351 - 27435 - EE419 - 2020 - 1 - 2 - 1 - 0 2 EE419 Lec2,3 Bode Plot
351 - 27435 - EE419 - 2020 - 1 - 2 - 1 - 0 2 EE419 Lec2,3 Bode Plot
Bode plot
Emam Fathy
Department of Electrical and Control Engineering
email: [email protected]
http://www.aast.edu/cv.php?disp_unit=346&ser=68525
1
Introduction
• Frequency response is the steady-state response of a
system to a sinusoidal input.
G ( j ) G ( s )
s j
c(t ) A G ( j ) sin(t G ( j ))
Frequency Domain Plots
• Bode Plot
• Nyquist Plot
• Nichol’s Chart
Bode Plot
• A Bode diagram consists of two graphs:
20( 3s 1) 10(3s 1)
G( s )
s( s 1)( s 2 5s 2 ) / 2 (5 / 2) s 1)
2
s ( s 1)( s
Basic Factors of a Transfer Function
1. Gain K
5
Magnitude (decibels)
-5
-15
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Im 0
If K 5 Then tan-1( ) tan-1( ) 0
90o
Re 5
30o
Phase (degrees)
0o
-300
-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
2. Integral and Derivative Factors (jω)±1
Derivative Factor G( s ) s, where s j
Magnitude G( j ) 20 log( )
db -20 -14 -8 -6 -3 -2 -1 0
Slope=20db/decade
Phase G( j ) tan 1 ( ) 90
0
20db
decade
30
10
Magnitude (decibels)
-10
-20
-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
tan-1( ) 90
180o
0
900
60o
Phase (degrees)
0o
-600
-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
2. Integral and Derivative Factors (jω)±1
• When expressed in decibels, the reciprocal of a number
differs from its value only in sign; that is, for the number N,
1
20 log( N ) 20 log( )
N
• Therefore, for Integral Factor the slope of the magnitude line would
be same but with opposite sign (i.e -6db/octave or -20db/decade).
1
Magnitude G ( j ) 20 log( )
j
1
Phase G( j ) tan ( ) 90
0
20db
decade
30
20
10
Magnitude (decibels)
-10
-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
tan-1( ) 90
180o
0
60o
Phase (degrees)
0o
-600
-900
-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
2. First Order Factors (jωT+1)
M ( ) 20 log( 1 jT )
M ( ) 20 log( 1 2T 2 )
1
– For Low frequencies ω<<1/T G( s ) ( s 3) ( s 1)
3
M ( ) 20 log(1) 0 1 T
T
– For high frequencies ω>>1/T
M ( ) 20 log(T )
Basic Factors of a Transfer Function
2. First Order Factors (jωT+1)
( ) tan-1(T )
when 0, ( ) tan-1(0) 0
1 -1
when , ( ) tan (1) 45
T
when , ( ) tan-1() 90
1
G( s ) ( s 3) ( s 1)
3
30
20
6 db/octave
10
Magnitude (decibels)
20 db/decade
0
ω=3
-10
-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
90o
45o
30o
Phase (degrees)
0o
-300
-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)-1
M ( ) 20 log( 1 jT )
M ( ) 20 log( 1 2T 2 )
– For Low frequencies ω<<1/T 1
G( s )
( s 3)
M ( ) 20 log(1) 0
– For high frequencies ω>>1/T
M ( ) 20 log(T )
Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)-1
( ) tan-1(T )
when 0, ( ) tan-1(0) 0
1 -1
when , ( ) tan (1) 45
T
when , ( ) tan-1() 90
1
G( s )
( s 3)
30
10
Magnitude (decibels)
0
ω=3
-10
-6 db/octave
-20 db/decade
-20
-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
90o
30o
Phase (degrees)
0o
-300
-45o
-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Example
10( s 1)
G (s) H (s) 2
s ( s / 100 1)
① ③
10( s 1)
-40dB/dec
G (s) H (s)
s 2 ( s / 100 1)
② ④
40dB
20dB
-20dB/dec
0dB
0.1 10
(log )
1 100
-20dB
-40dB
-40dB/dec
-60dB
( )
①
10( s 1) ③
G (s) H (s) 2
② s ( s / 100 1)
④
90o
45o
(log )
0o
0.1 1 10 100
-45o
-90o
-135o
-180o
Basic Factors of a Transfer Function
4. Quadratic Factors
2
2
M ( ) 20 log (1 2 ) ( 2 )
n n
M ( ) 20 log(1) 0
– For high frequencies ω>> ωn
M ( ) 40 log( ) 40db / dec
n
Example
Bode Diagram
16
14
Magnitude (dB)
12
3( 2s 1) 10
G( s )
( s 1) 8
20
15
Phase (deg)
10
0
-2 -1 0 1
10 10 10 10
Frequency (rad/sec)
Example
Bode Diagram
35
Magnitude (dB)
30
25
10(3s 1)( 7 s 1)
G( s )
20
40
( s 1)( 5s 1) 30
Phase (deg)
20
10
0
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Example
Bode Diagram
30
20
Magnitude (dB)
10
6( s 2 4s 4)
G( s ) -10
0
(3s 1)( 5s 1)
Phase (deg)
-45
-90
-135
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Example
Bode Diagram
16
14
Magnitude (dB)
12
3( 2 s 1)
10
G( s )
( s 1)
8
180
135
Phase (deg)
90
45
0
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Example
Bode Diagram
40
30
Magnitude (dB)
20
10
10(5s 1)( 2 s 1) 0
G( s ) 90
s( s 2 8s 16 ) 45
Phase (deg)
-45
-90
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Relative Stability
Gain cross-over point
ωg ωp
3/15/2020 47
Unstable Stable
Stable
Phase Margin
Unstable Stable
ωg ωp
3/15/2020 48
Example#3
• Obtain the phase and gain margins of the
system shown in following figure for the two
cases where K=10 and K=100.
End of Lecture
Example
L( ), ( )
-20dB/dec
40dB, 90o -20dB/dec
20dB, 45o
0dB, 0o (log )
0.1 1 10 100
-20dB, -45o
-60dB/dec
-40dB, -90o
-60dB.-135o
-80dB,-180o
-100dB,-225o
-120dB,-270o
10( s 1)
G (s)
s (0.1s 1)(0.012 s 2 0.01s 1)