Esercizi BODE - Guida

Esercizi di Controlli Automatici: Bode
I passi fondamentali possono essere riassunti come segue:

Q
z
i
1. Riportare la funzione di trasferimento F (s) nella forma standard, con il guadagno statico K = k0 Q pzki pk
in evidenza
m j m j
Q
nr 2nr
Qa
2n
d
c
1
2 m i Y
)
ni i
1 i=1 (s zi + 1) zi Y (s2 + 2mi mi s + m
i
F (s) = K Qb
2m
1
pi
s
(s2 + 2ni ni s + n2 i )ni
mi i
i=1 (s pi + 1)
i=1
i=1
2. Per tutti gli zeri zi (poli pi ) segnare sullasse delle pulsazioni del diagramma di bode i diversi punti di rottura
|1/zi | (|1/pi |), dove zi = 1/zi (pi = |1/pi |) e tracciarne i singoli contributi in modulo e fase (fare attenzione
alla fase: se zi < 0 (pi < 0), il contributo in fase risulta come quello di un polo (zero), decrescendo (crescendo));
3. Sommare tutti i contributi in modulo e fase dei diversi zeri e poli;
4. Contributo di K: traslare il modulo calcolato al punto precedente di 20Log10 |K|. Nel caso in cui K < 0,
aggiungere un contributo di (o equivalentemente ) alla fase totale calcolata al punto precedente.
Per ogni esercizio, in carattere piccolo in alto a destra, si mostra il comando Matlab per generare la funzione di
trasferimento analizzata.
Esercizio 1
(F = 10 tf ([1], [1]);)
F (s) = 10;
Bode Diagram
0.8
20.5
0.6
20
0.4
19.5
19
1
Phase (deg)
Nyquist Diagram
Imaginary Axis
Magnitude (dB)
21
0.2
0
System: F
Real: 10
Imag: 0
Frequency (rad/sec): 1e013
0.2
0.5
0.4
0
0.6
0.5
0.8
1
0
10
1
2
10
4
6
Real Axis
Frequency (rad/sec)
Esercizio 2
F (s) =
Bode Diagram
6
1
1/s
F
10
Phase (deg)
20
180
12
Nyquist Diagram
System: F
Real: 2.07e016
Imag: 3.39
Frequency (rad/sec): 0.301
15
10
(F = tf ([1], [1 0]);)
1
s
10
Imaginary Axis
Magnitude (dB)
2
0
2
4
90
System: F
Real: 2.26e016
Imag: 3.7
6
0
8
90
0
10
10
Frequency (rad/sec)
10
1
0.8
0.6
0.4
0.2
Real Axis
0.2
0.4
Esercizi di Controlli Automatici
Esercizio 3
(F = tf ([1 10], [1 0]);)
s + 10
s/10 + 1
F (s) =
= 10
s
s
Bode Diagram
60
Nyquist Diagram
20
40
20
s/10+1
1/s
40
F
60
90
45
Phase (deg)
System: F
Real: 1
Imag: 5.65
10
Imaginary Axis
Magnitude (dB)
15
20
System: F
Real: 1
Imag: 7.27
10
15
45
90
1
10
10
10
Frequency (rad/sec)
10
20
1
10
0.5
0.5
1.5
Real Axis
Esercizio 4
(F = tf ([1 10], [1 2]);)
s + 10
10 s/10 + 1
F (s) =
=
s+2
2 s/2 + 1
Bode Diagram
40
1.5
0
1
System: F
Real: 1.36
Imag: 1.14
20
s/10+1
0.5
Imaginary Axis
Magnitude (dB)
20
(s/2+1)1
40
F
60
90
0.5
45
Phase (deg)
Nyquist Diagram
System: F
Real: 1.61
Imag: 1.44
1.5
45
90
1
10
10
10
Frequency (rad/sec)
10
2
1
10
2
Real Axis
Esercizio 5
(F = zpk([10], [0 0 2], 1);)
10 s/10 + 1
s + 10
=
F (s) = 2
s (s + 2)
2 s2 (s/2 + 1)
Bode Diagram
