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Control Engineering Lab II-Compensator 2

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29 views4 pages

Control Engineering Lab II-Compensator 2

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fh9ngbcjtp
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© © All Rights Reserved
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Control Engineering Lab II

Design a Lead compensator using root-locus


Dr S. N. Abdullah
Consider the following G(s) system, and design a lead control to improve the transient response
according to the following transfer function. The system is required to operate on half of its peak time
with an overshoot of 30%.

𝐾
𝐺(𝑠) =
𝑠(𝑠 + 5)(𝑠 + 11)
1. Plot the root-locus for the system, using the rlocus(G) command. Then locate the OS% of 30
percentage, then record the data (Gain, Pole, Damping ratio, Natural frequency).

- The step size can be increased using the commands:


>> rlocus(G,[0:0.1:2000])

Figure 1
2. Use the sisotool(G) command to start designing a lead controller. Set the controller gain to the value
that gives the 30% overshoot as in Figure 1, the measured Gain is 219. Then, open the step response
to extract the value of the peak time at 30% overshoot. TP = 0.913 s
0.913
3. The requirement said to be TP = = 0.4565 s , therefore, the dominant pole can be calculated
2
using the following equations.


d = (1)
TP

−n  jn 1 −  2 = −n  jd (2)

n can be calculated using:

d
n = (3)
tan ( cos −1 ( ) )

The dominant pole is – 2.637 + j 6.88,


4. Plot the dominant pole on the s-plane with the original poles of the system, then place the lead-zero on
the same location as the second pole (nearest to jw) of the system (Zc = 5). Whereas the lead pole on
the real-axis farther from the last pole of the system. The angle of the lead pole can be determined
using the following calculations.

5. To determine the location of the compensating pole (controller pole), use the following equation.

 poles − zeros = 180 (4)

𝜃4 = 29.27 °
- The pole location using trigonometry and abgebra:
6.88
Pc = + 2.6 = 14.65
tan(𝜃4 )
∴ The controller function is:
s+5
Kc
s + 14.65
6. Adding the estimated poles (real-poles) and zeros (real-zeros) to the controller:
7. Use root-locus editor arrow to move the poles to the damping ratio of 0.358, then you can estimate the
gain of the contrller as in preview section below. The gain is 1089.2

8. Check the step-response characteristics, does it satisfied.


9. Export the controller function. The check:

>> C

C=

1089.2 (s+5)
------------
(s+14.56)

Name: C
Continuous-time zero/pole/gain model.

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