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Frequency Response

Frequency response analysis considers how a process responds to sinusoidal inputs of varying frequencies. It is important for understanding how variability propagates through a process and for control terminology. Key components are the amplitude ratio (Ar) and phase shift (φ) between input and output signals. These are commonly presented on a Bode plot, with Ar and φ graphed versus frequency. While useful analytically, frequency response is not typically used for industrial controller tuning, which focuses on gain and phase margins to ensure stability.

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Govind Kumar
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89 views30 pages

Frequency Response

Frequency response analysis considers how a process responds to sinusoidal inputs of varying frequencies. It is important for understanding how variability propagates through a process and for control terminology. Key components are the amplitude ratio (Ar) and phase shift (φ) between input and output signals. These are commonly presented on a Bode plot, with Ar and φ graphed versus frequency. While useful analytically, frequency response is not typically used for industrial controller tuning, which focuses on gain and phase margins to ensure stability.

Uploaded by

Govind Kumar
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 30

Dr.

Jobrun Nandong
Department of Chemical Engineering
1
Frequency Response Analysis
Frequency Response Analysis
2
Is the response of a process to a sinusoidal input.
Considers the effect of the time scale of the input.
Important for understanding the propagation of
variability through a process.
Important for terminology of the process control field.
But it is NOT normally used for tuning or design of
industrial controllers.
Key Components of Frequency Response
Analysis
Time
a
c
a
y
y
s
c

tp
3
360
2

= =

p
c
y
r
t
a
a
A
Effect of Frequency on A
r
and
Time
c
y
s

tp
4
Time
c

tp
Bode Plot: A Convenient Means of Presenting
A
r
and versus
-360
-270
-180
-90
0
0.01 0.1 1 10 100

5
0.01
0.1
1
10
0.01 0.1 1 10 100

A
r
Ways to Generate Bode Plot
6
Direct excitation of process.
Combine transfer function of the process with
sinusoidal input.
Substitute s=i into G
p
(s) and convert into real and
imaginary components which yield A
r
() and ().
Apply a pulse test.
Developing a Bode Plot from the
Transfer Function
7
( )
(

=
+ =
+ =

) (
) (
tan ) (
) ( ) ( ) (
) ( ) (
1
2 2




R
I
I R A
I i R i G
r
p
Derivation of the Bode Plot for a First
Order Process
8
) ( tan ) (
1
1
) (
1 1
) (
ation rationaliz After
1
) (
1
) (
1
2 2
2 2
2 2 2 2
2 2 2 2
p
p
p
p
p p p
r
p
p p
p
p
p
p
p
p
p
p
p
K
K K
A
K
i
K
i G
i
K
i G
s
K
s G



=
+
=
+
+
=
+

+
=
+
=
+
=

Properties of Bode Plots


9
) ( ) ( ) ( ) ( ) (
) ( ln ) ( ln ) ( ln ) ( ln )] ( ln[
or
) ( ) (
) ( ) (
) ( ) (
) ( ) (
) ( : Consider


i G i G i G i G
i G i G i G i G A
s G s G
s G s G
A
s G s G
s G s G
s G
d c b a
d c b a r
d c
b a
r
d c
b a
p
+ =
+ =
=
=
Bode Plot of Complex Transfer
Functions
10
Break transfer function into a product of simple
transfer functions.
Identify A
r
( ) and () () () () of each simple transfer
function from Table 8.1.
Combine to get A
r
() and () for complex transfer
function according to properties.
Plot results as a function of .
Example of a Bode Plot of a Complex
Transfer Function
11
[ ]
( ) ( )
(
(

=
+
=
(
(

+ +
= =
(

+
+ +
=

2 2
1
2
2
2 2
2 2
2 2
1
2
tan
2 1
1 2
2
360
1
1
1
1 2
) (
p
p
p p
p
r
p p
p
r
s
I
c
p p
s
p
p
K
A
s s
K
A e
s
K
s s
e K
s G

