Unit 2: Compensator Design
Unit 2: Compensator Design
Compensator Design
Prof.H.T.Patil
Lead Compensation
• Lead Compensation essentially yields an
appreciable improvement in transient
response and a small change in steady state
accuracy.
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• or
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Lead Compensation
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Bode Diagram
Pole-Zero Map 0
1
Magnitude (dB)
-5
-10
0.5
-15
Imaginary Axis
-20
0 60
Phase (deg)
-0.5 30
-1 0
-10 -8 -6 -4 -2 0 -2 -1 0 1 2 3
10 10 10 10 10 10
Real Axis Frequency (rad/sec)
Lead Compensation Techniques Based
on the Root-Locus Approach.
• The root-locus approach to design is very
powerful when the specifications are given
in terms of time-domain quantities, such as
:
– damping ratio
– undamped natural frequency
– desired dominant closed-loop poles
– maximum overshoot
– rise time
– settling time.
Constatnt Parameter Curves on
S-Plane
θ = cos −1 ζ
Lead Compensation Techniques Based
on the Root-Locus Approach.
Lead Compensation Techniques Based
on the Root-Locus Approach.
• The procedure for designing a lead
compensator by the root-locus method may
be stated as follows:
– Step-1: Analyze the given system via root
locus.
– Step-2: From the performance
specifications, determine the desired
location for the dominant closed-loop poles.
Step-3
• From the root-locus plot of the
uncompensated system (original system),
ascertain whether or not the gain
adjustment alone can yield the desired
closed loop poles.
10
G ( s) H ( s) =
s ( s + 1)
s = −1.5 ± j 2.5981
Step-2 (Example-1)
• Alternatively desired location of closed loop
poles can also be determined graphically
• Desired ωn= 3 rad/sec
• Desired damping ratio= 0.5
θ = cos −1 ζ
-2
θ d = −40.89°
-1
100.8o 120o
-2 -1
Step-3 (Exampl-1)
• Alternatively angle of deficiency can be
calculated as.
10
θ d = 180° + ∠
s ( s + 1) s = −1.5+ j 2.5981
Where s = −1.5 ± j 2.5981 are desired closed loop poles
40.89°
Step-5 (Example-1)
Solution-1
Step-6 (Example-1)Solution-1
• The Value of Kc can be
determined using
magnitude condition.
40.89°
Solution-1
Final Design Check
• The open loop transfer function of the
designed system then becomes
Final Design Check Solution-1
0.158 3.16 3
0.5
Imaginary Axis
Imaginary Axis
0 0
-5
-4 -3 -2 -1 0 1 -5
-4 -3 -2 -1 0 1
Real Axis
Real Axis
Solution-1
Final Design Check Solution-1
Step Response
1.4
Actual System
1.2 CompensatedSystem
0.8
Amplitude
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14
Time (sec)
Solution-1
Step-5 (Exampl-1) Solution-2
• Solution-2
-2
40.89°
-1
90o
49.2o
-3 -2 -1
Step-5 (Exampl-1) Solution-2
• Solution-2
-2
40.89°
-1
90o
49.2o
-3 -2 -1
Step-5 (Example-1)Solution-3
• If no other requirements are imposed on the system,
try to make the value of α as large as possible. A larger
value of α generally results in a larger value of Kv,
which is desirable.
-1
O
-3 -2 -1
Step-5 (Example-1)Solution-3
• Bisect the angle between the lines PA and PO, as shown
in following figure.
P
A
γ
γ -2
2 γ
2 -1
O
-3 -2 -1
Step-5 (Example-1)Solution-3
•• Draw
two lines PC and PD that make angles with the
the bisector PB.
θd
2
θd -1
2
O
-3 -2 -1
C
B
D
Step-5 (Example-1)Solution-3
• The lead compensator has zero at s=–1.9432 and pole
at s=–4.6458.
P
A
-2
θd
2 θd -1
2
O
-3 -2 -1
C
B
• Thus, Gc(s) can
D be given as
=
Step-5 (Example-1)Solution-3
•
=
• For this compensator value of is
• Also
Step-6 (Example-1) Solution-3
Step-6 (Example-1) Solution-3
• The Kc is calculated as
Desired Desired
Closed Loop Closed Loop
Pole Pole
Uncompensate Compensated
d System System
Final Design Check Solution-3
94
Final Design Check Solution-3
Step Response
1.4
Actual System
1.2 Solution-3
0.8
Amplitude
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14
Time (sec)
Final Design Check Solution-1
Solution-3
Step Response
1.4
Actual System
1.2 Solution-1
Solution-3
1
0.8
Amplitude
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14
Time (sec)
Mechanical Lead
Compensator
• Figure shows the mechanical lead
compensator.
• Equations are obtained as
• By defining
• We obtain
Exampl-2
• Design a mechanical lead compensator for
following system.
4
s ( s + 2)