Scribd
Upload
10 views

CSD Lab-Exp 5

The document describes designing a lag-lead compensator for a unity feedback control system to meet performance specifications of 13.5% overshoot, 2 second peak time and Kv of 12. The design process involves determining the required bandwidth, drawing Bode plots, selecting phase compensation frequencies, and calculating compensator transfer functions to yield the desired closed loop response.

Uploaded by

sarveshchude
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
10 views

CSD Lab-Exp 5

The document describes designing a lag-lead compensator for a unity feedback control system to meet performance specifications of 13.5% overshoot, 2 second peak time and Kv of 12. The design process involves determining the required bandwidth, drawing Bode plots, selecting phase compensation frequencies, and calculating compensator transfer functions to yield the desired closed loop response.

Uploaded by

sarveshchude
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 3

Experiment No 05

Aim: To design a lag-lead compensator for the given unity feedback system to meet desired
performance specifications

Problem statement: A unity feedback control system has open loop transfer function
K
G ( s )=
s (s+1)(s+ 4)
Design a passive lag-lead compensator using Bode diagram to yield 13.5 % overshoot, peak time
of 2 sec and Kv = 12.

Design steps:
1. Determine bandwidth required for peak time of 2 sec. using following equation.

[BW = 2.29 rad/sec]


2. Determine K for Kv = 12. [K = 48]
3. Draw magnitude and phase plot for the uncompensated system with K = 48.
4. Select new phase margin frequency near BW. [Select ω = 1.8 rad/s]
5. At ω = 1.8 rad/s, phase of uncompensated system is -1760. Hence phase lead required
from lead section is [55-4+5] = 560. Determine α. Select β = 1/α.
6. Select upper corner frequency of lag section = 1/T = ω/10. Hence lower corner frequency
i.e 1/βT can be obtained and transfer function for lag section can be obtained.
7. Draw Bode plot for the lag compensated system. At ω = 1.8 rad/s, phase of lag
compensated system is -1800.
8. Use ωm = 1.8 rad/s and α determined in step 5 to obtain transfer function of lead
compensator.
9. Write transfer function of compensators and compensated system
10. Check performance specifications of compensated system.

MATLAB Program:
pos=input ('Type %0S ') ;
Tp=input ('Type peak time ') ;
Kv=input ('Type value of Kv ')
numg=[1];
deng=poly ([0 -1 -4]) ;
G=tf(numg,deng);
s=tf ([1 0],1);
sG=s*G;
sG=minreal(sG);
K=dcgain(Kv/sG);
'G(s)'
G=tf(K*numg,deng);
G=zpk(G)
z=(-log(pos/100))/(sqrt(pi^2+log(pos/100)^2));
Pmreq=atan(2*z/(sqrt (-2*z^2+ sqrt(1+4*z^4))))*(180/pi);
wn=pi/(Tp*sqrt(1-z^2));
wBW=wn*sqrt ( (1-2*z^2)+sqrt(4*z^4-4*z^2+2) ) ;
wpm=0.8*wBW;
[M, P]=bode (G,wpm) ;
Pmreqc=Pmreq-(180+P)+5;
beta=(1-sin(Pmreqc*pi/180))/(1+sin(Pmreqc*pi/180));
zclag=wpm/10;
pclag=zclag*beta;
Kclag=beta;
'Lag compensator, Glag(s)'
Glag=tf (Kclag*[1 zclag],[1 pclag]) ;
Glag=zpk(Glag)
zclead=wpm*sqrt(beta) ;
pclead=zclead/beta;
Kclead=1/beta;
'Lead compensator'
Glead=tf (Kclead*[1 zclead],[1 pclead]) ;
Glead=zpk(Glead)
'Lag-Lead Compensated Ge (s)'
Ge=G*Glag*Glead
sGe=s*Ge;
sGe=minreal(sGe);
Kv=dcgain(sGe)
T=feedback(Ge, 1) ;
step(T)
title ('Lag-Lead-Compensated Step Response')
pause

Result:
Type %0S 13.5
Type peak time 2
Type value of Kv 12

G(s) = 48 / s (s+4) (s+1)

Lag compensator, Glag(s) = 0.095372 (s+0.183) / (s+0.01745)

Lead compensator

Glead(s) = 10.485 (s+0.5651) / (s+5.925)

Lag-Lead Compensated Ge (s) = 48 (s+0.183) (s+0.5651) / s (s+4) (s+5.925) (s+1) (s+0.01745)

Kv = 12.0000
Lag-Lead-Compensated Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14 16 18
Time (seconds)

Time response of the compensated system

You might also like