100
Nyquist Diagram
6
4
0
50
s2
100
(s/2+1)1
F
150
90
Phase (deg)
System: F
Real: 15.2
Imag: 3.34
s/10+1
Imaginary Axis
Magnitude (dB)
50
System: F
Real: 22.8
Imag: 4.13
90
8
180
1
10
10
10
Frequency (rad/sec)
10
10
10
20
30
Real Axis
40
50
Esercizio 6
(F = zpk([], [2], 1);)
1
1
1
F (s) =
=
s2
2 s(1/2) + 1
Bode Diagram
10
0.8
20
0.6
0.4
30
1
(s(1/2)+1)
F
40
50
90
Phase (deg)
Nyquist Diagram
0.2
Imaginary Axis
Magnitude (dB)
0
0.2
0.4
0.6
90
0.8
180
1
10
10
1
1
10
10
0.9
0.8
0.7
0.6
Frequency (rad/sec)
0.5
0.4
Real Axis
0.3
Esercizio 7
0.2
0.1
(F = zpk([10], [0], 1);)
s(0.1) + 1
s 10
= 10
F (s) =
s
s
Bode Diagram
60
Nyquist Diagram
20
40
Magnitude (dB)
15
20
10
0
20
5
Imaginary Axis
s(0.1)+1
1/s
40
F
60
360
270
Phase (deg)
System: F
Real: 1
Imag: 11.1
180
10
System: F
Real: 1
Imag: 9.75
90
15
0
90
1
10
10
10
Frequency (rad/sec)
20
1
10
10
0.5
0.5
1.5
Real Axis
Esercizio 8
(F = zpk([2], [0.1 10 10], 1);)
s(1/2) + 1
2
s+2
=
F (s) =
2
(s + 0.1)(s + 10)
10 (s10 + 1)(s0.1 + 1)2
Bode Diagram
100
Nyquist Diagram
0.1
50
System: F
Real: 0.155
Imag: 0.0816
0.06
50
0.04
Imaginary Axis
Magnitude (dB)
0.08
0
100
150
90
0.02
0
0.02
Phase (deg)
s/2+1
(10s+1)1
System: F
Real: 0.169
Imag: 0.0707
0.04
(s/10+1)2
0.06
F
90
0.08
0.1
180
3
10
10
10
10
Frequency (rad/sec)
10
10
10
0.05
0.1
Real Axis
0.15
0.2
Esercizio 9
(F = tf ([2 1], [20 1]);)
1 + 2s
F (s) =
1 + 20s
Bode Diagram
Magnitude (dB)
40
Nyquist Diagram
20
0.8
0.6
System: F
Real: 0.335
Imag: 0.394
0.4
20
2s+1
1
Imaginary Axis
(20s+1)
40
60
90
0.2
0
0.2
Phase (deg)
45
0.4
System: F
Real: 0.332
Imag: 0.393
0
0.6
45
0.8
90
3
10
10
10
Frequency (rad/sec)
10
1
1
10
0.8
0.6
0.4
0.2
0
Real Axis
0.2
0.4
Esercizio 10
0.6
0.8
(F = tf ([20 1], [2 1]);)
1 + 20s
F (s) =
1 + 2s
Bode Diagram
60
20s+1
(2s+1)1
20
System: F
Real: 1.89
Imag: 2.69
0
Imaginary Axis
Magnitude (dB)
40
Nyquist Diagram
20
40
90
1
0
1
Phase (deg)
45
System: F
Real: 2.45
Imag: 3.3
2
0
3
45
90
3
10
10
10
Frequency (rad/sec)
10
5
2
10
4
Real Axis
Esercizio 11
10
(F = tf ([10 1], [10 1]);)
1 10s
F (s) =
1 + 10s
Bode Diagram
40
Nyquist Diagram
30
0.8
10
0
0.4
10
10s+1
20
(10s+1)1
30
40
360
270
Phase (deg)
System: F
Real: 0.623
Imag: 0.782
0.6
Imaginary Axis
Magnitude (dB)
20
0.2
0
0.2
0.4
180
90
0.6
0.8
90
3
10
10
10
Frequency (rad/sec)
10
10
1
1
System: F
Real: 0.525
Imag: 0.851
0.8
0.6
0.4
0.2
0
Real Axis
0.2
0.4
0.6
0.8
Esercizio 12
(F = tf ([4], [1 1 4]);)
4
n2
F (s) = 2
=
= 2
s + 2s + 4
s + 2n s + n2
Bode Diagram
20
1
s2
2
n
2
n s
+1
Nyquist Diagram
1.5
1
20
2
0.5
F
60
80
0
45
Phase (deg)
System: F
Real: 0.32
Imag: 0.589
(s /4+2/4s + 1)
40
Imaginary Axis
