Scribd
Upload
164 views24 pages

Bode Plot

The document discusses Bode plots, which are graphical representations used to analyze the stability of control systems by plotting the magnitude and phase of a transfer function against frequency. It explains how to derive and interpret these plots for various types of systems, including minimum and non-minimum phase systems, and outlines the procedures for drawing Bode plots. Additionally, it covers concepts such as gain margin and phase margin, which are critical for assessing system stability.

Uploaded by

SAM'z SquaD
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
164 views24 pages

Bode Plot

The document discusses Bode plots, which are graphical representations used to analyze the stability of control systems by plotting the magnitude and phase of a transfer function against frequency. It explains how to derive and interpret these plots for various types of systems, including minimum and non-minimum phase systems, and outlines the procedures for drawing Bode plots. Additionally, it covers concepts such as gain margin and phase margin, which are critical for assessing system stability.

Uploaded by

SAM'z SquaD
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
4.10. BODE PLOT ‘ = Bode plot is a graphical representation of the transfer function for determining the stability of the control system. Bode plot consists of two separate plots. One is a plot of the logarithm of the magnitude ofa sinusoidal transfer function, the other is a plot of the phase angle, both plots are plotted against the frequency. The curves are drawn on semilog graph paper, using the log scale for frequency and linear scale for magnitude (in decibles) or phase angle (in degrees). The magnitude is represented in decibles. Thus, Bode plot consists of (8) 20 logy, 1G(jo)| V, loge. (ii) Phase shift V, logo iia e main advantage of usi ee ; na a vata 8 ing Bode plot is that multiplication of magnitudes can be converted inte Consider open loop transfer function of a closed loop control system GG) H(s) = KG+sT,) (1457)... SM(ST) (1457, Jan Put S =jo K(1+ joT,) (1+ j@T,) sesees (jo) (1+ joT,) (14 joT) 2logig |GGia) HG)! =(2010g K+ 20108 i+ 0°, + 20log 140°, ~(20N 10g @ + 20108 y i+ oP? +2010g +0" )...) Hence, in order to get | G(jw) H (j@)| we will have to obtain the individual plots and adding individual components, the resultant can be obtained. Suppose, H(s) = 1. G(ja) H Ga) = Case 1. The Gain K Put 2Wlogyy! Gia)! = 2log, 4K wu(41) Phase angle ¢ = G(j@) = 0° (4.2) From equations (4.1) and (4.2) itis clear that the magnitude isindependent of og, and phase angle always zero. The plots M {———F¥—— are shown in Fig. (4.20). 20 logyg K 1 Case 2: Gs) = or S' log,ga > Put 5 = (jo) @ 7 1 +90" G(ja) = = 69) = Gay" é 1 3 ° 20 logyg \G(ju»)! = 20 logig G7 joy A Lt = 20 logyg (ja) Logi = -20 N logyg (@) ® Fig. 4.20, ,G(jo)" = 90 N° Where \N =123, Apps _gq Ihe Plot M Vs logy isa straight line, ForN=1 the linehas a slope of 20 db /decade and angle 90” For N'=2, the slape ofthe line will be ~40 db/decade and angle will be - 180° and so on. -60 db/decade 40 db/decade The plot M V, logy @ is a straight line having a slope of +20 db/dec. and angular phase shift of + 90°. 4 Case 4: G(s) = est Put s = (jo) e 1 Go) = Ty jer . 1 60)! = Te 20 logy, !G(ja)! = 20logio Late] @ = 201og 9 1-20log1g V14+w?T? = -20logyy V1+0?T? Put the different values of w, we will get | G(jw)| consider fol (@ For oT <<1 (very low frequencies) -20logyy V1+0°T? = -20logyy VI =0 M =Oforw?'