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Unit 2: Compensator Design

The document describes the process of designing a lead compensator for a position control system using root locus analysis. The key steps are: 1) Analyze the uncompensated system using a root locus plot to determine the existing closed-loop pole locations. 2) Specify the desired closed-loop pole locations based on performance criteria. 3) Use the root locus plot to determine if gain adjustment alone can achieve the desired poles, and if not, calculate the required lead angle. 4) Design a lead compensator transfer function that provides the necessary lead angle to place the closed-loop poles at the desired locations.

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0% found this document useful (0 votes)
187 views49 pages

Unit 2: Compensator Design

The document describes the process of designing a lead compensator for a position control system using root locus analysis. The key steps are: 1) Analyze the uncompensated system using a root locus plot to determine the existing closed-loop pole locations. 2) Specify the desired closed-loop pole locations based on performance criteria. 3) Use the root locus plot to determine if gain adjustment alone can achieve the desired poles, and if not, calculate the required lead angle. 4) Design a lead compensator transfer function that provides the necessary lead angle to place the closed-loop poles at the desired locations.

Uploaded by

harish9
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Unit­2

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.

• There are many ways to realize lead


compensators and lag compensators: electronic
networks using operational amplifiers, electrical RC
networks, and mechanical spring-
dashpot systems.
Lead Compensation
• Generally Lead compensators are represented
by following transfer function

 
, ()
• or

 
, ()
Lead Compensation

 
, ()

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.

• If not, calculate the angle deficiency.

• This angle must be contributed by the lead


compensator if the new root locus is to
pass through the desired locations for the
dominant closed-loop poles.
Step-4
• Assume the Lead Compensator to be:

• Where α and T are determined from the


angle deficiency.
• Kc is determined from the requirement
of the open-loop gain.
Step-5
• If static error constants are not specified, determine
the location of the pole and zero of the lead
compensator so that the lead compensator will
contribute the necessary angle.

• 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.

• Larger value of α will produce a larger value of Kv and


in most cases, the larger the Kv is, the better the
system performance.
Step-6
• Determine the value of Kc of the lead
compensator from the magnitude
condition.
Final Design check
• Once a compensator has been designed,
check to see whether all performance
specifications have been met.

• If the compensated system does not meet


the performance specifications, then repeat
the design procedure by adjusting the
compensator pole and zero until all such
specifications are met.
Final Design check

• If the selected dominant closed-loop


poles are not really dominant, or if
the selected dominant closed-loop
poles do not yield the desired result,
it will be necessary to modify the
location of the pair of such selected
dominant closed-loop poles.
Example-1
• Consider the position control system shown in
following figure.

• It is desired to design an Electronic lead


compensator Gc(s) so that the dominant closed
poles have the damping ratio 0.5 and
undamped natural frequency 3 rad/sec.
Step-1 (Example-1)
• Draw the root Locus plot of the given system.

10
G ( s) H ( s) =
s ( s + 1)

• The closed loop transfer


function of the given system
is:
C (s) 10
= 2
R ( s ) s + s + 10

• The closed loop poles are


s = −0.5 ± j 3.1225
Step-1 (Example-1)
• Determine the characteristics of given system
using root loci.
C (s) 10
= 2
R ( s ) s + s + 10

• The damping ratio of the closed-


loop poles is 0.158.

• The undamped natural frequency


of the closed-loop poles is 3.1623
rad/sec.

• Because the damping ratio is


small, this system will have a
large overshoot in the step
response and is not desirable.
Step-2 (Example-1)
• From the performance specifications,
determine the desired location for the
dominant closed-loop poles.

• Desired performance Specifications are:


• It is desired to have damping ratio 0.5 and undamped
natural frequency 3 rad/sec.
C (s) ωn2 9
= 2 = 2
R( s ) s + 2ζω n s + ωn s + 3s + 9
2

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

θ = cos −1 (0.5) = 60°


Step-3 (Exampl-1)
• From the root-locus plot of the uncompensated
system ascertain whether or not the gain
adjustment alone can yield the desired closed
loop poles.
Desired
Closed Loop
Pole
Step-3 (Exampl-1)
• If not, calculate the angle deficiency.
• To calculate the angle of deficiency apply Angle
Condition at desired closed loop pole.

Desired Closed Loop Pole


s = −1.5 ± j 2.5981
θ d = 180° − 120° − 100.8°

-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

θ d = 180° + ∠10 − ∠s s = −1.5+ j 2.5981 − ∠( s + 1) s = −1.5+ j 2.5981

θ d = 180° − 120° − 100.8°


θ d = −40.89°
Step-4 (Exampl-1)
• This angle must be contributed by the lead
compensator if the new root locus is to pass
through the desired locations for the
dominant closed-loop poles.

• Note that the solution to such a problem is


not unique. There are infinitely many
solutions.
Step-5 (Exampl-1)Solution-1
• Solution-1

– If we choose the zero of


the lead compensator at
s = -1 so that it will
cancel the plant pole at s
=-1, then the 40.89°
compensator pole must
be located at s =-3.
Step-5 (Example-1)
Solution-1

• If static error constants are not specified,


determine the location of the pole and zero of the
lead compensator so that the lead compensator
will contribute the necessary angle.

40.89°
Step-5 (Example-1)
Solution-1

• The pole and zero of compensator are determined


as
 
=

 • The Value of can be


determined as 40.89°

 
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
 

• The closed loop transfer function of


compensated system becomes.

 
Final Design Check Solution-1

Root Locus Root Locus


5 5

0.158 3.16 3
0.5
Imaginary Axis

Imaginary Axis
0 0

0.158 3.16 0.5


3

-5
-4 -3 -2 -1 0 1 -5
-4 -3 -2 -1 0 1
Real Axis
Real Axis

   
Solution-1

Final Design Check


• The static velocity error constant for original
system is obtained as follows.
 

• The steady state error is then calculated as

 
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

Final Design Check


• The static velocity error constant for the
compensated system can be calculated as
 

• The steady state error is then calculated as

 
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.

• Procedure to obtain a largest possible value for α.


– First, draw a horizontal line passing through point P, the desired
location for one of the dominant closed-loop poles. This is shown
as line PA in following figure.
– Draw also a line connecting point P and the origin O.
P
A
-2

-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.

• The intersections of PC and PD with the negative real


axis give the necessary locations for the pole and zero
of the lead network.
P
A
-2

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

• Determine the value of Kc of the lead


compensator from the magnitude condition.

 
Step-6 (Example-1) Solution-3

• The Kc is calculated as

• Hence, the lead compensator Gc(s) just


designed is given by
 
Solution-3
Final Design Check

Desired Desired
Closed Loop Closed Loop
Pole Pole

Uncompensate Compensated
d System System
Final Design Check Solution-3

• It is worthwhile to check the static velocity


error constant Kv for the system just
designed.
 

• Steady state error is

 
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

• Taking Laplace transform of these


equations assuming zero initial
conditions and eliminating Y(s), we
obtain
Mechanical Lead
Compensator

• By defining

• We obtain
Exampl-2
• Design a mechanical lead compensator for
following system.
4
s ( s + 2)

• The damping ratio of closed loop poles is 0.5


and natural undamped frequency 2 rad/sec. It
is desired to modify the closed loop poles so
that natural undamped frequency becomes 4
rad/sec without changing the damping ratio.
Example-3
• Consider the model of space vehicle control
system depicted in following figure.

• Design an Electrical lead compensator such


that the damping ratio and natural undamped
frequency of dominant closed loop poles are
0.5 and 2 rad/sec.

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