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Frequency Characteristic: Control Engineering and Signal Processing Michala Srnová 2009/2010

The document discusses frequency characteristics and frequency response analysis tools. It describes how frequency characteristics analyze the steady state response of systems to sinusoidal inputs by examining gain and phase over frequency. Tools like Bode diagrams, Nyquist diagrams, and Nichols diagrams provide easy overviews of a system's frequency properties and stability by plotting gain vs. frequency and phase vs. frequency on logarithmic scales. These diagrams allow seeing the asymptotic approximations that arise from poles, zeros and other elements to determine system behavior.

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147 views

Frequency Characteristic: Control Engineering and Signal Processing Michala Srnová 2009/2010

The document discusses frequency characteristics and frequency response analysis tools. It describes how frequency characteristics analyze the steady state response of systems to sinusoidal inputs by examining gain and phase over frequency. Tools like Bode diagrams, Nyquist diagrams, and Nichols diagrams provide easy overviews of a system's frequency properties and stability by plotting gain vs. frequency and phase vs. frequency on logarithmic scales. These diagrams allow seeing the asymptotic approximations that arise from poles, zeros and other elements to determine system behavior.

Uploaded by

srnka
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Frequency characteristic

Control engineering and signal processing

Michala Srnová
2009/2010
Content
 Frequency characteristic

Bode diagram
 Nyquist diagram
 Nichols diagram
Frequency characteristics

Steady state response of sinusoidal input

Frequency response: gain, phase


s → jω

Graphs – easy overview

Purpose
 Frequency properties of system
 Stability of system
Frequency characteristic II
 Input: sine signal with frequency f ω =2πf
 Output?
 Sine signal
 Same frequency
 Gain
 Phase
 Graphs
 Bode
 Nyquist
Bode diagrams

Gain vs frequency plot [db]

Phase vs frequency plot [°]

Logarithmic frequency scale


Example

ω - 20db/decade
Bode diagram II
 Asymptotic approximations

Effect of each pole/zero – find separately

 Asymptotes of constant and one pole:

1. ω<a → G ~ 0
2. ω=a → G=3dB
3. ω>a → G grow
Slope: 20dB/decade
Bode diagram III

Phase vs frequency – approximation


Automatic process: → break point – in root: zero↑, pole ↓
→ constant: K * zero / pole → phase 0° → -90° ;in two
decade → summation
Bode diagram IV
 Summation

 Twice root (jω)2


Bode diagram V
 Stability
Nyquist diagram
 Nyquist plot – transfer function: amplitude, phase
- for all frequencies
 Achieving of closing contour

G(s) → G(jω)
Amplitude |G(jω)|
Phase φ(G(jω))
Re{G(jω)}
Im{G(jω)}
Nyquist diagram II
 Criteria stability I
 Open-loop system G(jω) is stable
 Not encircles -1 + j0 point, clockwise
 Criteria stability II
 Open-loop system G(jω) is unstable
 N times encircles point -1 + j0, clockwise
 N right hand poles of 1+G(jω)
Nichols diagram
 Axis y: logarithmic magnitude

Axis x: phase
 Frequency points

Bode diagram in one plot
Thank you for your attention

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