<>1 (very high frequencies) =201ogyg V1+0°T? = ~20logyy Vo2T? =~ 20 logo @: 20 +#20db/dec. @ ® Fig. 4.22. lowing two cases. Tog go Toe 8 +: logyg 1 =0 eB ence, M Vs 1089 ® has two parts : ( one part having M=0 for @ <<1/T {ip In other part M varies as a straight line with slope of - 20 db/decade for >> : 1, © = F is called break frequency or corner frequency M =~ 20 logy ©T =~ 20 (logy 0+ logy) M =~20 logy «~ 20 logyy T 20 logy + 20 logy 1/T 3) The above two parts of the graph intersect 0 db axis is determine! by equating the eq” (4.3) zero 2 0 =~20 logy, «+20 logyy 1/7 © =1/Tis called break frequency. Fig. 4.23. Case 5: G(s) = (1+ sT) (OF G(jo) = (1+ joT) 1GGo)! = fi+0T? 20 logyy 1 G(j@)! = 2010810 ior () When wT <<1 M = 20logy vi = Odd (i) When oT >> 1 M = 20 logy) oF oO M = 20 logy) OT = 20/0810 7T 1 = 20 logyy © - 20 logyo TF Equate the above equation to zero 1 0 = 20 logy © 20 0810 T @ = = comer frequency. he the two pars of the graph intersects the ‘0” db +20 1 the second partis a straight line having the Thus, axis at = Tv 7 slope of + 20 db/decade. ae Phase Angle Plot ab) 6 = 2Gliw) = tan? oF . ( At very low frequencies oT is very very small 6 = tant (= 0 (i) AtoT=1 o = tan? = 45° (ii) At very high frequencies = tant (#) = 90° ‘Thus, the value of 6 gradually changes from 0° to 90! as @ increases from 0 to very high values. Case 6 : General second order system ors CO) = 27 2t0,s+0% Put s=jo 2 oy SO) = Gok + 20, (ja)+o% w,2 1 Ge) 07-07 + 20,0 (oS 0 i 2) + jee 1 20 logy |G(ja)! = 2010g,9 7 = -20logig ' o (2) +02 o Suppose =~ =u 20 logis IG(ja)! = M=~201ogi (Iw) aE Consider the two cases Bio V(1-w?)? +40 o Louccd te cei M = ~20logig vi = Odb, a) 2 u>>1ie—>>1 On ++20db/ decade @=1/T logy > E jsa straight line having slope of — 49 b/dec. and pass $0, : = aherefore the a2ymPIOtc Plot consists of ing through the point u. @M=0 u< phase crossover frequency both P.M. and GM. will be negative and the system is unstable. If gain crossover frequency = phase crossover frequency, the system is marginally stable. The transfer function changes with the cha i system is also affected by supply voltage, supply gece are & Pressure. The gain of he gain margin is low and for step response the colline ene at Pressures. If the gain is high, Ponse the settling time is large. If the gain is low G.M. & PM. will be high and settling time will be more i, ti i i rise time and steady state error will be high,” he system response will be sluggish and ako 4.14. DETERMINATION OF X, x, ANID K FROM BODE PLOT Orctnmes ie sine Seeette Pri (a) Static Position Error Constant K, : Static position error constant is defined for Put e ED Fi IgE re From equation (4.4) Frequency Domain Analysis 1 161) (7) 2010819 |GG@) HG)! = 20 log 9K —«s Nag Consider the Bode plot shown in Fi # 'B: 4.26, the magnitude of G(ja) H(ja) is 20 log K which Kp = 20 log K (0) Static Velocity Error Constant k, : Static velocity error constant is defi ined for type one s K, = Lim s G(s) H(s) yystem and is given by From equation (4.4) put N =1 20 logig | GG) HGo)! = 20 logy, K-20 logig © Odb = 20 logy K - 20 log, 0 K=o This is static velocity error constant K,=0 For type one system, the initial slope of Bode plot (magnitude) is - 20 db/decade. So, draw a line having slope - 20 db/dec. which intersect 0 db line. The frequency at which initial slope of a line is - 20db /dec. intersects 0 db line is the value of static velocity error constant (K,) as shown in Fig. 4.27. (0 Acceleration Error Constant K, : Acceleration error constant is defined for type two system and is given by K, = Lims?