The Frecuency-Response Design Method: Universidad Politecnica Salesiana

THE FRECUENCY-RESPONSE
DESIGN METHOD
UNIVERSIDAD POLITECNICA SALESIANA
Ing. Walter Orozco. Msc.
worozco@ups.edu.ec
CHAPTER 4
The Frequency Respond Design Method
4.1 Introduction.
4.2 Frequency response.
4.3 Neutral stability.
4.4 The Nyquist stability criterion.
4.5 Stability margins.
4.6 Bodes Gain-Phase relationship.
4.7 Closed-Loop frequency response.
4.8 Compensation.
4.9 Nichols charts.
4.10 Specifications in terms of the sensitivity functions.
2 2
0.5
( ) ( )
K
G s G s
s s s s
-100
-50
0
50
100
M
a
g
n
i t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-180
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm= Inf dB (at Inf rad/sec) , Pm= 65.5 deg (at 0.455 rad/sec)
Frequency (rad/sec)
10
-2
10
-1
10
0
10
1
10
2
-180
-90
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
-100
-50
0
System: sys1
Frequency (rad/sec): 0.704
Magnitude (dB): -2.98
System: sys1
Magnitude (dB): -5.92e-007
M
a
g
n
i t
u
d
e

(
d
B
)
0.455[ / ]
g
rad seg
0.704[ / ] BW rad seg
0[ / ] 0[ ]
r
rad seg Mr db
2 2
1
( ) ( )
K
G s G s
s s s s
0.786[ / ]
g
rad seg 1.27[ / ] BW rad seg
-100
-50
0
50
M
a
g
n
i t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
-100
-50
0
50
System: sys2
System: sys2
Magnitude (dB): 1.23
M
a
g
n
i t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-180
-90
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
0.682[ / ] 1.23[ ]
r
rad seg Mr db
2 2
5
( ) ( )
K
G s G s
s s s s
2.13[ / ]
g
2.12[ / ] 7.21[ ]
r
rad seg Mr db
-100
-50
0
50
100
M
a
g
n
i t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
10
-1
10
0
10
1
10
2
-180
-90
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
-100
-50
0
50
System: sys3
System: sys3
Magnitude (dB): 7.2
M
a
g
n
i t
u
d
e

(
d
B
)
2 2
15
( ) ( )
K
G s G s
s s s s
3.81[ / ]
g
3.81[ / ] 11.58[ ]
r
rad seg Mr db
-50
0
50
100
M
a
g
n
i t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
10
-1
10
0
10
1
10
2
-180
-90
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
-60
-40
-20
0
20
System: sys5
System: sys5
M
a
g
n
i t
u
d
e

