Control Systems I Wd Frequency Response

Quadcopter
Review
Y Piss
diet I'dgusts
d
Ifitude t Rpm
r
no
e
cis s of Yitude

ji n
noise
sensor

Plant Transfer function PIs

Yg c SI A B D

o
freq domain Yes Pcs Vis

FUT

o Time domain for natl est

o
Y't eat Xo SI A B SI A B D est
Transient response steadystate response
ionverges to o if Sys asympt note TF Pis
stable
 o
Tss t Pis est ie if u it cos wt then

Jss th Pljwl cos wt t Pijw

Ex Effect of Poles Zeros on freq response

let Prs Stl 5 1

Sta Stig Stl j IT 2

17,3 1
Ij
Im

jw
O it w
Tj Pfjw
Y twi it lati it Iw il
X j

I j
R o
Paju
ar tan w faritan E t

a item t arstancy
j

o foried Response it feast Bastide

y't Exit YDust

inn
uit sit it eat Ys'd
y
vis I
814
Y's pis

0
Re IT o ti stability
 o Step Response

uit hit Ysmitt ca B i eat ys.it l eat

V15 Yes Gis
Is s

yall ath

Ult

zig
o Recti Lo ti refe en ie tracking

closed loop Control

diet
gusts
ref attitude Pls d
altitude ppm
r
soft Yitude
see cis s

ji n
noise
sensor

o
Open loop gain List Pest is e
y open loop

Sisi d J r se closed loop

o
Sensitivity us
i

o
Complementary

sensitivity Tis List r closed loop

Ji J
it has
Problem Test maps both r good and n sbad
y ly
o ex reti cos
yet nitl cosfw.tl dit o
n
lowfreq highfreq

Jss t Tfw rit Tijwn net

thisshould be this should be

approx o at
approx t at low
high freq W
freq w

Solution

o
low frequencies

o referenie trailing Tfw Lijw I jw I

Tiju r
Sy it Lijwl

o disturbanie rejection I
jw I
Sjw
Sjw Id y

o
high Frey

o
noise rejention Tfw Lijw I jw I
Tijw In ly Lgw
 Frequency Response Plots

Use to
only analyze
open loop stable d
min Phare Systems

Refit I Re c o ti j
Ex o Sj

Yes 1.6 ie H o.stfsyst.gl

UCS S't o Sst 1.6 2

a o.is I 1.24

credit Swarthmore
 The Boche Plot Sx is Fist Ez's

o
1Eljul 15 jw E jul

o
Eljwldo 5 jw d t
55 d

o
jw LE Gul t LEz1jw

Bode Plot Procedure

1 Rewrite if in Bode Form

Ex I cis 30
10 30 10 f ti

s 3s so so
g s ti

G Iti
need to express in standard form
Est Sw 25 E I

To ti
6

E FI E I
Wo s Wo

2 Separate tf into constituent parts

3 Draw Bode diagram for each part

i e stablepoles Reit co mi phasezeros Reis I co

Y Draw overall Bode plot byadding results from

step 3
Now Demo of Bode Plots of constituent parts

100

70
ftp.io.gsti Iti Itn
2 Const 10
20 log 110 70dB

pen p a
y s to
to

10 to

ii sooo t
to ooo too Soo ti
100
1
g
t
I 211 ti

Wo to
I
I
5 12

phase

lol 103
 20dB del pole
Ex Exam 2017 goophase at 5 0.1

on sin maga
pole zero
o 1800 phase

pole at 5 100
Zero at s 100

100
fo ti
oil lost1 too I

to
fo ti
tosti
Eo 1