* G(s) H(s) For type two system the initial slope of Bode plot is - 40 db/dec. From equation 4.4. . 20 logy | G(j@) H(j@) | = 20 logy, K- 20.2 logyg @ Extend the line having slope - 40 db/dec. to intersect 0 db line * 0 = 20 logyy K-40 logy @ or o=/K or K =o This is the acceleration error constant. So, the frequency at which initial line of slope -40 db/decade intersects 0 db line, gives the Value of square root of acceleration constant. as shown in Fig. 4.27. o= JK or K, =o. a 4.15. BODE PLOT WITH TRANSPORTATION LAG Transportation lag is also known as time delay. Due to the to stop the action for some time. Such time delay is Such as hydraulic, pneumatic and thermal pure delay occ !ag is given by eT, where ‘T” is the delay in seconds. 7 G(s) =e sometimes it is necessary rt ag. In many systems aplace domain the transportation Put 462 // Automatic Control ‘System it Cece ef? = cos 0—jsin® G(jo)'= cos oT -j sin oT 1G)! = foto ean oF : all values of @. Therefore, the magnitude is always equal to unity for In db = 20 log | G(ja) |= 20 log 1= 0 In other words we can say that the intro plot. Phase angle of transportation lag duction of time delay has no effect on magnitude E a} _ sin of ZG(j) = tan [ ae =~ tan"! (tan @T) =~ oT (radians) @is in radians/sec. and t is in seconds, therefore phase lag is in radians. ZG(j@) =-57.3 wT degree (:: radians = 180°) The phase angle linearly varies with the frequency ©. For T O1 -5.73° 05 = 28.65° 10 -114.6° 5.0. = 286.5° 20 573° EXAMPLE 4.9. Sketch the Bodes plot for the transfer function G(s) = 1000 = 1009 (140.1, Determine the(a) PM $)(1+0.001s) ‘ ©) Gain margin (©) Stability of the Solution : Step 1: Put 8 = jo oe Gja) = Go : (1+ j0-To) é The given transfer function is of = (1+ 70.001) 0 db/decade. The starting, ‘o' system, Point is given by, ace the i 20 log) K = 20 "ti ioe initial slope of the Bode plot is Comer frequencies @, = a =10; step 2* step 3+ Step 4° Step 5: Step 6: Step 7: " Brequency Domain Analysis 1 ©, = TOT = 1000 rad/sec. Mark the starting point 60 db on y-axis and draw a line of slop Odb/decade upto first comer frequency. From first corner frequency to second corner frequency draw a line with slope (0-20 = -20 db/decade). From second corner frequency to next corner frequency (if given) draw a line having the slope -20 + (-20) = -40 db/decade. The magnitude plot is complete and now draw the phase Plot by calculating the phase at different frequencies (as given in table). From the bode plot . From the point of intersection of magnitude curve with 0 db axis draw a a line on phase curve. This line cuts the phase curve at - 154° ES P.M = —154-(- 180) = +26° Gain margin G.M = «> Since, P.M = + 26° and gain margin = », the system is inherently stable. ‘Table 4.4 oe 50 100 150 200 500 800 — 89.28 * = 38,65° 127.93" 1000 - 89.48" 45° - 134.42" 2000 89,72 = 63.43° = 153,15° 3000 | - 898° - 7156 = 161.36° 5000 — 89,88" -78.69° - 168.57° 8000 — 89,92° cE 82,87° = 172.79° IG Go| db 20!0g qk = 2009491000 41000 — G(s) = (740.18) (140.0018) Soe Frequency Domain Analysis // 165 La EXAMPLE 4.10. Sketch the Bode Plot for the transfer function. 