Chapter 7.

Lead Compensator Design

1. Objectives of Experiment
To learn Lead Compensator Design on the basis of the root locus theory. To monitor the change that is shown as applying the lead compensator to the pendulum motor. To perform the location control of the pendulum motor using the lead compensator.

2. Compensator
The most important thing for the design of the controller to control one process or a system is to select the controller that fits to the process. Selecting the appropriate controller that is suitable for the process is no less than completing 90% of the design work. The simplest method to design control is to offset the bad pole point or the zero point of the process using the controller, but this method is actually impossible to execute. It is because the pole point and the zero point of the transfer function that are acquired from the actual process are not the accurate value but the ball park figure, and the order of the actual process may be higher. In addition, the location of the pole point or the zero point is changed in accordance with the change of the variables in the actual process. Therefore, it is recommendable to design the controller to move the root to the desired location instead of directly offsetting the pole point and the zero point of the process. It is the root locus graph to suggest the standard for the selection of the controller that is important like this. The first phase that adjusts the system in order to get the satisfying result is to set up the gains on the root locus. However, it is not sufficient to adjust only gains when you change the system to satisfy the defined specification. As increasing the gains, you can generally improve the steady state movement, but as a result, the stability becomes worse or unstable. At this time, it is required to redesign the system(reconstruct or add devices or components) in order to make the system operated as required. The device to be added for the purpose of

satisfying the specification is the compensator. The compensator compensates the insufficient performance of the original system. In Chapter 7 and 8, we will understand how to design in order to put the closed loop roots on the desired location as defining the pole point or the zero points of the controller and changing the original root locus and also check the response as comparing the simulation and the experiment results.

3. How to Design Lead Compensator

3.1 Meaning of Lead Compensator
Lead Compensator or Lead Controller is the same terminology and let's call it C(s). This consists of one pole point expressed as shown in the formula src=".\PIC20D.gif" width=14px and one zero point (5.8). In the lead and can be compint <IMG

height=16px > and one zero point <IMG

src=".\PIC20E.gif" width=14px height=16px > and can be expressed as shown in the formula (5.8). In

(7.1)

It tends to draw the root locus toward the zero point

because the pole

point(p) of the lead compensator is nearer to the axis of the imaginary number than the zero point(z). Therefore, you can reduce the overshoot and accelerate the peak time or the settling time if using the lead compensator. The lead compensator is basically the high-pass filter. The locations of the pole point and the zero point in S-plane of the lead compensator are as follows.

[Figure 7.1] Pole Point and Zero Point of Lead Controller

3.2 Lead Compensator Design

Designing the lead compensator using the root locus graph is very effective when the specification is given as the quantity of time area, that is to say, the damping ratio of the required major closed loop poles, the number of original non-attenuation vibration, the maximum overshoot, the rise time and the settling time. The design is done as follows.

[Step 1] Indicate the location and the area that the pole is put in accordance with the given capacity specification on the s-plane. [Step 2] Indicate the pole point and the zero point of on the s-plane and draw the root rocus graph. Here, check if you can make the closed loop pole that is required only with the open loop gains adjustment. If it is impossible, execute the following procedure. [Step 3] Put the zero point the required pole point. [Step 4] Calculate the angle on the desired location of the pole point(the total of each pole point and the zero point is -180) and get the pole point of the zero point. [Step 5] Get as calculating the distance between each pole point and zero point that you want. [Step 6] Draw the root locus graph using the values that are designed by CEMTool. In addition, check the step responses. If the step response does not satisfy the performance specification, design again from the procedure 3. of the lead compensator. That is to say, calculate by -180=-angle of the pole point + angle of the lead compensator right under the location of

4. Lead Compensator Design of Pendulum Motor

Let's examine what is the change of the motor response as designing the lead compensator of the pendulum motor. Firstly, the motor response when the lead compensator does not exist is as shown in [Figure 7.2].

