CONTROL SYSTEM

COMPENSATION TECHNIQUES
A Control System is to be compensated to obtain the desired performance. Here I have used frequency response approach to meet the desired specifications of a system. The design of lead, lag, and lag-lead compensation network to be connected in the forward path as a cascadeelement is discussed through examples

Savan Vachhani 2009 JE 0630

Compensation Techniques

2009 JE 0630

CONTROL SYSTEM
COMPENSATION TECHNIQUES
Compensation There are a number of different compensation units that can be employed to help fix certain system metrics that are outside of a proper operating range. Most commonly, the phase characteristics are in need of compensation, especially if the magnitude response is to remain constant. Phase Compensation Occasionally, it is necessary to alter the phase characteristics of a given system, without altering the magnitude characteristics. To do this, we need to alter the frequency response in such a way that the phase response is altered, but the magnitude response is not altered. To do this, we implement a special variety of controllers known as phase compensators. They are called compensators because they help to improve the phase response of the system. There are two general types of compensators: Lead Compensators, and Lag Compensators. If we combine the two types, we can get a special Lead-Lag Compensator system.
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Contents Compensation Phase Compensation Frequency Response Approach to Compensator Design Phase Lead Phase Lag Phase Lead-Lag Comparision Refrences External Links

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When designing and implementing a phase compensator, it is important to analyze the effects on the gain and phase margins of the system, to ensure that compensation doesn't cause the system to become unstable.

Frequency response approach to compensator design Information about the performance of the closed-loop system, obtained from the open-loop frequency response: Low frequency region indicates the steady-state behavior. Medium frequency (around -1 in polar plot, around gain and phase crossover frequencies in Bode plots) indicates relative stability. High frequency region indicates complexity. Requirements on open-loop frequency response The gain at low frequency should be large enough to give a high value for error constants. At medium frequencies the phase and gain margins should be large enough. At high frequencies, the gain should be attenuated as rapidly as possible to minimize noise effects. Compensators lead:improves the transient response. lag: improves the steady-state performance at the expense of slower settling time. lead-lag: combines both

Phase Lead
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The transfer function for a lead-compensator is as follows:

To make the compensator work correctly, the following property must be satisfied: |z|<|p| And both the pole and zero location should be close to the origin, in the LHP. Because there is only one pole and one zero, they both should be located on the real axis. Phase lead compensators help to shift the poles of the transfer function to the left, which is beneficial for stability purposes.

Lead Compensator Consider the following Example

Poles and Zeros of the lead compensator:

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Frequency Response of Gc(j)

The maximum phase-lead angle m occurs at m, where:

Since

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The magnitude of Gc(j)at m is given by:

|Gc (j)| = Kc a

Polar Plot of a lead network is given by

Is given by

Lead compensation based on the frequency response

Procedure: 1. Determine the compensator gain Kc satisfying the given error constant. 2. Determined the additional phase lead m required (+10%~15%) for the gain adjusted (KcG(s)) open-loop system. 3. Obtain from a
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4. Find the new gain cross over frequency c from Kca|G(j )| =10loga 5. Find T from c and transfer function of Gc(s)

, and

General effect of lead compensator: Addition of phase lead near gain crossover frequency. Increase of gain at higher frequencies. Increase of system bandwidth.

Phase Lag
The transfer function for a lag compensator is the same as the leadcompensator, and is as follows:

Lag Compensator However, in the lag compensator, the location of the pole and zero should be swapped: |p|<|z| Both the pole and the zero should be close to the origin, on the real axis.
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The Phase lag compensator helps to improve the steady-state error of the system. The poles of the lag compensator should be very close together to help prevent the poles of the system from shifting right, and therefore reducing system stability. Let us consider the following example

Poles and Zeros

Frequency Response

Polar plot of the lag compensator

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Bode diagram of a lag compensator with Kc=1 =10

Magnitude of

Lag compensation based on the frequency response Procedure: 1. Determine the compensator gain Kc to satisfy the requirement for the given error constant. 2. Find the frequency point where the phase of the gain adjusted openloop system (KcG(s)) is equal to -180 + the required phase margin + 5~12. This will be the new gain crossover frequency c. 3. Choose the zero of the compensator =1/Tat about 1 octave to 1 decade below c.
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4. Determine the attenuation necessary to bring the magnitude curve down to 0 dB at the new gain crossover frequency

Kc|G(jc)| = 20 log
5. Find the transfer function Gc(s). General effect of lag compensation: Decrease gain at high frequencies. Move the gain crossover frequency lower to obtain the desired phase margin.

Phase Lead-Lag
A leadlag compensator is a component in a control system that improves an undesirable frequency response in a feedback and control system. It is a fundamental building block in classical control theory.

Applications Leadlag compensators influence disciplines as varied as robotics, satellite control, automobile diagnostics, laser frequency stabilization, and many more. They are an important building block in analog control systems, and can also be used in digital control. Given a control plant, desired specifications can be achieved using compensators. I, D, PI, PD, and PID, are optimizing controllers which are used to improve system parameters (such as reducing steady state error, reducing resonant peak, improving system response by reducing rise time). All these operations can be done by compensators as well.
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The transfer function of a lead-lag compensator is simply a multiplication of the lead and lags compensator transfer functions, and is given as: Lead-Lag Compensator

Where typically the following relationship must hold true:

| p1 | > | z1 | > | z2 | > | p2 |

Now consider the following Transfer Function

Frequency Response

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Bode Diagram of lead-lag compensator is given by

With Kc = 1, = = 10 and T2 = 10 T1

Polar plot of a lag-lead compensator given by

With Kc = 1 and =

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Comparison between lead and lag compensators Lead compensator High pass Approximates derivative plus proportional control Contributes phase lead o Attenuation at high frequencies Moves the gain-crossover frequency lower Lag compensator Low pass Approximates integral plus proportional control Increases the gain crossover frequency Increases bandwidth o Reduces bandwidth

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References
1. Nise, Norman S. (2004); Control Systems Engineering (4 ed.); Wiley & Sons; ISBN 0-471-44577-0 2. Horowitz, P. & Hill, W. (2001); The Art of Electronics (2 ed.); Cambridge University Press; ISBN 0-521-37095-7 3. Cathey, J.J. (1988); Electronic Devices and Circuits (Schaum's Outlines Series); McGraw-Hill ISBN 0-07-010274-0

External links

http://www.library.cmu.edu/ctms/ctms/extras/leadlag.htm lead controller using Matlab Lead-Lag Frequency Response at MathPages Lead-Lag Algorithms at MathPages Standard Controller Forms on ControlTheoryPro.com PID Control on ControlTheoryPro.com PI Control on ControlTheoryPro.com

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