1000 os) = TS s(1+0.1s)(1+0.001s) Determine: ( Gain crossover frequency (ii) Phase crossover frequency (ii) GM and P.M (io) Stability of the given system solution : Step 1: Puts = jo Ge) = 1000/ (je) (1 + j O10) (1+ j 0.0010) Step 2: Draw the magnitude curve : 1 Comer frequencies @, = 57 =10rad/sec. 1 ®2= Ooo1 = 1000 rad/sec. Initial slope of the curve will be - 20 db/decade due to 1/g term. On @-axis mark w = K = 1000. From this point draw a line having the slope 20 db/decade to meet y-axis. This will be the starting point. From the starting point to the first corner frequency the slope will be - 20 db/decade, then from comer frequency 10 the slope will be - 20 + (-20) = - 40 db/dec. upto 1000. ‘After 1000, the slope will be — 40 + (-20) = - 60 db/decade. Step 3: Draw the phase curve 6 = —90°- tan 0.10 - tan 0.0010 Table 4.5. o ‘Arg Ga) Arg 1 +j0.10) | —Arg(+j0.0010) | Resultant -tan 0.10 tan“ 0.0010 > : 1 -90° -5.7° 0.06" -95.7° 5 90° -26.5° 0.28" 116.5° 10 90° 45° 057° -135.63° 50 90° -78.6° -2.86° ~171.46° 100 90° ~84,2° “57° -179.9° 150 90° -86,2° ~8.5° ~184° 200 90° . -87.13° -11,3° —188° 500 90° -88.85° -26.56° -205.41° Step 4: From Bode plot ( Gain cross over frequency = 100 rad/sec. (ii) Phase crossover frequency = 100 rad/sec, (i) GM=0 PM=0 (i) Since G.M = P.M = 0, the system is marignally stable 166 1 Automatic Control System oo | GIS) = 5440-16) (140.0018) Hee ll Hl 40d ‘th i Hl HHH ia i He a 1000 3 = s 2 | Gain crossover frequency \ 10: 80" -100°f 120° Phase crossover 220 frequency EXAMPLE 4.11. Draw the Bode plot for the transfer function 16(1+0.5s) S?(140.125s) (1+0.15) G(s) = From the graph determine ( Phase crossover frequency (ii) Gain crossover frequency (i) PM (iv) GM (0) Stability of the system golution : Step 1: Put s = jo i 16(1+ j0.5@) * (jo)? (1+ j0.1250)(1+ jo.10) Step 2: Draw the magnitude plot Corner frequencies G(w) @, = 1/05 = 2rad/sec. @, = 1/0.125 = 8 rad/sec. @3 = 1/0.1 = 10 rad/sec. Ato-axis mark @ = JK = J16 = 4 rad/sec. because this is a type two system. From 4 rad/sec. draw a line having the slope of - 40 db/decade to meet the y-axis. This will be the starting point. From the starting point to the first corner frequency the slope will be - 40 db/dec. from first corner frequency (2 rad/sec.) to the second corner frequency (8 rad/sec.) the slope of the line will be —40 + (420) =-20 db /decade From second corner frequency to the third corner frequency (10 rad/sec.) the slope of the line will be -20 + (-20) = — 40 db/decade. After 10 rad/sec. the slope will be — 40 + (20) =-60 db/decade. Step 3 : Draw the phase diagram Step 4: Phase-cross over frequency = Gain cross over frequency = @,, P.M = -8° GM = -2db (2) Since gain crossover frequency > phase crossover frequency hence the system is un stable. Also both P.M & G.M are negative. 5 rad/sec (2) rad/sec. 468 // Automatic Control System T 46(1+0.58) -6odb/decad G(s) = 's/(1+0.25s) (140-18) ine 40db/decade -20db/decade | 4odb/decade | : } 3 3 mt z HL oO i Poablscade HOUT GM =o, Odb/decade Gain crossover, frequency (0 ¢4) g 160° 8) isco ole |80' 200° Phase crossover 220° frequency (0 «) =240° -260° Frequency Domain Analysis eKAMPLE 4.72. Draw the Bode plot for the transfer function ae 50 G(s) = S) = ‘s(1+0.25s) (1+0.1s) From the graph determine 4. Gain crossover frequency 2, Phase crossover frequency 3, GM and P.M. 4, Stability of the system. solution : Since this is type one system, the initial slope of the line will be — ade. Mark the int on @-axis at 50 rad/sec and draw a line with ae 20 Cb ae eae pi 50, this line Fill meet the y-axis. This is the starting point. : al Comer frequencies are @, 0.25 =41ad/sec. iS @)= 001 = 10 rad/sec. Slope of the line from starting point to I comer freqency Slope