[Figure 7.2] Step Response of Pendulum Motor that is not compensated

Design the lead compensator to make the overshoot of the step response of the pendulum motor be within 10% and to make the steady state error be less than 2% within one second of the settling time.

Reference Files : pch7_1.m (X:\CEMTool\Experiment\Pendulum\pch7_1.m) [Step 1] Selection of Dominant Root If you substitute L=5, in the formula (6.6) and (6.7), > 0.69 and

>54. Therefore, the dominant root exists in the shaded area as shown in [Figure 7.3] and decide the dominant root in this area. (-7 j5)

[Figure 7.3] Location of Required Root

= -35 j35

[Step 2] Drawing Root Locus of Pendulum Motor Draw the root locus of the pendulum motor, and you can get the drawing as shown in [Figure 7.4]. (refer to Chapter 6)

[Figure 7.4] Root Locus Block Diagram of Pendulum System Motor

[Step 3] Getting Zero Point of Lead Compensator The zero point z of the lead compensator is right under the desired pole point(pole point of the dominant root), so z=-35.

[Step 4] Getting Pole Point of Lead Compensator The total of the angles of each pole point and zero point shall be -180. Therefore, calculate as follows.

Here,

are the angle between the dominant root and each angle of the is the angle between the is the

system. Add as much as the number of system roots. angle between the dominant angle and the zero point.

angle of the lead compensator and the dominant angle. In addition,

[Step 5] Getting K of Lead Compensator Calculate the distance from each pole point and zero point to the dominant root as follows, ==

This becomes designed as follows

of the lead compensator. Therefore, the lead compensator is

If you execute these procedure above after executing pch7_1.m file and entering one of the pole pints(-35 35i in this text), you can get the same result.

5. Simulation
Reference Files : pch7_1.blk (X:\CEMTool\Experiment\Pendulum\pch7_1.blk) pch7_1.m (X:\CEMTool\Experiment\Pendulum\pch7_1.m) Add the lead compensator that you design in the paragraph 4 to the pendulum motor models and let's examine the change from the response before adding the lead compensator. Firstly, get the pole point(p), the zero point(z) and the gains(K) as executing the reference file pch7_1.m. At this time, if you enter the list command in CEMTool, z, p and K shall be checked. Check z, p and K and open pch7_1.blk file. Then, you can check the file as shown in [Figure 7.5] that the

designed lead compensator is applied to the transfer function of the pendulum motor. This file(Reference File pch7_1.blk) is the block file that makes the lead compensator as shown in the formula (7.1) as the macro block using the transfer function block(rounded part on the figure), adds it to the block file that requires the step response of the pendulum motor and gives the step response. This lead compensator block consists of the macro block(refer to SIMTool for the details) and the parameters of the lead compensator block, gains K, pole point p and zero point z, can be entered. Select the macro block of the lead compensator with a mouse and 'View Inside Macro Block' on the menu that is displayed as pressing the right button of the mouse. Then, you can see the connection inside. For the simulation, set up as the initial location of the motor starts from 0 and reaches to 30cm after 1 sec. And execute the simulation at the interval of 0.001 sec. during 5 sec.

[Figure 7.5] Step Response Simulation of Pendulum Motor that Lead Compensator is applied (pch7_1.blk)

[Figure 7.6] is the result after executing the file that is configured as shown in [Figure 7.5]. The result is saved in the variable sim_lead.

[Figure 7.6] Simulation Response that Lead Compensator is applied

6. Experiment
Check the simulation result that we checked in the previous paragraph by the experiment. We will compare the step response of the pendulum motor that the lead compensator is applied with the simulation result. Set up the step input as the initial location of the motor starts from 0 and reaches to 30cm after 1 sec.

All simulation in the paragraph 5 shall be completed before the execution of the reference files. If the simulation in the paragraph 5 is not executed, the experiment in this paragraph cannot be executed. Reference Files : pch7_1.m (X:\CEMTool\Experiment\Pendulum\pch7_1.m) pch7_2.blk (X:\CEMTool\Experiment\Pendulum\pch7_1.blk) initial.blk (X:\CEMTool\Experiment\Pendulum\initial.blk) pend_io.m (X:\CEMTool\Experiment\Pendulum\pend_io.m) comp_lead.m (X:\CEMTool\Experiment\Pendulum\comp_lead.m) [Step 1] Power Off and Pendulum Separation of Pendulum System First, check if the power of the pendulum system is off and while the power is off, separate the pendulum of the system.

