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DIAGRAMME DE NYQUIST
Mohamed Bentounes, Ph.D.
_
+1
+1
_
=
+1
1+
2
T() =
_
1
1+
2
_
+
_
1+
2
_
= R
e
() +I
m
()
T
m
() = |T()| =
1
1+
2
() = arg T() = arctan()
si = 0 = R
e
() = +1 et I
m
() = 0
si = = R
e
() = 0
+
et I
m
() = 0
si = 1 = R
e
() =
1
2
et I
m
() =
1
2
(point interm ediaire)
I
m
[T]
R
e
[T]
= 0
=
()
T
m
(
si = = R
e
= 1 et I
m
= 0
si = 1 = R
e
=
1
2
et I
m
=
1
2
Stabilit e :
P = 1
N = 0
_
_
_
=
_
_
_
Z = 1
Instable
1.5 1 0.5 0 0.5 1
1
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
1
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s
w=0 w=Inf
1
Im
Re
1
s/s1
Syst ` emes Asservis, 2011 p. 4/13
Diagramme de Nyquist - Exemple 2
Exemple 2 : T(s) =
s + 1
s
2
= T() =
+ 1
2
=
_
1
2
_
+
_
_
si = 0 =R
e
= et I
m
=
si = =R
e
= 0
et I
m
= 0
Stabilit e :
P = 0
N = 0
_
_
_
=
_
_
_
Z = 0
Stable
2.5 2 1.5 1 0.5 0 0.5 1 1.5
1.5
1
0.5
0
0.5
1
1.5
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s
w=0
w=Inf
1
Re
s+1/s
2
Im
Syst ` emes Asservis, 2011 p. 5/13
Diagramme de Nyquist - Exemple 3
Exemple 3 : T(s) =
1
s(s + 1)
2
= T() =
1
(2
2
) +(
3
)
T() =
_
2
[2]
2
+ [1
2
]
2
_
+
_
_
_
1
[2]
2
+ [1
2
]
2
_
_
si = 0 = R
e
= 2 et I
m
=
si = = R
e
= 0
et I
m
= 0
+
I
m
= 0 = = 1 = R
e
=
1
2
Stabilit e :
P = 0
N = 0
_
_
_
=
_
_
_
Z = 0
Stable
2.5 2 1.5 1 0.5 0 0.5 1 1.5
1.5
1
0.5
0
0.5
1
1.5
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s
w=0
w=Inf
Im
1
Re
1/s(s+1)
2
Syst ` emes Asservis, 2011 p. 6/13
Diagramme de Nyquist - Exemple 4
Exemple 4 : T(s) =
s + 1
s(s 1)
=
T() =
+ 1
(1 +)
=
_
(1 +)
1 +
2
_
+
_
1
2
+
3
_
si = 0 =R
e
= (1 +) et I
m
= +
si = =R
e
= 0
et I
m
= 0
I
m
= 0 = =
1
= R
e
=
Stabilit e :
P = 1
N = 1
_
_
_
=
_
_
_
Z = 2
Instable
Stabilit e :
P = 1
N = 1
_
_
_
=
_
_
_
Z = 0
Stable
2 1.5 1 0.5 0 0.5 1
1
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
1
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s
w=0
w=Inf
1
Im
Re
(s+1)/s(s1)
Syst ` emes Asservis, 2011 p. 7/13
Diagramme de Nyquist - Exemple 5
Exemple 5 :
T(s) =
s 20
s(s + 1)
= T() =
20
(1 +)
T() =
_
21
1 +
2
_
+
_
20
2
+
3
_
si = 0 = R
e
= 21 et I
m
= +
si = = R
e
= 0
+
et I
m
= 0
I
m
= 0 = =
20 = 4.47 = R
e
= 1
Stabilit e :
P = 0
N = 1
_
_
_
=
_
_
_
Z = 1
Instable
1 0.5 0 0.5 1 1.5
0.2
0.15
0.1
0.05
0
0.05
0.1
0.15
0.2
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s
Im
Re
w=0
w=Inf
1
(s20)/s(s+1)
1
5 0 5 10 15 20 25
400
300
200
100
0
100
200
300
400
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s
Im
Re
w=0
w=Inf
1
(s20)/s(s+1)
21
Syst ` emes Asservis, 2011 p. 8/13
Critre de stabilit de Nyquist
I
m
R
e
1
1
B
Syst ` emes Asservis, 2011 p. 11/13
Nyquist - Performances
Performances des systmes - Exemple de calcul
T(s) = K
1
s(3s + 1)(s + 1)
= K
1
3s
3
+ 4s
2
+s
T() =
_
4K
(1 3
2
)
2
+ 16
2
_
+
_
K(1 3
2
)
(1 3
2
)
2
+ 16
3
_
I
m
() = 0 = =
1
3
=R
e
() =
3
4
K
si K = 1 =R
e
=
3
4
= la marge de gain est MG =
1
|R
e
|
=
4
3
= 1.33
Pour calculer la marge de phase, il faut que
|T()| = 1 =
1
_
1 +
2
_
1 + 9
2
= 1 = = 0.4980.
La phase est : () = arctan
_
0
_
arctan
_
1
_
arctan
_
3
1
_
() = 90
o
26.473
o
56.2038
o
= 172.8
o
La marge de phase est: MP = 180 | 172.8| = 7.32
Syst ` emes Asservis, 2011 p. 12/13
Nyquist - Performances - Exemple
Diagramme de Nyquist - Exemple de calcul
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s
2.5 2 1.5 1 0.5 0 0.5 1
0.5
0.4
0.3
0.2
0.1
0
0.1
0.2
0.3
0.4
0.5
System: sys1
Gain Margin (dB): 2.5
At frequency (rad/sec): 0.577
Closed Loop Stable? Yes
System: sys1
Phase Margin (deg): 7.33
Delay Margin (sec): 0.257
At frequency (rad/sec): 0.498
Closed Loop Stable? Yes
Syst ` emes Asservis, 2011 p. 13/13