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제어설계기법 실습 #5

제어설계기법 실습 #5. Frequency-Domain Analysis - Bode Plot. 실험실습 #5 안내서. 실험실습 번호 : #5 실험실습 일시 : 2011. . . 담당교수 :  담당조교 : , . 제목 : Bode plot 목적 : log scale 과 decibel 단위에 대해 이해하고 MATLAB 을 이용하여 bode plot 을 그린다 . 실습에 필요한 기초지식 : 슬라이드 유인물 참조 실습절차 : 슬라이드 유인물 참조.

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제어설계기법 실습 #5

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  1. 제어설계기법 실습 #5 Frequency-Domain Analysis - Bode Plot

  2. 실험실습 #5 안내서 • 실험실습 번호 : #5 • 실험실습 일시: 2011. . . • 담당교수 :  • 담당조교 : ,  제목 : Bode plot 목적 : log scale과 decibel 단위에 대해 이해하고 MATLAB을 이용하여 bode plot을 그린다. 실습에 필요한 기초지식 : 슬라이드 유인물 참조 실습절차 : 슬라이드 유인물 참조

  3. Bodediagram : introductions • Bode diagram • 를 각기 다른 두 개의 plot에 표현 • gain crossover, phase crossover, gain margin, phase margin are more easily determined than from the Nyquist plot • Effects of adding controllers and parameters are easily visualized. • Log scale axis • Wide range 의값을 한 그래프에 표시 가능 • 특히 주파수를 기본축으로 하는 함수에서 일반적으로 표시. • Decibel

  4. Bodediagram : introductions Unstable region for intersect on magnitude curve at gain crossover; negative gain margin 40 20 0 -20 -40 , gain crossover (dB) gain margin Stable region for intersect on magnitude/phase curve at gain/phase crossover; positive gain/phase margin 0 -90 -180 -270 -360 phase margin (deg) , phase crossover Unstable region for intersect on phase curve at phase crossover; negative phase margin

  5. Bode plot & logarithm command • The various syntaxes for the bode commands are • logarithm command in Matlab

  6. Stability margin command • Stability margin (gain and phase margins) • MARGIN shows gain and phase margins and crossover • frequencies. It computes the gain margin Gm, the phase • margin Pm, and the associated frequencies Wcg and Wcp. • The gain margin in Db is derived by Gm_dB=20*log10(Gm). • If there are several crossover points, MARGIN returns • the smallest margins(Gm nearest to 0dB, Pm nearest to 0 • degrees).

  7. Convert to decibel unit • Convert to decibels in Matlab : (Example) : Half power point

  8. Bode plot using MATLAB (Example) (results)

  9. Bode plot using MATLAB (results)

  10. 1) 각각의 unity feedback system의 forward-path transfer function에 대해 k=1일 때 gain margin, phase margin, gain crossover(wgc), phase crossover(wpc) 를 구하시오.(gain margin은 dB단위로 구해서 적을 것.) a) b) Matlab 실험·실습과제5

  11. 2) 1의 b번의 k를 다음과 같이 변화시켜 gain margin, phase margin, gain crossover(wgc), phase crossover(wpc) 를 구하고 k값이 어떤 영향을 미치는지 확인하시오. (gain margin은 dB단위로 구해서 적을 것.) a)k=0.1 b)k=10 c)k=100 Matlab 실험·실습과제5

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