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Chapter 14

1. The response of a first-order system to a sinusoidal input is another sinusoid with the same frequency but an attenuated amplitude and a phase shift. 2. The output amplitude and phase shift depend on the input frequency and the time constant of the system, with higher frequencies experiencing greater attenuation and phase lag. 3. Bode and Nyquist plots provide a graphical representation of how the amplitude ratio and phase shift of a system vary with input frequency, allowing analysis of frequency response characteristics.

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98 views6 pages

Chapter 14

1. The response of a first-order system to a sinusoidal input is another sinusoid with the same frequency but an attenuated amplitude and a phase shift. 2. The output amplitude and phase shift depend on the input frequency and the time constant of the system, with higher frequencies experiencing greater attenuation and phase lag. 3. Bode and Nyquist plots provide a graphical representation of how the amplitude ratio and phase shift of a system vary with input frequency, allowing analysis of frequency response characteristics.

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李承家
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Frequencyy Response Analysis

y
Sinusoidal Forcing of a First-Order Process
For a first-order transfer function with gain K and time constant ,
p
the response g
to a general p x t A sin t is:
sinusoidal input,

y t
KA
2 2
1
e t /
cos t sin t (5-25)

Note that y(t) and x(t) are in deviation form. The long-time
response, yl(t),
(t) can be
b written
itt as:
KA
y t sin t for t (13-1)
2 2
1
where:
t 1
tan

Figure 13.1 Attenuation and time shift between input and output
sine
i waves (K= 1). ) Theh phase
h l off the
angle h output signal
i l is i given
i

by Time shift / P 360 , where t is the (period) shift and P
oscillation
is the period of oscillation.
Frequency Response Characteristics of
a First-Order
First Order Process
For x(t ) A sin t , y t A sin t as t where :
KA
A and tan 1
2 2 1
1. The output signal is a sinusoid that has the same frequency,
as the
h input.signal,
i i l x(t)( ) =Asint.
Ai
2. The amplitude of the output signal, A , is a function of the
frequency and the input amplitude, A:
KA
A (13 2)
(13-2)
2 2
1

3. The output has a phase shift, , relative to the input. The


amount of phase shift depends on .

Dividingg both sides of ((13-2)) by


y the input
p signal
g amplitude
p A
yields the amplitude ratio (AR)

A K
AR (13-3a)
A 2 2
1
which can, in turn, be divided by the process gain to yield the
normalized amplitude ratio (ARN)
1
AR N (13-3b)
2 2
1
Shortcut Method for Finding
the Frequency Response
The shortcut method consists of the following
g steps:
p
Step 1. Set s=j in G(s) to obtain G j .
Step 2. Rationalize G(j); We want to express it in the form.
G(j)=R
(j ) + jjI
where R and I are functions of Simplify G(j) by
multiplying the numerator and denominator by the
complex conjugate of the denominator.
3 The amplitude ratio and phase angle of G(s) are given
Step 3.
by:
AR R 2 I 2
Memorize
tan 1 ( R / I )

Complex Transfer Functions


Consider a complex transfer G(s),
G s Gb s Gc s
G s a (13-22)
(13 22)
G1 s G2 s G3 s
Substitute s=j
G j Gb j Gc j
G j a (13-23)
G1 j G2 j G3 j

From complex variable theory, we can express the magnitude and


g of G j as follows:
angle
Ga j Gb j Gc j
G j (13-24a)
G1 j G2 j G3 j

G j Ga j Gb j Gc j
[G1 j G2 j G3 j ] (13-24b)
Bode Diagrams
A special graph, called the Bode diagram or Bode plot,
provides a convenient display of the frequency response
characteristics of a transfer function model.
model It consists of
plots of AR and as a function of .
O di il is
Ordinarily, i expressedd in
i units
it off radians/time.
di /ti
Bode Plot of A First-order System
Recall:
1
AR N and tan 1
2 2 1

Figure 13.2 Bode diagram for a first-order process.


Nyquist Diagrams
Consider the transfer function

1
G s (13-76)
2s 1
with
ih
1
AR G j (13-77a)
(13 77a)
2 2
1

andd
G j tan 1 2 (13-77b)

Figure
g 13.12 The Nyquist
yq diagram
g for G(s) = 1/(2
( s + 1))
plotting Re G j and Im G j .
Figure 13.13 The Nyquist diagram for the transfer
function in Example 13.5:
13 5:
5(8s 1)e 6 s
G (s)
( s 1)(4
(20 )( s 1))

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