tut9 - - 035188 - 2011 9 Loop Shaping () : : Bode Diagram...

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Unformatted text preview: - 035188 - 2011 9 Loop Shaping () : : Bode Diagram 50 System P : Frequency (rad/sec): 4.8 M agnitude (dB): 48.2 0 Magnitude (dB) -50 -100 -1 10 10 0 10 Frequency (rad/sec) 1 10 2 " " . : - 035188 - 2011 Impulse Response 15 10 5 Amplitude 0 -5 -10 0 1 2 3 4 5 Time (sec) 6 7 8 9 10 , . ) ): . : - 035188 - 2011 Nichols Chart 60 40 0.25 dB 0.5 dB 1 dB 3 dB 6 dB 0 0 dB -1 dB -3 dB -6 dB -12 dB 20 Open-Loop Gain (dB) -20 -20 dB -40 -40 dB -60 -60 dB -80 -80 dB -100 dB 225 270 315 360 405 450 495 540 Open-Loop P hase (deg) -100 180 . LPF - strictly proper . LPF: : - 035188 - 2011 Nichols Chart 60 P (s) 40 System C_l_p(s)P : (s) Gain (dB): 3.75 20 P hase (deg): 144 Frequency (rad/sec): 10 0 C (s)P (s) 0 dB 0.25 dB 0.5 dB 1 dB 3 dB 6 dB -1 dB -3 dB -6 dB -12 dB -20 -20 dB lp Open-Loop Gain (dB) -40 -40 dB -60 -60 dB -80 -80 dB -100 dB 0 45 90 135 180 225 270 315 360 405 450 495 540 Open-Loop P hase (deg) -100 . : - 035188 - 2011 Bode Diagram 15 10 Magnitude (dB) Phase (deg) 5 0 -5 -10 -15 90 60 30 0 10 -1 10 0 10 1 10 2 10 3 Frequency (rad/sec) : - 035188 2011 - Nichols Chart 60 P (s) C (s)P (s) 40 lp lp C (s)C lead (s)P (s) 0.25 dB 0.5 dB 1 dB 3 dB 6 dB 0 dB -1 dB -3 dB -6 dB -12 dB 20 Open-Loop Gain (dB) 0 -20 -20 dB -40 -40 dB -60 -60 dB -80 -80 dB -100 dB 0 45 90 135 180 225 270 315 360 405 450 495 540 Open-Loop P hase (deg) -100 . : - 035188 - 2011 Nichols Chart 60 P (s) C (s)P (s) 40 lp lp C (s)C lp lead (s)P (s) (s)P (s) 0.25 dB 0.5 dB 1 dB 3 dB 6 dB 0 dB -1 dB -3 dB -6 dB -12 dB 20 Open-Loop Gain (dB) kC (s)C lead 0 -20 -20 dB -40 -40 dB -60 -60 dB -80 -80 dB -100 dB 0 45 90 135 180 225 270 315 360 405 450 495 540 Open-Loop P hase (deg) -100 " : : - 035188 2011 - Nichols Chart 60 P (s) C (s)P (s) 40 lp lp C (s)C lp lead (s)P (s) 0.25 dB (s)P (s) 0.5 dB lead 1 dB 3 dB 6 dB 0 dB -1 dB -3 dB -6 dB -12 dB 20 Open-Loop Gain (dB) 0.4C (s)C 0 -20 -20 dB -40 -40 dB -60 -60 dB -80 -80 dB -100 dB 0 45 90 135 180 225 270 315 360 405 450 495 540 Open-Loop P hase (deg) -100 -: - 035188 - 2011 Impulse Response 20 P(s) 15 10 5 0 Amplitude -5 -10 -15 -20 -25 -30 k = 0.5 k = 0.4 0 0.5 1 1.5 Time (sec) 2 2.5 3 .( ) : - 035188 2011 - Nichols Chart 60 40 0.25 dB 0.5 dB 1 dB 3 dB 6 dB 0 0 dB -1 dB -3 dB -6 dB -12 dB 20 Open-Loop Gain (dB) -20 -20 dB -40 -40 dB -60 -60 dB -80 -80 dB -100 dB 0 45 90 135 180 225 270 315 360 Open-Loop P hase (deg) -100 LPF - 035188 - 2011 Nichols Chart 60 -P(s) 40 0.25 dB 0.5 dB 1 dB 3 dB 6 dB 0 -C (s)P(s) lp 0 dB -1 dB -3 dB -6 dB -12 dB -20 -20 dB 20 Open-Loop Gain (dB) -40 -40 dB -60 -60 dB -80 -80 dB -100 dB -135 -90 -45 0 45 90 135 180 225 270 315 360 Open-Loop Phase (deg) -100 -180 . : : - 035188 - 2011 Nichols Chart 60 40 20 0 -20 -40 -60 -80 -100 -120 -140 -180 0.25 dB 0.5 dB 1 dB 3 dB 6 dB -P (s) -C (s)P (s) lp lp 0 -C (s)C (s)P dB (s) lag -1 dB -3 dB -6 dB -12 dB -20 dB -40 dB -60 dB -80 dB -100 dB -120 dB -140 dB Open-Loop Gain (dB) -135 -90 -45 0 45 90 135 180 225 270 315 360 Open-Loop P hase (deg) : Im pulse Response 15 10 5 Amplitude 0 -5 -10 0 0.5 1 1.5 2 2.5 Tim (sec) e 3 3.5 4 4.5 5 ...
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