45
H4(s)=
-90
H3(s)= H (s)=
H (s) dB
H3(s)=
EXERCISE BODE PLOT
40
20
0
1 10 100 1000
-20 H1(s)=K
-40 H4(s)=
H (s)=
H2(s)=
Ø(degree)
90 H3(s)=
45
H1(s)=K
0
0.1 1 10 100 1000
-45
H4(s)= H2(s)=
-90
H (s)=
H (s) dB
H2(s)=
EXAMPLE PLOT (from bode plot lecture note)
40 H (s)=
H1(s)=K
20
0
1 10 100 1000
-20
H4(s)=
-40
H3(s)=
Ø(degree)
H2(s)=
90
45
H1(s)=K
0
0.1 1 10 100 1000
-45 H4(s)=
-90
H3(s)= H (s)=
Example 5.5
Find the frequency response (magnitude and
phase plots) of the following transfer function.
12500( s 10)
H ( s)
( s 50)( s 500)
Make the necessary gain corrections and
sketch the actual gain response.
34
Solution
Substitute s=jω and write the transfer function in
standard form
5(1 j / 10)
H ( j )
(1 j 50)(1 j 500)
35
At low frequency ( 10rad / s ), H ( j ) 5 so the
low frequency asymptote
H ( j) dB 20 log 10 5 13.98
36
The contributions of each pole and zero in the
transfer function are summarize as
37
Below the first corner frequency at ω=10 rad/s the
straight line gain is the low frequency asymptote at 14 dB.
Between the first corner frequency ω=50 rad/s and the
second at ω=10 rad/s the straight line gain is
H ( j) dB 14 20 log 10
10
Using this equation, the gain at ω=50 rad/s is calculated
50
H ( j 50) dB 14 20 log 10 28
10
38
At corner frequency ω=50 rad/s, the net slope
change becomes 0dB/dec at gain of 28dB until at
corner frequency ω=500 rad/s. Thereafter, the
high frequency gain asymptote is
H ( j ) dB 28 20 log 10 dB
500
This asymptote reaches 0dB when
H ( j ) dB 28 20 log 10
500
which occurs at rad/s
500 10 28 / 20 12.6 10 3
39
By applying the necessary corrections, the gains
40
41
Example 5.6
Sketch the bode plot for the phase response
of the transfer function in example 5.5.
Solution
Substitute s=jω and write the transfer
function in standard form
5(1 j / 10)
H ( j )
(1 j 50)(1 j 500)
42
The scale factor is Ko = 5 and the corner frequencies
are 10, 50 and 500 rad/s. At low frequency the
asymptote is ( ) K 0 0 0 .The asymptote due to the
corner frequencies are summarized as below
43
i. zero at s = -10,
At frequency 1 rad/s (one decade below) to
frequency 1000 rad/s (one decade above), slope
change of /dec. Exactly at 10 rad/s the phase =
+450