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Module 3: Frequency Response Analysis (FRA) : Understanding The Basic Principle of FRA and Bode Stability Criterion

This document discusses frequency response analysis (FRA) and its importance in studying the stability of closed-loop systems. It provides background on FRA, explaining how it analyzes input and output waves to obtain amplitude ratio and phase angle. Bode analysis requires transfer functions of the closed loop. Gain and phase margins are introduced as criteria for stability, with typical values being a gain margin over 2 and a phase margin over 30 degrees. Exercises are provided to have the reader calculate and plot amplitude ratios, phase lags, and margins for various transfer functions.

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50 views

Module 3: Frequency Response Analysis (FRA) : Understanding The Basic Principle of FRA and Bode Stability Criterion

This document discusses frequency response analysis (FRA) and its importance in studying the stability of closed-loop systems. It provides background on FRA, explaining how it analyzes input and output waves to obtain amplitude ratio and phase angle. Bode analysis requires transfer functions of the closed loop. Gain and phase margins are introduced as criteria for stability, with typical values being a gain margin over 2 and a phase margin over 30 degrees. Exercises are provided to have the reader calculate and plot amplitude ratios, phase lags, and margins for various transfer functions.

Uploaded by

Rahman
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Module 3: Frequency Response Analysis (FRA)

Group number:
Name/NIM:
1.
2.
3.

Understanding the basic principle of FRA and Bode stability criterion


Let’s continue our journey from time domain, Hendrik Wade Bode
Laplace domain and eventually we arrive now at (December 24, 1905 – June
21, 1982) was an American
frequency domain. The control theory of FRA is engineer, researcher,
mostly influenced by the contribution of Hendrik inventor, author and
Wade Bode (Bell Labs, US). FRA is a powerful tool scientist, of Dutch ancestry.
As a pioneer of modern
to study the stability of our closed loop and later control theory and
it also may serve us during the parameter tuning. electronic
telecommunications he
revolutionized both the
content and methodology
of his chosen fields of
research. (Wikipedia)
The idea of FRA can be illustrated as follow:

As a result, one may compare the input and output wave to obtain the Amplitude Ratio (AR) as well
as the Phase Angle.

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Bode analysis requires all transfer function in the closed loop:

Another important simplification provides a way for the frequency response of a series of transfer
functions to be calculated from the individual frequency responses.

To make our life easier, let us use the summary of AR and Phase Lag computation as follow:

2
How safe our system from unstability? Let us introduce the concept of Gain Margin (GM) and Phase
(Margin).

GAIN MARGIN. The amplitude ratio of GOL ( j ) at the critical frequency is equal to 1/GM, where GM
is called the gain margin and should be greater than 1. This ensures that the system is stable for any
process modelling error that increases the actual amplitude ratio of the process by less than a factor
of GM. A typical value for GM is 2.0, but a larger value would be appropriate if large modelling errors
that primarily influenced the amplitude ratio were anticipated.

PHASE MARGIN. The phase angle of GOL ( j ) where the amplitude ratio is 1.0 is equal to (-180°+PM),
with PM a positive number referred to as the phase margin. A positive phase margin ensures that the
system is stable for model errors that decrease the phase angle. A typical value for the phase margin
is 30°, but a larger value would be appropriate if larger modelling errors were anticipated.

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Exercise
0.5  Kc
1. Given GOL 
5s  1
Let’s use Kc=1 and 5. Calculate the AR and Phase Lag! Plot the Bode Plot and make
interpretation of your calculation results!

0.5 1 1
2. Given GOL  Kc
5s  1 0.3s  1 0.25s  1
Calculate the AR and Phase Lag with Kc=1 and 500 ! Plot the Bode Plot and make
interpretation of your calculation results!

3. Make Bode plot of the system with Kc=1


Kc
GOL 
 5s  1 s  1 0.5s  1
a. Find the value of gain Kc that gives a phase margin of 45o. What is the gain margin?
b. Find the value of gain Kc that gives a gain margin of 2. What is the phase margin?

4. Make Bode plot of the system with Kc=1


Kc  (0.5s  1)
GOL 
 5s  1 s  1
c. Find the value of gain Kc that gives a phase margin of 45o. What is the gain margin?
d. Find the value of gain Kc that gives a gain margin of 2. What is the phase margin?

References:
Thomas Marlin, Process Control 2nd ed., McMaster University Canada (available from internet)
William L. Luyben, 1996, Process Modeling Simulation and Control for Chemical Engineerts, 2nd Ed.,
McGraw-Hill International Editions

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