Page 96 - Mechatronics with Experiments

10 2
(for
Frequency (rad/s) pole/zero

s
10 0
second-order

10 –2
pole/zero,
40 20 0 –20 –40 180 90 0 –90 –180
Phase (deg)
Mag (dB)

10 2 10 2 10 2 first-order origin,
Frequency (rad/s) Frequency (rad/s) Frequency (rad/s) the

1/s (s/z1 + 1) ; z1 = 1. (s 2 + 2 psi w n s + w 2 )/w 2 ;w n =1, psi=0.25, 0.5, 0.75 n at
10 0 10 0 n 10 0 pole/zero

10 –2 10 –2 10 –2 gain,
40 20 0 –20 –40 180 90 0 –90 –180 40 20 0 –20 –40 180 90 0 –90 –180 40 20 0 –20 –40 180 90 0 –90 –180
functions:
Mag (dB)
Mag (dB)
Phase (deg)
Phase (deg)
Phase (deg)
Mag (dB)
10 2 10 2 10 2 transfer basic

Frequency (rad/s) w 2 /(s 2 + 2 psi w n s + w 2 );w n =1, psi= 0.25, 0.5, 0.75 Frequency (rad/s) of plots coefficients).

K o 1/(s/p1 + 1) ; p1= 1. n
10 0 10 0 Frequency (rad/s) 10 0 Bode

10 –2 10 –2 n 10 –2 2.30: damping
40 20 0 –20 M- –40 180 90 0 –90 –180 Phase (deg) 40 20 0 –20 Mag (dB) –40 180 90 0 –90 Phase (deg) –180 40 20 0 –20 Mag (dB) –40 180 90 0 –90 Phase (deg) –180 FIGURE different

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