(
d
B
)
4.8 Compensation.
N
j
j
M
i
i
c
p s
z s K
s G
1
1
) (
) (
) (
1
( ) ; 1
1
c
Ts
G s
Ts
A lead compensator is generally used
whenever a substantial improvement
in damping of the system is required.
1
( )
1
c
Tj
G j
Tj
1 1
tan ( ) tan ( ) T T
4.8.1 A lead compensator.
The frequency where
the phase is maximum
is given by
1
m
T
The maximum phase
contribution
1
sin
1
m
1 sin
1 sin
m
m
1
m
T
1/ 1 1 1 1 1
log log log
m m
T
T T T T T T T
1 1 1
log (log log )
2
m
T T
The maximum frequency occurs midway between
the break-point frequencies (sometimes called
corner frequencies) on a logarithmic scale.
( )
( )
( )
c
s z
G s
s p
Rewriting G
c
(s) in the form used for root-locus analysis we obtain:
1
log (log | | log | |)
2
m
z p
| || |
m
z p
( 2)
( )
( 10)
c
s
G s
s
1
1
( )
1
1
c c c
s
Ts
T
G s K K
Ts
s
T
1
2 0.5
1 1
10
5
T
T
T
20 4.47[ / ]
m
rad seg
1
sin
1
m
1
1 (1/ 5)
sin 41.82
1 (1/ 5)
o
m
Phase-Lead Design Procedure
1. Determine open-loop gain K to satisfy error or bandwidth requirements.
2. Evaluate the phase margin of the uncompensated system using the value of K obtained from step
1.
3. Allow for extra margin (about 10
o
), and determine the needed phase lead.
4. Determine
5. Pick
m
to be at the crossover frequency.
6. Draw the compensated frequency response and check the PM.
7. Iterate on the design. Adjust compensator parameters (poles, zeros and gain) until all
specifications are met.
The block diagram of the sun-seeker control is shown in figure. The system may be mounted on a
space vehicle so that it will track the sun high accuracy. The variable r represents the reference
angle of the solar ray, and o denotes the vehicle axis. The objective of the sun-seeker system is to
maintain the error between r and o near zero.
Example
1/ 1/ /
m
z T p T
) 25 (
2500
) (
s s
K
s G
p
The steady-state error due to a unit-ramp function input should
be 0.01
The phase margin has to be greater than 45 degrees.
) ( lim ;
1
0
s sG K
K
ess
s v
v
K
K
s s
K
s K
s v
100
25
2500
) 25 (
2500
lim
0
K 100
1
01 . 0 1
) 100 )( 01 . 0 (
1
K
) 25 (
2500
) (
s s
s G
p
Matlab:
>> G=zpk([],[0 -25],[2500])
Zero/pole/gain:
2500
--------
s (s+25)
>> margin(G);grid
-60
-40
-20
0
20
40
60
M
a
g
n
i
t
u
d
e

(
d
B
)
10
0
10
1
10
2
10
3
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 28 deg (at 47 rad/sec)
Frequency (rad/sec)
o
m
m
m m
25
8 28 45
28 45
We will design a compensation network with a maximum phase lead
Then, calculating , we obtain:
) sin(
1
1
m
0.4059
The magnitude of the lead network at
m
is:
10 log(1/ 0.4059) 3.9162 dB
The compensated crossover frequency is then evaluated where the magnitude of G(j) is
-3.9162 dB
1 sin( ) 1 sin(25)
0.4059
1 sin( ) 1 sin(25)
m
m
10
0
10
1
10
2
10
3
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
-60
-40
-20
0
20
40
60
System: G
M
a
g
n
i
t
u
d
e

(
d
B
)
1/ 60.2 0.4059 38.35
1/ / 60.2/ 0.4059 94.49
m
m
z T
p T
) 494 . 94 (
) 35 . 38 (
4639 . 2 ) (
s
s
s G
c
) 494 . 94 )( 25 (
) 35 . 38 ( 75 . 6159
) ( ) (
s s s
s
c G s G
c
Matlab:
>> G=zpk([-38.35],[0 -25 -94.494],[6159.75])
Zero/pole/gain:
6159.75 (s+38.35)
------------------
s (s+25) (s+94.49)
>> margin(G);grid
-100
-50
0
50
M
a
g
n
i
t
u
d
e

