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Control system
Design Procedure:
Gc(s) is to be designed as per specifications.
(1) For the lead compensator,
1 sT
G c (s) K Kc = K
1 s T
The open-loop transfer function of the compensated
system is
1 sT
G c (s)G (s) G1 (s) where G1(s) = KG(s).
1 s T
So, determine the gain K to satisfy the given static
error constant.
(2) Draw Bode diagram of G1(j) using gain K. Evaluate
the phase margin.
G1(s) = KG(s)
• From the Bode plots G1(j), phase margin is seen to
be negative. The frequency corresponding to the
required phase margin (400) is around 0.7 rad/s, (new
gain crossover frequency c may be chosen closer
this frequency).
• Thus, corner frequency = 1/T is roughly chosen
as 0.1 rad/s.
Design by Frequency Response Method
• We may add 120 (say) to the phase margin as an
allowance for lag angle by the compensator. Thus,
the required phase margin is now 520. The phase
angle of uncompensated open-loop system is –1280
and corresponding frequency (0.5 rad/sec) is
chosen as the new gain crossover frequency.
• To bring the magnitude curve down to 0 dB, the
attenuation is –20 dB. Thus, = 10. So, 1/(T) = 0.01
rad/s. Kc = K/ = 5/10 = 0.5. So,
s 0.1
G c (s) 0.5
s 0.01
You can sketch the compensated system’s {Gc(s)G(s)}
Bode plot to verify the design.
Design by Frequency Response Method
1
1
T1T2
• For 0 < < 1, it acts like a lag compensator and for
1 < < , it acts like a lead compensator. At = 1,
the phase angle is zero.
Design by Frequency Response Method
Example:
The open-loop transfer function of a unity feedback
system is:
K
G (s)
s(s 1)(s 2)
It is desired that Kv = 10 sec-1, phase margin 500, and
gain margin 10 dB. Design a lag-lead compensator
for this.
Design by Frequency Response Method
Solution: 1 1
s+ s+
T1 T2
G c (s)=K c
β 1
s+ s+
T1 βT2
Let us assume Kc = 1. Then, we get,
sKGc (s) K
K v Lim 10 K 20
s 0 s(s 1)(s 2) 2
s 0.7 s 0.15
G c (s)
s 7 s 0.015
PD Controller Design
θy 4500K
G p (s)= =
θ r s(s+361.2)
815265 K P
K v lim sG(s) 2257 .1K P
s 0 361.2
Steady-state error is: ess = 1/Kv = 0.000443/KP
• Closed-loop transfer function shows that the effects
of the PD controller are to:
(1) Add a zero at s = -KP/KD to the closed-loop
transfer function.
(2) Increase the “damping term”. The coefficient of
the s term in the denominator is increased from 361.2
to (361.2 + 815265KD).
PD Controller Design
The characteristic equation is
2
s (361.2 815265 K D )s 815265 K P 0
• We can arbitrarily set KP = 1 which is acceptable from
the steady-state error requirement. The damping ratio
of the system is
361.2 815265 K D
0.2 451.46K D
1805.84
which shows the positive effect of KD on damping.
(a)
R2
R1
_ R
R
Ein
_
Ci Eo
Ri
_ R
(b)
E 0 (s) R 2 1
G C (s)
E in (s) R 1 R i C i s
R2 1
KP KI
R1 R i Ci
PI Controller Design
Forward-path transfer function of the compensated
system is
2
n (K Ps K I )
G (s) G C (s)G P (s)
s 2 (s 2n )
2
KI K Ds K Ps K I
Kp K Ds
s s
de
u K p e K I e dt K D
dt
PID Controller Design
Bode Diagrams
40
Phase (deg); Magnitude (dB)
30
20
10
100
50
-50
-100
10-2 10-1 10 0 101
Frequency (rad/sec)