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    Introduction To Scilab and Black-Nichols Charts

    Uploaded by

    Indra Wahyudin
    This document introduces Scilab and Black-Nichols charts. It provides examples of Scilab scripts that plot transfer functions on Black-Nichols charts, including a motor control system and a PID controller. The Black-Nichols chart allows analysis of closed loop behavior by plotting the open loop transfer function and superimposing the negative inverse describing function. Examples demonstrate plotting linear transfer functions and describing functions on the same chart to check for stability.

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    © All Rights Reserved
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    Introduction To Scilab and Black-Nichols Charts

    Uploaded by

    Indra Wahyudin
    9 views7 pages
    This document introduces Scilab and Black-Nichols charts. It provides examples of Scilab scripts that plot transfer functions on Black-Nichols charts, including a motor control system and a PID controller. The Black-Nichols chart allows analysis of closed loop behavior by plotting the open loop transfer function and superimposing the negative inverse describing function. Examples demonstrate plotting linear transfer functions and describing functions on the same chart to check for stability.

    Original Title

    Introduction to Scilab and Black-Nichols Charts

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    This document introduces Scilab and Black-Nichols charts. It provides examples of Scilab scripts that plot transfer functions on Black-Nichols charts, including a motor control system and a PID controller. The Black-Nichols chart allows analysis of closed loop behavior by plotting the open loop transfer function and superimposing the negative inverse describing function. Examples demonstrate plotting linear transfer functions and describing functions on the same chart to check for stability.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    9 views7 pages

    Introduction To Scilab and Black-Nichols Charts

    Uploaded by

    Indra Wahyudin
    This document introduces Scilab and Black-Nichols charts. It provides examples of Scilab scripts that plot transfer functions on Black-Nichols charts, including a motor control system and a PID controller. The Black-Nichols chart allows analysis of closed loop behavior by plotting the open loop transfer function and superimposing the negative inverse describing function. Examples demonstrate plotting linear transfer functions and describing functions on the same chart to check for stability.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 7

    Introduction to Scilab and Black-Nichols Charts

    Scilab is similar to MATLAB except it is free. The script files are *.sce instead of M
    files. We will make use of Scilab to demonstrate the deadband describing function. An
    example of the script file is:

    // Motor control example with hyst.


    // Black-Nichols plot
    // 9 October, 2007
    // Analysis of Nonlinear Control Systems Graham McRuer p. 202, 203

    clear
    close

    k=.25;
    s=poly(0,'s');
    h=syslin('c',k/(s*(10*s+1)));

    // freq range to plot


    fmin=0.003;
    fmax=0.02;

    black(h, fmin, fmax)


    xgrid
    title('Graham example with hyst.')

    In this example we plotted a Black-Nichols chart for the linear transfer function h. This is
    shown in dark line. The dotted line is the deadband (hyst.) inverse negative describing
    function, -1/N. The equation is not shown for this function, this is your pre lab homework
    assignment.
    In the example we show the motor transfer function with two different gains, k, to show
    that in some cases, system gain can prevent a limit cycle or unstable control. The lower
    gain does not intersect the deadband –1/N so the system is stable.
    Here is an example of a PID controller:

    // PID controller displayed on a Black-Nichols chart


    clear
    close

    // get the transfer function


    s=poly(0,'s');
    h=syslin('c',((20*s+1.0)*(5*s+1))/(20*s*(.5*s+1)));

    // freq range to plot


    fmin=0.0005;
    fmax=0.1;

    black(h, fmin, fmax)


    xgrid

    title('PID Controller')

    // Bode plot for the same transfer function


    // bode(h, fmin, fmax)
    The Bode Plot for the PID controller is
    Black-Nichols Chart

    The Black-Nichols chart allows us to determine closed loop behavior by analyzing the
    open loop transfer function. The Black-Nichols plot is a magnitude, phase angle plot of
    the transfer function at different frequencies. We can superimpose the negative inverse
    DF on the linear Laplace transform plot, to check for stability.

    Here is a test plot that demonstrates how a Laplace transform can be plotted on the same
    scale as a linear plot. This shows that you can plot the negative inverse describing
    function, –1/N, on the same graph.

    // Plot using Scilab


    clear
    close

    k=.4;
    s=poly(0,'s');
    h=syslin('c',k/(s*(10*s+1)));

    // freq range to plot


    fmin=0.002;
    fmax=0.02;

    black(h, fmin, fmax)


    xgrid

    i=1;

    for b = -3.14159:0.01:-3.14159/2
    Np(i)=b*180/3.14159;
    ap(i)=i/5;
    i = i+1;
    end
    plot(Np,ap,'r--');
    xgrid
    The following open loop transfer function is plotted on a MATLAB and Scilab Black-
    Nichols Charts:
    4(1 + 0.5s )
    S (1 + 2s )(1 + .05s + (.125s ) 2 )

    Nichols Chart
    60

    40
    0 dB
    0.25 dB
    0.5 dB
    20 1 dB -1 dB
    3 dB
    Open-Loop Gain (dB)

    6 dB -3 dB
    0 -6 dB

    -12 dB

    -20 -20 dB

    -40 -40 dB

    -60 -60 dB

    -80 dB
    -80
    -360 -315 -270 -225 -180 -135 -90 -45 0
    Open-Loop Phase (deg)

    This is a Bode plot of the same function:


    Bode Diagram
    100

    50
    Magnitude (dB)

    -50

    -100
    -90

    -135
    Phase (deg)

    -180

    -225

    -270
    -2 -1 0 1 2
    10 10 10 10 10
    Frequency (rad/sec)

    The Black-Nichols plot is not referenced in process control literature as frequently as it


    used to be. The plot shows the closed loop frequency response (assuming unity feedback)
    on the same plot as the open loop transfer function. This reduces the calculations required
    to show the closed loop behavior. Having two sets of coordinates on the same graph
    accomplishes this. One set is the open loop gain and phase shown on the y and x axis
    respectively. The second set is the closed loop gain and phase. Phase is not shown on the
    Scilab plot, however gain is. The response curve minimum tangent line with the closed
    loop gain line will show the overshoot, in this example it is 2.3 dB. The closed loop Bode
    magnitude plot shows the 2.3 dB overshoot at 1.2 radians/sec.

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