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Nyquist Plot: Plot of in The Complex Plane As Is Varied On

The document discusses the Nyquist plot and its use in analyzing closed-loop control system stability. A Nyquist plot involves plotting the open-loop transfer function G(jω) in the complex plane as the frequency ω is varied. The Bode stability criterion states that a closed-loop system is unstable if the open-loop transfer function amplitude ratio is greater than one at the frequency where the phase shift is -180 degrees. Checking stability involves computing the open-loop transfer function, finding the critical frequency where the phase is -180 degrees, and evaluating the amplitude ratio at that frequency.

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89 views19 pages

Nyquist Plot: Plot of in The Complex Plane As Is Varied On

The document discusses the Nyquist plot and its use in analyzing closed-loop control system stability. A Nyquist plot involves plotting the open-loop transfer function G(jω) in the complex plane as the frequency ω is varied. The Bode stability criterion states that a closed-loop system is unstable if the open-loop transfer function amplitude ratio is greater than one at the frequency where the phase shift is -180 degrees. Checking stability involves computing the open-loop transfer function, finding the critical frequency where the phase is -180 degrees, and evaluating the amplitude ratio at that frequency.

Uploaded by

mrkhairee
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Nyquist Plot

Plot of in the complex plane as is varied on

Nyquist path

Relation to Bode plot

 AR is distance of from the origin


 Phase angle, , is the angle from the Real positive axis

393
Nyquist Plot
 First order system

394
Nyquist plot
 Second order process

395
Nyquist plot
 Third order process:

396
Nyquist Plot
 Delayed system

397
Nyquist plot
 System with pole at zero
 Pole at is on the Nyquist path - no finite dc gain

 Strategy is to go around the singularity about in the right


half plane ( a small number)

398
Nyquist plot
 Pole at zero

399
Nyquist plot
 System with integral action:

400
Che 446: Process Dynamics and
Control

Frequency Domain
Controller Design

401
PI Controller

402
PD Controller

403
PID Controller

404
Bode Stability Criterion
Consider open-loop control system

+ +
- +

1. Introduce sinusoidal input in setpoint ( ) and observe sinusoidal


output
2. Fix gain such and input frequency such that
3. At same time, connect close the loop and set

Q: What happens if ?
405
Bode Stability Criterion

“A closed-loop system is unstable if the frequency of the


response of the open-loop GOL has an amplitude ratio
greater than one at the critical frequency. Otherwise it is
stable. “

Strategy:

1. Solve for ω in

2. Calculate AR

406
Bode Stability Criterion
To check for stability:

1. Compute open-loop transfer function


2. Solve for ω in φ=-π
3. Evaluate AR at ω
4. If AR>1 then process is unstable

Find ultimate gain:

1. Compute open-loop transfer function without controller gain


2. Solve for ω in φ=-π
3. Evaluate AR at ω
1
4. Let Kcu =
AR

407
Bode Criterion
Consider the transfer function and controller
5e !0.1s
G ( s) =
( s + 1)(0.5s + 1)

- Open-loop transfer function

5e '0.1s 1 $
GOL ( s) = 0.4!# 1 + &
( s + 1)(0.5s + 1) " 01 . s%

- Amplitude ratio and phase shift

5 1 1
AR = 0.4 1 +
1 + ( 2 1 + 0.25( 2 0.01( 2
1 %
. ( ! tan !1 (( ) ! tan !1 (0.5( ) ! tan !1"$
) = !01 '
# 01
. (&
- At ω=1.4128, φ=-π, AR=6.746

408
Bode Criterion

409
Ziegler-Nichols Tuning
Closed-loop tuning relation

 With P-only, vary controller gain until system (initially stable) starts to
oscillate.
 Frequency of oscillation is ωc,

 Ultimate gain, Ku, is 1/M where M is the amplitude of the open-loop


system
 Ultimate Period
2!
Pu =
"c

Ziegler-Nichols Tunings

P Ku/2
PI Ku/2.2 Pu/1.2
PID Ku/1.7 Pu/2 Pu/8
410
Bode Stability Criterion
 Using Bode plots, easy criterion to verify for closed-loop
stability
 More general than polynomial criterion such as Routh Array,
Direct Substitution, Root locus

 Applies to delay systems without approximation

 Does not require explicit computation of closed-loop poles

 Requires that a unique frequency yield phase shift of -180 degrees

 Requires monotonically decreasing phase shift

411

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