of the line from I corner frequency to I 20 db/dec. -20 + (-20) 40 db/dec. After second corner frequency the slope will be - 40 + (-20) = - 60 db/dec. Phase Plot : For phase plot calculate the phases at different frequencies. Table 4.7. o jo tan 0.10 stan 0250 | Resultant 1 =90° -571° —14.03° — 109.74" 2 90° -11.3° — 26.56" - 127.86° 5 -90° —26.56° -51.34° —168° 10 -90° -45° — 68.19° — 203.19° 20 -90° - 63.43" -78.69° = 232.12° 40 -90° -76 - 84.28° — 250.28° 60 90° - 80.53" — 86.18° ~256.71° 80 90° — 82.87° -87.13° ~ 260° 200 fibeapOewn| = 84.29° 87.7 — 262° Gain crossover frequency (@,) = 13 rad/sec. Phase crossover frequency (2) = 6.5 rad/sec. PM =-36° GM =-13db Since, both phase margin and gain margin are negative and gain crossover frequency > phase essover frequency, the system is, unstable. (70 i Automatic Control System -60db/decade: 50 2am G(s) = (740.255) (140.18) —4odb/decade| -20db/decade —40dbidecad -60db/decade| gh. AMPLE fe eas eee plot of the open} a . 4.36. jgshow? ‘Cop transfer function G(s) of a certain system (qDetermine G(s) if it is known that the system is (Estimate the phase at each of the comer frequen of minimum phase type. cies, 100 db} ~20 db/decade i 1eGe)1 ~60 db/decade 80 db/decade iz 5 40 100 o(rad/sec.) + Fig. 4.36. Solution : Since, the system is of minimum phase type, it has no poles or zeros in the right hand side of s-plane. a. At@=5 rad/sec. slope changes to - 20 db/decade indicating a term (1 5) or (1+0.2s) in denominator. 2 b. Ato =40, slope changes to - 60 db/decade indicating a term ( +) in denominator (net slope changes is - 40 db/decade) s c. Atw= 100, slope changes to - 80 db/decade, indicating the term (+355) in denominator. ~ a. 20 logy K = 100 K=10 : _108 = OST As GS) = Gy0.2s) (1+0.025s)? (1+0.01s) . ® Ato=5 5 = — [+ tant 0.2x5+2 (tan“! 0.025 x 5) + tan 0.01 x 5] = -62.11° : Atw=40 4 = ~ [tan 40 x 0.2 +2 (tan 40 x 0,025) + tan“ 40 x 0.01] — [82.87 + 90 + 21.8] 49 = 194.67" ie a Ato= 100 a Seat top = — [tan 100 x 0.2 + (tan 100 x 0,025)? + tan 100 x 0.01] < ‘100 ~ re = — [87.13 + 136.39 +'45] = — 268.53° ‘an sem from the data given on Bode diag. 176 1 Automatic Control Be i fer junction of the sys : ‘EXAMPLE 4.16. Find the trarts! 10 é o> -10} 20 db/dec. + -60 db/dec. 40 db/dec. 60 db/decade -60 db/dec. ee Fig. 4.37. Solution : First line having a slope of -20 db/decade and it is not passing through w = 1 rad/sec, it means there is term K/s At@=1 rad/sec. of initial part = 20 log 1. 5 = 3.521 20log K = 3.521 K=15 yt At @=4 rad/sec. there is a term [p-2ee =] because the slope changes from ~ 20 db/ nn decade to - 60 db/decade and also a peak of 4 db is given. ©, = 4rad/sec. xo eT Valueof|1+ 525+ =| ato=o, 5 Put s = jo 2 : | [ net =| - = [1 + 0.1585 + 0.0625s?]1 At w = 10 rad/sec. the slope changes from — 60 db/dec. to ~ 40 db/d . to = lec indicating the term tet *10) in numerator. 1.5(1+5/10) __48(5+10) s(1+0.158s-+0.06255")(1+ 5/20) ~ 5(5? +2.52s +16) (+20) This is the required transfer frnction. G) = EXAMPLE 4.17. Find the transfer function of the given Bode diagram. Solution: 1. First line having a slope of + 20 db/ decade. Therefore there is a term's’ in nu- merator. 2. At@= 1, theslope changes to zero, it means there is a term (1+ 5/,) = (5 + 1) in denominator. 3. At @ = 10, the slope changes to - 20 db/ decade, this indicates there isa term (1 + $/,9) in denominator. 4. 20105 K= 6 K =199~20 2s 20s i f : G@) = GendFyI = GF (s+10) is the required transfer function.

You might also like