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Design

This document discusses control system design and different types of compensators. It introduces lead, lag, and lead-lag compensators. A lead compensator provides phase lead between the output and input and increases system bandwidth and gain at high frequencies. A lag compensator causes the output to lag the input. Both use RC networks to introduce poles and zeros, with the lead having a zero dominate pole to provide phase lead and the lag having the pole dominate to produce phase lag. The goal of compensation is to achieve desired performance and stability in control systems.

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Tushar Gupta
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© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
22 views

Design

This document discusses control system design and different types of compensators. It introduces lead, lag, and lead-lag compensators. A lead compensator provides phase lead between the output and input and increases system bandwidth and gain at high frequencies. A lag compensator causes the output to lag the input. Both use RC networks to introduce poles and zeros, with the lead having a zero dominate pole to provide phase lead and the lag having the pole dominate to produce phase lag. The goal of compensation is to achieve desired performance and stability in control systems.

Uploaded by

Tushar Gupta
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Introduction to Design

A good control system should:


operate with least possible error exhibits suitable damping

less sensitive to small changes in parameters be able to mitigate the effect of undesirable disturbances

Why Compensation?
To achieve the specified performance ( desired performance). To make the system stable if it is unstable.

What is a compensator?
It is an additional component or circuitry that is inserted in to a control system to compensate for a deficient performance.

Types of compensator :
Cascade
Feedback

Output or load
Input

Combined cascade and feedback

Typical compensator circuits:


Lead Compensator Lag compensator Lead-lag compensator

Lead network
C
R1

Vi

R2

Vo

Transfer function of lead network: Vo(s) G(s) = Vi(s)


=

R2 R1 + R2 1+CsR1

G(s) = 1+sT 1+sT

Where =R2/(R1+R2) and T= R1C


G(s) = s+1/T s+1/T = s+Zc s+ Pc

Where Zc =1/T and Pc =1/T

Pole Zero Plot :


j

X -1/T

. O -1/T

Zero Dominates

If s=j

G(j) =

1+ jT
1+ jT

= G(j) =-tan-1 (T) + tan-1 (T)

<1, So will be positive always

Hence output leads input: leading network

Let =tan T- T So = 1+ 2 T2

For to be maximum , tan i.e. should be maximum


d/d =0 tanmax= =1/T

1-
2

20 db/decade

db
0 90

0 db

45

=1/T

=1/T log

=1/T

Lead compensator provides:


Phase lead between output and input Fast transient response introducing

zero
Provides increased system bandwidth and gain at high frequency

Lag network
R1 Vi Transfer function of lag network: Vo(s) G(s) = Vi(s) R2 + 1/Cs = R2 + R1+ 1/Cs

R2 C

Vo

G(s) =

1+sT 1+sT

Where =(R1+R2)/ R2 and T=R2C


1 s+1/T G(s) = s+1/T

= 1

s+Zc s+ Pc

Where Zc = 1/T and Pc =1/ T

Pole Zero Plot :


j

. O -1/T

x -1/ T

Pole Dominates

If s=j

G(j) =

1+ j T
1+ j T

= G(j) =-tan-1 (T) + tan-1 (T)


>1, So will be negative always. Hence output lags input : lag network

Let =tan
So = T- T 1+ 2 2 T2

For to be maximum , tan i.e. should be maximum


d/d =0 tanmax= =1/T

1-
2

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