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1 - Compensator Design Procedure - Lead - Lag - With Examples

This document describes the process for designing lead and lag compensators to improve the transient response of a system while maintaining steady state performance. It discusses evaluating the uncompensated system's bode plot, determining the additional phase lead or lag needed, selecting compensator parameters to meet the specifications, and checking the compensated system's response. An example is provided for each type of compensator design. The key steps are determining the additional phase required, selecting compensator parameters like gain and pole locations, and verifying the compensated system meets specifications.

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Madhav S
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539 views12 pages

1 - Compensator Design Procedure - Lead - Lag - With Examples

This document describes the process for designing lead and lag compensators to improve the transient response of a system while maintaining steady state performance. It discusses evaluating the uncompensated system's bode plot, determining the additional phase lead or lag needed, selecting compensator parameters to meet the specifications, and checking the compensated system's response. An example is provided for each type of compensator design. The key steps are determining the additional phase required, selecting compensator parameters like gain and pole locations, and verifying the compensated system meets specifications.

Uploaded by

Madhav S
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Finding GM and PM from Bode plot

Lead compensator Design


Purpose: To improve the transient response characteristics without
degrading the steady state performance

Step 1: Evaluation of performance of the uncompensated system

The open loop gain of the system can be adjusted to suit the steady
state error requirement in the form of acceleration, velocity or position
error constant.

Unityfeedback
1 1
K p = lim G ( s )............and .......ess = lim =
s →0 s →0 1 + G ( s ) 1+ K p
1 1
K v = lim sG ( s )............and .......ess = lim =
s →0 s →0 s(1 + G ( s)) K v
1 1
K a = lim s 2G ( s )............and .......ess = lim =
s →0 s →0 s 2 (1 + G ( s )) K a
Let the given plant TF be
K
G( s) =
−−−−−−−−−

If kv is given, Obtain the value of K and rewrite the plant T.F .

Obtain its bode plot. Measure the gain cross over frequency and phase
margin.

The additional amount of phase lead required = specified Pm – phase


margin of the uncompensated system at gain cross over frequency
(ωg or ωcg) + ε
(usually the required phase angle is taken 3 to 5 degrees more than the
lead angle calculated)

Set the maximum phase lead of the compensator, φm as the additional


amount of phase lead required. Compute α of the compensator using:
1 − sin  m
=
1 + sin  m

Locate the frequency at which the uncompensated system has a gain of


−20 log(1/  )dB

Select this frequency as the new gain cross over frequency ωg’.
Measure the phase margin of the uncompensated system at ωg’, If the
difference in phase margins at ωg and ωcg is less than ε, proceed.
Otherwise choose a large value of ε and repeat.

Set ωm = ωg’ and compute τ using


1
m =
 such that the compensator TF is

1+ s
Gc ( s ) =
1 +  s
Example

A system has open loop TF


4
G(s) =
s (2s + 1)

It is desired to have the phase margin as 400. Design a lead


compensator to meet the above specification
Obtain the bode plot.

4
G ( j ) =
j (2 j + 1)
4
G ( j ) =
 1 + 4 2
Phaseangle = −90 − tan −1 (2 j )

Gm = Inf, Pm = 20.0405, ωcp= Inf, ωcg = 1.3707

The additional amount of phase lead required = specified Pm – phase


margin of the uncompensated system at gain cross over frequency (ωg
or ωgc ) + ε = 40 – 20+3=23
1 − sin  m 1 − sin 23
= = = 0.438
1 + sin  m 1 + sin 23

Gain of the uncompensated system at ωg’,

−20 log(1/ 0.438) = -3.585dB

ωg’= 1.7 rad/sec


1
m = =  g  = 1.7

τ = 0.88

Therefore the compensator TF is

1 +  s 1 + 0.886s
Gc ( s) = = =
1 +  s 1 + 0.385s

And its bode plot

The TF of the compensated system is


4 (1 + 0.8986s)
G1 ( s) =
s(2s + 1) (1 + 0.3943s)

Transfer function:

3.594 s + 4

--------------------------
0.7886 s^3 + 2.394 s^2 + s

Gmc = Inf, Pmc = 39.2764

ωcpc = Inf ωcgc = 1.7077

Lag compensator Design


Let the given plant TF be
K
G( s) =
−−−−−−−−−
• Specifications:

– steady-state error < x % for a step input or velocity error


constant kv.

– Phase margin ≥ pm°


1 1
K v = lim sG ( s)............and .......ess = lim =
s →0 s →0 s(1 + G( s)) K v

1 1
E (s) = R( s ) =
1 + kv G ( s ) s + skvG( s)

ess = Lim sE ( s )  x /100


s →0

Thus with the calculated K rewrite the plant T.F and Draw the bode
plot of the gain adjusted system

Measure the gain cross over frequency ωg, and the phase margin of the
uncompensated system.

The phase angle at the new cross over frequency = -180+specified


phase margin (PM)+ε

To realize the given phase margin the gain cross over frequency should
be moved to ωg’. Determine ωg’ as the frequency corresponding to the
above calculated phase angle.

Find the gain in dB (G dB), of the uncompensated system at ωg’. To


bring the magnitude curve down to zero dB, the lag compensator
should provide same amount of attenuation.

20 log β= G
Obtain β

Choose the upper corner frequency one octave to one decade below
ωg’. This gives parameter τ.

And the compensator TF as


1+ s
Gc ( s ) =
1 +  s ,

Check the phase lag of the compensator at ωg’. If it is less than ε,


proceed by checking the bode plot of the compensated system.
Otherwise choose a larger ε and repeat.
K
Example: A system has open loop TF G( s) =
s(1 + 0.1s)(0.2s + 1)

Design lag compensator to have the velocity error constant kv =30 and
Pm=400
sK K
K v = lim sG ( s) = = =K
s →0 s(1 + 0.1s)(0.2s + 1) s(1 + 0.1s)(0.2s + 1)

Transfer function:

30

----------------------

0.02 s^3 + 0.3 s^2 + s

gm = -6.02dB Pm = -17.2390 Wcg = 7.0711 Wcp = 9.7714

ωg’???

The phase angle at the new cross over frequency = -180+specified


phase margin (PM)+ε= -180 + 40 + 6 = - 134
Therefore ωg’=2.75 rad/sec

Gain of the uncompensated system at ωg’ is 19.3 dB

The lag compensator should have an attenuation of 19.3 dB at ωg’

20 log β= 19.3

β= 9.23

Placing the upper corner frequency, one decade below ωg’


1  g 2.75
= = = 0.275
We get  10 10
,

And τ = 3.6364 , βτ = 9.23*3.6364 =33.56


1 + 3.64s
Therefore Gc ( s) =
1 + 33.56s

Bode plot of compensator, phase at ωg’???

Phase at ωg’= 5.13 ,which is less than ε. Therefore proceeding,

The TF of the compensated system


30 (1 + 3.64s)
G( s) =
s(1 + 0.1s)(0.2s + 1) (1 + 33.56s)
And its bode plot
Pm = 40.6118,

Gm = 4.2704, Pm = 40.6118,

ωcp = 6.8062 ωcg = 2.7595

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