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B A FT G2 (s), com |G2 (s)| = |G1 (s)| e com todos os zeros de G1 (s)
refletidos de forma simétrica com o eixo imaginário no semi-plano direito, é
chamada de FT de fase não-mı́nima
pag.2 Controle de Sistemas Lineares – Aula 13
c Reinaldo M. Palhares
Sistemas de Fase Mı́nima
1 + jωT −1 + jωT
G1 (jω) = , G2 (jω) = , 0 < T1 < T
1 + jωT1 1 + jωT1
25
20
Magnitude (dB)
15
10
0
180
G2
135
Phase (deg)
90
45
G1
0
−2 −1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
∠G(jω) = −ωT
e−jωL
G(jω) =
1 + jωτ
B A magnitude é
−jωL 1
20 log |G(jω)| = 20 log e +20 log
| {z } 1 + jωτ
0
B O ângulo de fase é
∠G(jω) = ∠e−jωL
| {z } − tan −1
ωτ
−ωL
DIAGRAMA DE BODE
0
g
−5 h
Magnitude (dB)
−10
−15
−20
−25
−30
0
−360
Fase (deg)
−720
−1080
−1440
−1 0 1
10 10 10
Frequencia (rad/sec)
B Considera a FT
5(1 + j0.1ω)
G(jω) = 2
jω(1 + j0.5ω) 1 + j0.6 50ω
+ jω
50
Um zero em ω = 10rad/s
14
10
2
20 log uGu, dB
4
0
3
5
210
220
0.1 0.2 1 2 10 50 100
v
MASTER 105
Figure 8.19 Magnitude asymptotes of poles and zeros used in the example
MASTER 106
20
220 dB/dec
10
Copyright © 1998 by Addison Wesley Longman. All rights reserved.
0
240 dB/dec
210
dB Exact curve
220
Approximate curve
230
220 dB/dec
240
260 dB/dec
250
0.1 1 v 10 100
0
Complex poles
230
Pole at v 5 2
260
290
Pole at origin
2120
2150
2180
Approximate f(v)
2210
2240
2270
0.1 0.2 1.0 2.0 v 10 60 100
MASTER 107
Figure 8.21 Phase characteristic
MASTER 108
Max. mag 5 33.96906 dB
Max. phase 5 292.35844 deg Min. mag 5 2112.0231 dB
The gain is 2500 Min. phase 5 2268.7353 deg
Copyright © 1998 by Addison Wesley Longman. All rights reserved.
dB
and 0 dB
phase Mag:
Phase:
2180 deg
Potencialidades?
FT?
s
2 2(0.16)
2450
+ 2450
s+1
T (s) = s
s
300
+ 1 20000
+1
1 v 2n
R(s) Y(s)
s (s 1 2zv n )
2
20 log Mpv
0
20 log u T u, dB
23
v
0 vr vB
1.6
1.5
1.4
1.3
v B 1.2
v n 1.1
Linear approximation
1 vB
< 21.19z 1 1.85
vn
0.9
0.8
0.7
0.6
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
z