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Lead Comp en Sat or

The document describes the design of a lead compensator for a unity feedback system to reduce its settling time by a factor of 2. It involves: 1) Analyzing the uncompensated system's root locus to determine its dominant poles. 2) Using the dominant poles to calculate the uncompensated system's settling time. 3) Designing the compensator to place the closed-loop system's dominant poles for the desired settling time and simulate both uncompensated and compensated step responses.

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62 views11 pages

Lead Comp en Sat or

The document describes the design of a lead compensator for a unity feedback system to reduce its settling time by a factor of 2. It involves: 1) Analyzing the uncompensated system's root locus to determine its dominant poles. 2) Using the dominant poles to calculate the uncompensated system's settling time. 3) Designing the compensator to place the closed-loop system's dominant poles for the desired settling time and simulate both uncompensated and compensated step responses.

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Oscar Chacon
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© Attribution Non-Commercial (BY-NC)
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Example 2:

Lead Compensator Design

A unit feedback system

Gain R(s ) +
_

Plant C (s ) G(s)

E (s )
K

with KG ( s ) =

K is operating with 30% overshoot ( = 0.358 ). s ( s + 4)( s + 6)

(a) Design a compensator that will reduce the settling time by a factor of 2. (b) Use control toolkit to simulate the uncompensated and compensated systems. Solution: (a) 1. Use program 1 to plot the root locus of the uncompensated system.
Program 1: /*************************** * File name: rl_uncomp.ch **************************/ #include <control.h> int main() { double k = 1; array double complex p[3] = {complex(0, 0), complex(-4, 0), complex(-6, 0)}; array double zeta[1] = {0.358}; array double omega[1] = {10}; CControl sys; CPlot plot; sys.model("zpk", NULL, p, k); sys.sgrid(1, zeta, omega); sys.rlocus(&plot, NULL, NULL); return 0; }

Output:

2. From the root locus, measure the real and imaginary parts of the dominant poles. The dominant poles are found to be 1.007 i 2.63 .

3. Use program 2 with one of the dominant poles to find the gain K and the third pole. The gain K and the third pole are found to be 63 and -7.987, respectively. Since the third pole is more than 5 times of the real part of the dominant poles, the second order approximation is valid.
Program 2: /**************************** * File name: rlf_uncomp.ch ***************************/ #include <control.h> int main() { // default system gain double dk = 1; // uncompensated system poles array double complex up[3] = {complex(0, 0), complex(-4, 0), complex(-6, 0)}; // dominant pole selected from the root locus array double complex dp[1] = {complex(-1.007, 2.63)}; // closed-loop poles when one of the dominant poles is selected array double complex p[3]; // system gain when one of the dominant poles is selected array double k[1]; CControl sys; sys.model("zpk", NULL, up, dk); sys.rlocfind(k, p, dp); printf("k: %f\n", k); printf("poles: %f\n", p); return 0; } Output: k: 63.321714 poles: complex(-7.987851,0.000000) complex(-1.006075,2.629651) complex(-1.006075,-2.629651)

4. Find the settling time of the uncompensated system. Ts = 4

4 = 3.972 sec. 1.007

5. Find the settling time, dominant poles of the compensated system.


Ts = Ts 3.972 = = 1.986 sec. 2 2

The real part of the dominant poles is =

4 = 2.014 . Ts
tan sin
1

The imaginary part of the dominant poles is d =

2.014 = 5.252 . tan sin 1 0.358

6. Select the compensator zero to be -5, which means z c = 5 . The compensated plant is L( s ) =
(s + z c ) . ( s + p c ) s ( s + 4)( s + 6)

To the dominant poles, L( s ) = zc pc 1 2 3 = (2k + 1)180 o (k = 0, 1, 2, ...) . Choose k = 1 , pc = 180 o + zc 1 2 3 . Choose the dominant pole at 2.014 + i5.252 , pc can be found to be 7.31o . 5.252 = tan( pc ) = tan(7.31o ) , p c = 42.96 , whch means the compensator pole is -42.96. p c 2.014

7. Use program 3 to plot the root locus of the compensated system.


Program 3: /*************************** * File name: rl_comp.ch **************************/ #include <control.h> int main() { double k = 1; array double complex z[1] = {complex(-5, 0)}; array double complex p[4] = {complex(-42.96, 0), complex(0, 0), complex(-4, 0), complex(-6, 0)}; array double zeta[1] = {0.358}; array double omega[1] = {50}; CControl sys; CPlot plot; sys.model("zpk", z, p, k); sys.sgrid(1, zeta, omega); sys.rlocus(&plot, NULL, NULL); return 0; }

Output:

8. Use program 4 with one of the dominant poles to find the gain K and other closed-loop poles. The gain K is found to be 1423. The third and fourth poles are found to be -43.8 and -5.134, respectively. Since the third pole at -43.8 is more than 20 times of the real part of the dominant poles, the effect of the third pole is negligible. Since the fourth pole at -5.134 is close to the zero at -5, the pole-zero cancellation stands. As a result, the second order approximation is valid.
Program 4: /**************************** * File name: rlf_comp.ch ***************************/ #include <control.h> int main() { // default system gain double dk = 1; // compensated system zero array double complex cz[1] = {complex(-5, 0)}; // compensated system poles array double complex cp[4] = {complex(-42.96, 0), complex(0, 0), complex(-4, 0), complex(-6, 0)}; // dominant pole selected from the root locus array double complex dp[1] = {complex(-2.014, 5.252)}; // closed-loop poles when one of the dominant poles is selected array double complex p[4]; // system gain when one of the dominant poles is selected array double k[1]; CControl sys; sys.model("zpk", cz, cp, dk); sys.rlocfind(k, p, dp); printf("k: %f\n", k); printf("poles: %f\n", p); return 0; } Output: k: 1422.905212 poles: complex(-43.797920,0.000000) complex(-2.014025,5.252003) complex(-5.134029,0.000000) complex(-2.014025,-5.252003)

(b) 1. Use program 5 to obtain the step response of the uncompensated system.
Program 5: /***************************** * File name: step_uncomp.ch ****************************/ #include <control.h> int main() { // system gain double k = 63; // uncompensated system poles array double complex up[3] = {complex(0, 0), complex(-4, 0), complex(-6, 0)}; array double num[1] = {1}; array double den[1] = {1}; double tf = 6; CControl sys1, sys2, *sys3; CPlot plot; sys1.model("zpk", NULL, up, k); sys2.model("tf", num, den); sys3 = sys1.feedback(&sys2); sys3->grid(1); sys3->step(&plot, NULL, NULL, NULL, tf); return 0; }

Output:

2. Use program 6 to obtain the step response of the compensated system.


Program 6: /***************************** * File name: step_comp.ch ****************************/ #include <control.h> int main() { // system gain double k = 1423; // compensated system zero array double complex cz[1] = {complex(-5, 0)}; // compensated system poles array double complex cp[4] = {complex(-42.96, 0), complex(0, 0), complex(-4, 0), complex(-6, 0)}; array double num[1] = {1}; array double den[1] = {1}; double tf = 6; CControl sys1, sys2, *sys3; CPlot plot; sys1.model("zpk", cz, cp, k); sys2.model("tf", num, den); sys3 = sys1.feedback(&sys2); sys3->grid(1); sys3->step(&plot, NULL, NULL, NULL, tf); return 0; }

Output:

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