Professional Documents
Culture Documents
Lecture 6
Compensation
Emam Fathy
email: emfmz@aast.edu
1
Introduction
A feedback control system that provides an optimum
performance without any necessary adjustment is rare.
Overshoot;
Series Compensation
Parallel Compensation
Compensator Configurations
The choice between series compensation and parallel
compensation depends on
the nature of the signals
available components
lag compensators
laglead compensators
Lead Compensation
Lead Compensation
Lead Compensation essentially yields an appreciable
improvement in transient response and a small change
in steady state accuracy.
+1
= , (0 < < 1)
+1
or
1
+
= 1 , (0 < < 1)
+
Electronic Lead Compensator
Following figure shows an electronic lead compensator using
operational amplifiers.
() 2 4 1 1 + 1
=
() 1 3 2 2 + 1
Electronic Lead Compensator
() 2 4 1 1 + 1
=
() 1 3 2 2 + 1
This can be represented as
1
() 4 1 + 1 1
=
() 3 2 + 1
Where, 2 2
4 1
= 1 1 = 2 2 =
3 2
Then, +
1
= 1 , (0 < < 1)
+
>
Electronic Lead Compensator
Pole-zero Configuration of
Lead Compensator
1 1 > 2 2
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.
Lead Compensation Techniques Based
on the Root-Locus Approach.
The steps for designing a lead compensator using root-
locus:
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: design the compensator.
Step-4: check your design.
Example-1
Consider the position control system shown in following
figure.
10
G( s) H ( s)
s( s 1)
C ( s) 10
2
R( s) s s 10
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.
Example-1
From the performance specifications, determine the
desired location for the dominant closed-loop poles.
C ( s) n2 9
2 2
R( s) s 2 n s n s 3s 9
2
s 1.5 j 2.5981
Example-1
Alternatively desired location of closed loop poles can also
be determined graphically
Desired n= 3 rad/sec
Desired
Desired damping ratio= 0.5 Closed Loop
Pole
cos 1
60
cos 1 (0.5) 60
Exampl-1
calculate the angle deficiency.
To calculate the angle of deficiency apply Angle Condition at desired
closed loop pole.
s 1.5 j 2.5981
-1
d 40
100o 120o
-2 -1
Note
The solution to such a problem is not unique.
There are infinitely many solutions.
Exampl-1 (solution 1)
-2
40
-1
90o
-3 -2 -1.5 -1
+ 1.5
= 1.03
+ 3.6
Example-1 (solution 2)
P
A
-2
-1
O
-3 -2 -1
Example-1 (solution 2)
Bisect the angle between the lines PA and PO.
P
A
-2
2
2 -1
O
-3 -2 -1
Example-1 (solution 2)
Draw two lines PC and PD that make angles with the the
2
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
d
d -1
2
2
O
-3 -2 -1
C
B
D
Example-1 (solution 2)
The lead compensator has zero at s=1.9432 and pole at s=4.6458.
P
A
-2
d
d -1
2
2
O
-3 -2 -1
C
B
D
1
+ +1.9432
= 1 =
+ +4.6458
Example-1 (solution 2)
The Kc is calculated as
= 1.2287
Hence, the lead compensator Gc(s) just designed is given
by
+ 1.9432
= 1.2287
+ 4.6458
Example-1 (solution 2)
Desired Desired
Closed Loop Closed Loop
Pole Pole
Uncompensated Compensated
System System
Example-1 (solution 2)
It is worthwhile to check the static velocity error
constant Kv for the system just designed.
= lim ()
0
+ 1.9432 10
= lim 1.2287 = 5.139
0 + 4.6458 ( + 1)
1
Amplitude
0.8
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14
Time (sec)
Step Response
1.4
Actual System
1.2 Solution-1
Solution-3
1
Amplitude
0.8
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14
Example-2
Consider the model of space vehicle control system
depicted in following figure.
39
Lag Compensation
Lag compensation is used to improve the steady state error
of the system.
Generally Lag compensators are represented by following
transfer function
+1
= , ( > 1)
+1
Or 1
+
= 1 , ( > 1)
+
40
Example-4
Consider the system shown in following figure.
s = -0.3307 j0.5864
47
Example-4
The static velocity error constant of the plant ( ) is
1.06
= lim() = lim = 0.53 1
0 0 +1 +2
The desired static velocity error constant ( ) of the
compensated system is 5 1 .
5
= =
0.53 = 10
1
+
= 1 =
+
50
Example-4 (solution 1)
Let the zero s=0.05 so the pole s=0.005.
+0.05 1.06
()=
+0.005 (+1)(+2)
1.06(+0.05)
()=
(+0.005)(+1)(+2)
51
Example-4 (solution 1)
Root locus of uncompensated and compensated systems.
= 0.31 0.55
52
Example-4 (Design Check)
The compensated system has following open loop transfer
function.
1.0235(+0.05)
()=
(+0.005)(+1)(+2)
1.0235 0.05
= = 5.12 1
0.005 1 2
55
Example-4 (solution 2)
Place the zero and pole of the lag compensator at s=0.01
and s=0.001, respectively.
= 1.06 56
Example-4 (Step-5) Solution-2
Root Locus
6
New Closed Loop poles Actual System
are 4 Compensated System
= 0.33 0.55 2
Imaginary Axis
-2
-4
-6
-8 -6 -4 -2 0 2 4
Real Axis 57
Example-5
Design a lag compensator for following unity
feedback system such that the static velocity error
constant is 50 sec-1 without appreciably changing the
closed loop poles, which are at = 2 6.
58
End of Lec