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Lecture 380-21-202 GM and PM Nyquist

The document discusses gain margin and phase margin, which are measures of stability in feedback control systems. It defines gain margin and phase margin, provides examples of calculating them using Nyquist diagrams, and discusses how to find phase margin for a second order system.

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27 views17 pages

Lecture 380-21-202 GM and PM Nyquist

The document discusses gain margin and phase margin, which are measures of stability in feedback control systems. It defines gain margin and phase margin, provides examples of calculating them using Nyquist diagrams, and discusses how to find phase margin for a second order system.

Uploaded by

yfm9bnzb2g
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Gain/Phase Margin via the Nyquist Diagram

In this Lecture:
 Gain Margin And Phase Margin
RELATIVE STABILITY
RELATIVE STABILITY
Gain Margin
The step responses for a second order open-loop system with four
different values of K:
Gain Margin

Gain margin, GM:


The gain margin is the change in open-loop gain,
expressed in decibels (dB), required at -180◦ of phase
shift to make the closed-loop system unstable.
Gain Margin

where ωcp stand for, the phase crossover


frequency,

Phase Crossover: A phase-crossover on


the HG(jω) plot is a point at which the
plot intersects the negative real axis.
Phase Margin

• The gain margin is only a one-dimensional representation of


the relative stability of a closed-loop system.
• Unfortunately, gain margin alone is inadequate to indicate
relative stability when system parameters other than the loop
gain are subject to variation.
Phase Margin

Phase margin, ΦM:


The phase margin is the change in open-loop phase
shift, required at unity gain to make the closed-loop
system unstable.

where ωcp stand for, the phase


crossover frequency,
Example

Find the gain and phase margin for the unity feedback
system with

6
Solution: 𝐺 𝑗𝜔 =
(−𝜔 2 + 𝑗2𝜔 + 2)(𝑗𝜔 + 2)

6 1 2𝜔 𝜔
𝐺 𝑗𝜔 = ∠− 𝑡𝑎𝑛−1 − 𝑡𝑎𝑛 −1
(2 − 𝜔 2 )2 +4𝜔 2 𝜔 2 + 4 2 − 𝜔2 2
Example

To find the Nyquist diagram crosses the real axis set

2𝜔 𝜔 𝑥+𝑦
−𝑡𝑎𝑛−1 − 𝑡𝑎𝑛 −1 =-180 𝑡𝑎𝑛−1 𝑥 + 𝑡𝑎𝑛−1 𝑦 = 𝑡𝑎𝑛−1
2−𝜔2 2 1 − 𝑥𝑦

2𝜔 𝜔
+
𝑡𝑎𝑛−1 2 − 𝜔 2 2 = 180
2𝜔 𝜔
1−
2 − 𝜔2 2

2𝜔 𝜔
+ = 0
2−𝜔2 2

6 1 𝐺(𝑗 6) = .3
𝐺(𝑗𝜔) =
(2 − 𝜔 2 )2 +4𝜔 2 𝜔 2 + 4
Example
Phase Margin of a Second Order System

Consider the second-order system shown

Then the open loop transfer function

𝝎𝟐𝒏
𝑮𝑯 𝒔 =
𝒔(𝒔 + 𝟐𝜻𝝎𝒏 )
The characteristic equation for this second order system

𝒔𝟐 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝟐𝒏 = 𝟎
Phase Margin of a Second Order System

The frequency domain of the open loop transfer function

𝝎𝟐𝒏
𝑮𝑯 𝒋𝝎 =
𝒋𝝎(𝒋𝝎 + 𝟐𝜻𝝎𝒏 )

The magnitude of the frequency response is equal to 1 at the gain


crossover frequency ωc

𝜔𝑛2
2 2 2 1∕2 = 1.
𝜔𝑐 (𝜔𝑐 + 4𝜁 𝜔𝑛 )
Phase Margin of a Second Order System

Or (𝜔𝑐2 )2 +4𝜁 2 𝜔𝑛2 𝜔𝑐2 − 𝜔𝑛4 = 0

Solving for ωc
𝜔𝑐2 4 + 1)1∕2 −2𝜁 2
= (4𝜁
𝜔𝑛2

The phase margin for the system is

𝜔𝑐 1 1Τ2
𝜙𝑝𝑚 = 𝜊 𝜊
180 -90 - 𝑡𝑎𝑛 −1 = 𝑡𝑎𝑛−1 (2𝜁 )
2𝜁𝜔𝑛 4𝜁 4 +1 1Τ2 −2𝜁 2
Phase Margin of a Second Order System

An approximation between the damping ration and the phase margin is

𝜁 = 0.01𝜙𝑝𝑚

Where the phase margin is measured in degree

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