(
d
B
)
10
0
10
1
10
2
10
3
10
4
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 47.6 deg (at 60.2 rad/sec)
Frequency (rad/sec)
4.8.2 A lag compensator.
N
j
j
M
i
i
c
p s
z s K
s G
1
1
) (
) (
) (
1
( ) ; 1
1
c
Ts
G s
Ts
4.8.2 Phase-Lag Design using the Bode Diagram.
We determine the compensation network by completing the following steps:
1. Evaluate the uncompensated system phase margin when the error constants are satisfied.
2. Assuming that the phase margin is to be increased, the frequency at which the desired phase
margin is obtained is located on the Bode plot. This frequency is also the new gain crossover
frequency
ng
, where the compensated magnitude curve crosses the 0-dB axis.
3. To bring the magnitude curve down to 0 dB at the new gain-crossover frequency
ng,
the phase-
lag controller must provide the amount of attenuation equal to the value of the magnitude curve
at
ng.
In other words,
4. Draw the compensated frequency response, check the resulting phase margin, and repeat the
steps if necessary. Finally, for an acceptable design, raise the gain of the amplifier in order to
account or the attenuation.
( )
20
1/10
1
p ng
G
10
1
ng
T
The block diagram of the sun-seeker control is shown in figure. The system may be mounted on a
space vehicle so that it will track the sun high accuracy. The variable r represents the reference
angle of the solar ray, and o denotes the vehicle axis. The objective of the sun-seeker system is to
maintain the error between r and o near zero.
Example
) 25 (
2500
) (
s s
K
s G
p
The steady-state error due to a unit-ramp function input
should be 0.01
The phase margin has to be greater than 45 degrees.
) ( lim ;
1
0
s sG K
K
ess
s v
v
K
K
s s
K
s K
s v
100
25
2500
) 25 (
2500
lim
0
K 100
1
01 . 0 1
) 100 )( 01 . 0 (
1
K
) 25 (
2500
) (
s s
s G
p
Matlab:
>> G=zpk([],[0 -25],[2500])
Zero/pole/gain:
2500
--------
s (s+25)
>> margin(G);grid
-60
-40
-20
0
20
40
60
M
a
g
n
i
t
u
d
e

(
d
B
)
10
0
10
1
10
2
10
3
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
Bode Diagram
Frequency (rad/sec)
10
0
10
1
10
2
10
3
-180
-150
-120
-90
System: G
Phase (deg): -130
P
h
a
s
e

(
d
e
g
)
-60
-40
-20
0
20
40
60
System: G
M
a
g
n
i
t
u
d
e

(
d
B
)
0.57
20log( ) 11.4 dB
11.4
log( ) 0.57
20
10 0.27
Calculating the controllers constants.
(1 0.483 )
( )
(1 1.789 )
c
s
G s
s
) 789 . 1 1 (
) 483 . 0 1 (
) 25 (
2500
) ( ) (
s
s
s s
s G s G
p c
Matlab:
>> g=tf([1208 2500],[1.789 45.73 25 0])
Transfer function:
1208 s + 2500
----------------------------
1.789 s^3 + 45.73 s^2 + 25 s
>> margin(g);grid
789 . 1
5589 . 0
1
) 07 . 2 ( 27 . 0
1
07 . 2
10
7 . 20 1
10
1
T
T
T
ng
-100
-50
0
50
100
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
10
3
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 46.1 deg (at 20.8 rad/sec)
Frequency (rad/sec)
Effects of Phase-Lead Compensation
The phase-lead controller adds a zero an a pole, with the zero to the right of pole, to the forward-
path transfer function. The general effect is to add more damping to the close-loop system. The rise
time and settling time are reduced in general.
This controller improves the phase margin of the closed-loop system.
The bandwidth of the closed-loop systems is increased. This corresponds to faster time response.
The steady-state error of the system is not affected.
Effects of Phase-Lead Compensation
For a given forward-path gain K, the magnitude of the forward-path transfer function is attenuated
near the above the gain-crossover frequency, thus improving the relative stability of the system.
The gain-crossover frequency is decreased, and thus the bandwidth of the system is reduced.
The rise time and settling time of the system are usually longer, because the bandwidth is usually
decreased.
The system is more sensitive to parameter variation because the sensitivity function is greater that
unity for all frequencies approximately greater than the bandwidth of the system.
Bibliography:
[1] Golnaraghi F, Kuo B , Automatic Control Systems, Wiley, John & Sons, 9
th
Edition, 2009.
[2] Dorf R. & Bishop R., Modern Control Systems, Prentice Hall, 11
st
Edition,
2007.

The Frecuency-Response Design Method: Universidad Politecnica Salesiana

Încărcat de

Informații document

Descriere originală:

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

The Frecuency-Response Design Method: Universidad Politecnica Salesiana

Încărcat de

Drepturi de autor:

Formate disponibile

THE FRECUENCY-RESPONSE

S-ar putea să vă placă și