[Step 2] Experiment Block Configuration

[Figure 7.7] Experiment Block that Lead Compensator is applied (pch7_2.blk)

Configure the experiment blocks as shown in [Figure 7.7] that is the reference file pch8_2.blk using SIMTool to get the step response of the pendulum motor that the lead compensator is applied. Connect the lead compensator block that is used in the simulation as shown in the rounded area on [Figure 7.7] to the input part of the pendulum motor through the analogue output. Feedback the pulse signal that is generated from the encoder block as converting it as the length unit that is pulse to cm. Therefore, the cart location of the pendulum is sent back in the length unit. The scope block is connected. Then, you can check the result in the length unit. Connect the out block to the scope block to save the experiment result in the variable exp_lead.

[Step 3] Block Setup After completing the experiment block configuration, configure each block. Configure the step block like the simulation as the cart location moves 30cm after 1 sec. Set up the encoder block to receive the signal of four multiplies through the channel number 0. Set up the gain block as 1.27/4000 with the name Pulse to cm. This aims to convert the pulse signal of the encoder into the length unit as considering that the cart moves 1.27cm when the motor rotates once. Configure the gains as K, the zero point as z and the pole point as p as double clicking the lead compensator block. Design the lead compensator as executing the reference file pch7_1.m and it is applied to the defined value of the lead compensator block.

Set up the scope block as the minimum value is 0 and the maximum value is 30 like the simulation. Set up the out block to save the experiment result in the variable exp_lead. Get the coefficient of the lead compensator as executing pch7_1.m file using the dominant root to make the coefficient of the lead compensator that is used in the simulation in the paragraph 5 after the configuration

[Step 4] Hardware Setup and C-Code Generation Check if the hardware is set up as RG-DSPIO01 in 'Hardware Interface' window that is displayed as selecting 'AUTOTool- Parameter in SIMTool menu. Set up the execution time in the setup window that is displayed as pressing 'Parameter Setup' button of the window above. Set up the starting time as 0 sec., the ending time as 5 sec. and the sampling time as 0.001 sec. After completing the execution time setup, press 'C-Code Generation and Compile' in 'Hardware Interface' window, and convert the block that is configured by SIMTool to C-Code. Transfer it to DSP board. After transferring to DSP board, DOS window is displayed.

[Step 5] Power on and Initialization of Pendulum System If DOS window is displayed, put Mode switch in the electric part of the pendulum system to Manual mode and turn the power of the pendulum system on. Initialize the cart location as pressing INITIALIZE button on MOVE. Open the reference file initial.blk and press 'Execution-Execution' button on SIMTool menu or the execution icon. Then, convert Mode switch of the pendulum system to CEMTool mode.

[Step 6] Result Check After completing the transfer to DSP board and fixing the cart location in the center as the pendulum system is initialized , close DOS window and press 'Execution' button in 'Hardware Interface window'. Then, the scope block is connected to make you check the displacement of the cart as shown in [Figure 7.7]. Therefore, the graph window as shown in [Figure 7.8] is displayed.

[Figure 7.8] Experiment Response that Lead Compensator is applied

[Step 7] Comparison to Simulation Result Execute comp_lead.m file in CEMTool command window to compare the simulation result to the experiment result. However, it shall be executed only if you do not execute other simulation or experiment right after completing the simulation or the experiment. The graph that the simulation result and the experiment result are drawn is as shown in [Figure 7.9]. The blue line is the experiment result and the red line is the simulation result. As a result of comparing the experiment result to the simulation result, we can recognize that two results are very similar.

[Figure 7.9] Comparison of Simulation and Experiment Result