Magnitude (dB)
0.5
System: F
Real: 0.603
Imag: 0.982
90
1
135
180
1
10
10
1.5
1
10
10
0.8
0.6
0.4
0.2
Frequency (rad/sec)
Esercizio 13
Bode Diagram
0.8
0.8
0.6
20
System: F
Real: 13.7
Imag: 0.192
0.4
0
Imaginary Axis
Magnitude (dB)
0.6
s2
20
40
180
0.2
0
0.2
System: F
Real: 12.2
Imag: 0.182
90
Phase (deg)
0.4
Nyquist Diagram
1
s2/4+0.1/4s + 1
40
0.2
(F = tf ([1 0.1 4], [1]) tf ([1], [1 0 0]);)
s2 + 0.1s + 4
s2 /4 + 0.1/4s + 1
F (s) =
=
4
s2
s2
60
0
Real Axis
0.4
0
0.6
90
0.8
180
1
10
1
25
10
Frequency (rad/sec)
10
20
15
10
Real Axis
Esercizio 14
Bode Diagram
(F = tf ([1 1], [1 0 1]);)
s+1
s+1
F (s) = 2
=
s 1
(s + 1)(s(1) + 1)
40
Nyquist Diagram
30
0.8
Magnitude (dB)
20
10
System: F
Real: 0.179
Imag: 0.383
0.6
0
0.4
10
Imaginary Axis
20
30
40
90
0.2
0
0.2
Phase (deg)
45
s+ 1
0.4
System: F
Real: 0.166
Imag: 0.372
(s+1)1
(s(1)+1)1
0.6
45
0.8
90
2
10
10
10
Frequency (rad/sec)
10
10
1
1
0.8
0.6
0.4
0.2
0
Real Axis
0.2
0.4
0.6
0.8
Esercizio 15
(F = tf ([1 100], [1 0 1]);)
s + 100
s0.01 + 1
F (s) = 2
= 100 2
s +1
s +0s+1
Bode Diagram
Magnitude (dB)
200
150
s0.01+ 1
100
(s + 1)
Nyquist Diagram
0.8
0.6
50
System: F
Real: 18.7
Imag: 0.47
System: F
Real: 103
Imag: 0.169
0.4
0
50
0.2
Imaginary Axis
100
150
200
180
0
0.2
Phase (deg)
0
0.4
180
0.6
360
0.8
System: F
Real: 112
Imag: 0.371
System: F
Real: 24.7
Imag: 0.553
540
1
10
10
10
10
Frequency (rad/sec)
10
20
10
20
40
60
Real Axis
80
Esercizio 16
100
120
(F = tf ([1 1], [1 0 1]);)
s(1) + 1
s1
= 2
F (s) = 2
s +1
s +0s+1
Bode Diagram
150
1.5
s(1) + 1
2
(s + 1)
50
0
0.5
50
100
360
0
System: F
Real: 0.533
Imag: 0.902
0.5
180
Phase (deg)
System: F
Real: 0.504
Imag: 0.87
System: F
Real: 1.5
Imag: 0.862
Imaginary Axis
Magnitude (dB)
100
Nyquist Diagram
180
1.5
System: F
Real: 1.63
Imag: 1.01
360
2
10
10
10
Frequency (rad/sec)
10
10
2.5
1.5
0.5
Real Axis
0.5
1.5

Esercizi BODE - Guida

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Esercizi di Controlli Automatici: Bode

I passi fondamentali possono essere riassunti come segue:

Esercizi di Controlli Automatici

(F = tf ([1 10], [1 0]);)

(F = tf ([1 10], [1 2]);)

(F = zpk([10], [0 0 2], 1);)

Esercizi di Controlli Automatici

(F = zpk([], [2], 1);)

(F = zpk([10], [0], 1);)

(F = zpk([2], [0.1 10 10], 1);)

Esercizi di Controlli Automatici

(F = tf ([2 1], [20 1]);)

(F = tf ([20 1], [2 1]);)

(F = tf ([10 1], [10 1]);)

Esercizi di Controlli Automatici

(F = tf ([1 0.1 4], [1]) tf ([1], [1 0 0]);)

(F = tf ([1 1], [1 0 1]);)

Esercizi di Controlli Automatici

(F = tf ([1 100], [1 0 1]);)

(F = tf ([1 1], [1 0 1]);)

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