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Adv Control & Robotic Lec1b
Adv Control & Robotic Lec1b
Adv Control & Robotic Lec1b
Lecture 1
Chapter 10 Nise
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 1
(10.1 – 10.6)
G. Hovland
2004-2006
• Chapter 2 Nise
http://www.itee.uq.edu.au/~metr4202/_doc/METR3200_topic02.pdf
Why Frequency Response Techniques?
• Graphical analysis
very elegant
Asymptotic Approximations
Figure 10.2
a. system;
b. transfer
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 4
function;
c. input and
output
waveforms
Frequency Response Definitions
M o ( w)
M ( w) = Gain
M i ( w)
φ ( w) = φo ( w) − φi ( w) Phase
final result.
s → jω
Proof Page 1
r (t ) = A cos( wt ) + B sin( wt )
= A2 + B 2 cos[ wt − tan −1 ( B / A)]
= M i ∠ − φi Phasor Representation
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 8
= A + jB Rectangular Form
= 2
As
Proof Page 3
Proof Page 2
s +w 2
+ 2
Bw
s + w2
L[ A cos( wt ) + B sin( wt )]
Laplace transform of sinusoids (Table 2.1 Nise):
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 11 Proof Page 4
Steady-State
Solution
c(t ) = M i M G cos( wt + φi + φG )
In Phasor Form:
End Result:
Figure 10.4
Frequency
response
plots for G(s) =
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 13
1/(s + 2):
separate
magnitude
and phase
Figure 10.5
Frequency response
plots for G(s)
= 1/(s + 2): polar plot
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 14
Class Exercise
G(s) = 1 / ( s + 2 )
Below you see the main reason why Bode plots are logarithmic:
Bode plots of (s+a) = a (s/a + 1)
Figure 10.6
a. magnitude
plot;
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 17
b. phase plot.
w
G ( jw) = ( jw + a ) = a j +1
a Angle zero
At low frequencies (w → 0): G(jw) ≈ a
Figure 10.9
Normalised and
scaled
Bode plots for
a. G(s) = s;
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 21
b. G(s) = 1/s;
c. G(s) = (s + a);
d. G(s) = 1/(s + a)
Class-Exercise
Example 10.2
Draw the open-loop asymptotic bode plot for the system below,
Figure 10.13
Bode asymptotes
for normalised
and scaled G(s) =
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 23
s2 + 2ζω
a. magnitude;
b. phase
Second-Order Asymptotes
s2 s
G ( s ) = s + 2ςwn s + w = w
2 2
n
2
n 2
+ 2ς +1
wn wn
90o
Corrections to Second-Order Magnitude Plot
M= (w n
2
)
− w2 + (2ςwn w )
2 2 In Matlab:
wn=1; rho=0.1;
2ςwn w w=logspace(-1,1);
φ = tan −1 M=sqrt((wn^2 - w.^2).^2 + (2*rho*wn.*w).^2);
wn − w2
2
semilogx(w,20*log10(M));
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 25
!!!!!
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 28 METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 27
response for
Figure 10.16
Figure 10.17
Second-Order Pole
Gearbox Model
J mθ m + D (θ m − θ a ) + K (θ m − θ a ) = τ Newton’s
2nd law
J aθ a + D (θ a − θ m ) + K (θ a − θ m ) = 0
J m s 2θ m + Ds (θ m − θ a ) + K (θ m − θ a ) = τ
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 30
J a s 2θ a + Ds (θ a − θ m ) + K (θ a − θ m ) = 0
2nd order zero
Ja 2 D
θm 1 s + s +1 2nd order pole
( s) = 2 K K
τ s ( J m + J a ) J m J a s2 + D s + 1
Jm + Ja K
Data Collection and Model Matching
Resonance
(from poles)
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 31
Anti-resonance
(from zeros)
Estimated Parameters
Summary So Far
We can find the analytical frequency response (s→jw)
location.
NH
H ( s) = Open-Loop Transfer Function
DH
NG N H
G( s) H ( s) =
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 36
DG DH
DG DH + N G N H
1 + G( s) H ( s) =
DG DH
G( s) N G DH
T ( s) = =
1 + G ( s ) H ( s ) DG DH + N G N H
Closed-Loop Transfer Function
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 38 METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 37
contour
mapping
Figure 10.22
Figure 10.21
Examples of
to contour B
Mapping Points
Mapping Contours
Mapping contour A
through function F(s)
Vector Representation of Mapping
Assume mapping function F(s) = 1 + G(s) H(s)
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 39
Z=P–N
Hence, Z tells us the number of closed-loop poles inside the contour A !!!
The Final Statement of the Nyquist Criterion
the mapping GH
Z=P–N
Only if Z=0, the system is
stable
Remember this !
Examples
Frequency Response
Polar Plots
Z=P-N
Figure 10.25
Mapping examples:
a. contour does
not enclose
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 42
closed-loop poles;
b. contour does
enclose
closed-loop poles
Class Question:
Are the closed-loop systems a,b stable or unstable?
Sketching the Nyquist Diagram (10.4)
Figure 10.26
a. Turbine and
generator;
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 43
b. block diagram
of speed control
system for
Example 10.4
a. vectors on contour
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 44
at low frequency;
b. vectors on contour
around infinity;
c. Nyquist diagram
Class Question:
Is the closed-loop system stable?
Matlab Exercise: Try this yourself!
n=500; %Nominator
d=conv([1 10],[1 3]);
d=conv(d,[1 1]); %Denominator
a. poles on contour;
b. detour right;
c. detour left
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 46
Example 10.5
a. system;
b. contour; Self-Study: Use Matlab function nyquist iteratively
c. Nyquist diagram
to find the value of K where system goes unstable !!
Example 10.6
K
G( s) =
s( s + 3)( s + 5)
− 8w2 − j (15w − w3 )
a. Contour G ( jw) |K =1 =
64 w4 + w2 (15 − w2 )2
b. Nyquist diagram
G ( j 0+ ) |K =1 = −0.0356 − j∞
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 49
Figure 10.32
a. Contour and root locus of system that
is stable for small gain and unstable for large gain;
b. Nyquist diagram
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 50
System is stable if open-loop magnitude is less than 1 at that frequency where phase is -180o
Example 10.7
K Double-check
G( s) = 2
( s + 2 s + 2)( s + 2) this calculation
4 K (1 − w2 ) − jwK (6 − w2 ) yourself!
G ( jw) =
16(1 − w2 ) 2 + w2 (6 − w2 ) 2
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 51
K
G( s) =
( s 2 + 2 s + 2)( s + 2)
4(1 − w2 ) − jw(6 − w2 )
G ( jw) =
16(1 − w2 ) 2 + w2 (6 − w2 ) 2
Stabilisation of Unstable System
a. Contour and root locus of system that is unstable for small gain
and stable for large gain;
b. Nyquist diagram
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 53
System is stable if open-loop magnitude is larger than 1 at that frequency where phase is -180o
Figure 10.35
Nyquist diagram
showing gain
and phase
margins
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 54
Matlab Example
n=500; %Nominator
d=conv([1 10],[1 3]);
d=conv(d,[1 1]); %Denominator
[Gm,Pm,Wcg,Wcp]=margin(G)
Summary So Far
Lecture 2