Example Continued
12
( ) ( )
(


+
(
(

+
|

\
|
=
+
+
=
|
|

\
|

= + =
(

|
|

\
|
+

I p
p
I
p p
c p
r
I I
c r
I
c
K K
A
K A
s
K


1
tan
1
2
tan
2
360
1
1
2 1
: process overall For
1
tan
1
1
1
1
1
2 2
1
2 2
2
2
2 2
1
2 2
13
Bode Stability Criterion
14
Y
sp
(s)
Y(s)
G
p
(s)
Y
s
(s)
G
c
(s) G
a
(s)
-
+
G
s
(s)
Y
sp
(s)
Y(s)
G
p
(s)
Y
s
(s)
G
c
(s) G
a
(s)
-
+
G
s
(s)
Bode Stability Criterion
15
A system is stable if A
r
is less than 1.0 at the critical
frequency (i.e., that corresponds to = -180)
Closed loop stability of a system can be analyzed by
applying the Bode Stability Criterion to the product
of the transfer functions of the controller and the
process, i.e., G
c
(s)G
p
(s).
Gain Margin
16
0.01
0.1
1
10
0.01 0.1 1 10 100

A
r
M
-360
-270
-180
-90
0
0.01 0.1 1 10 100


c
Gain Margin
17
Gain Margin = 1/A
r
*
Where A
r
* is the amplitude ratio at the critical
frequency.
Controllers are typically designed with gain margins in
the range of 1.4 to 1.8 which implies that A
r
at the
critical frequency varies between 0.7 and 0.55,
respectively.
Phase Margin
18
0.0001
0.001
0.01
0.1
1
10
0.01 0.1 1 10 100

A
r

co
-180
-135
-90
-45
0
0.01 0.1 1 10 100

PM
Phase Margin
19
PM = ( (( ( 180) 180) 180) 180)
Where * is at the crossover frequency.
Controllers are typically designed with a PM between
30 to 45.
Tuning a Control from the Gain Margin
20
12 . 1
2
1 9 A
, A for equation the g Rearrangin
time unit per radians 218 . 1 error, and trail By
9 . 85 ) 3 ( tan 180
180 that such determine First, . and
A determine can one 8.1, Table From : Solution
). 5 . 1 , 3 , 2 ( process
FOPDT a for 1.7 equal margin Gain : Problem
2 *
r
r
1
r
=
+
=
=
=
=
= = =




c
p p p
K
K
Tuning a Control from the Phase Margin
21
Phase margin determines the phase angle at the
crossover frequency.
The amplitude ratio at the crossover frequency is
one; therefore, the controller gain can be calculated
from the equation for the amplitude ratio.
Example of a Pulse Test
22
y
s
c
Time
Developing a Process Transfer Function
from a Pulse Test
23
(

=
+ =
+

=
+
+
=





) (
) (
tan ) (
) ( ) ( ) (
) ( ) (
) ( ) ( ) ( ) (
) (
) ( ) (
) ( ) ( ) ( ) (
) (
sin ) ( ) ( cos ) ( ) (
sin ) ( ) ( cos ) ( ) (
1
2 2
2 2
2 2
0 0
0 0



R
I
I R A
D C
C B D A
I
D C
D B C A
R
dt t t c D dt t t c C
dt t t y B dt t t y A
r
s s
Limitations of Transfer Functions Developed
from Pulse Tests
24
They require an open loop time constant to
complete.
Disturbances can corrupt the results.
Bode plots developed from pulse tests tend to be noisy
near the crossover frequency which affects GM
and PMcalculations.
Nyquist Diagram
25
-1.5
1.5
-1.5 1.5 Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s

=0
A
r

=1.3

Closed Loop Frequency Response
26
Y
sp
(s)
Y(s)
G
p
(s)
Y
s
(s)
D(s)
+
+
G
c
(s) G
a
(s)
-
+
G
s
(s)
G
d
(s)
Example of a Closed Loop Bode Plot
27
0
0.4
0.8
1.2
0.01 0.1 1 10 100

A
r

pf
Analysis of Closed Loop Bode Plot
28
At low frequencies, the controller has time to reject
the disturbances, i.e., A
r
is small.
At high frequencies, the process filters (averages) out
the variations and A
r
is small.
At intermediate frequencies, the controlled system is
most sensitive to disturbances.
Peak Frequency of a Controller
29
The peak frequency indicates the frequency for which
a controller is most sensitive.
Occurring at resonant frequency I.e. frequency of
the process comparable to that of the disturbance.
Overview
30
Understanding how the frequency of inputs affects
control performance and control loop stability is
important.
The analytical aspects of frequency response analysis
are rarely used industrially.
Controllers are typically designed with gain margins in
the range of 1.4 to 1.8 or with PM between 30 to 45.

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