P, PI, Lead, Lag compensators

Control engineering and signal processing

Michala Srnová
2009/2010
 Content

Compensator

P compensator

PI compensator

Lead compensator

Lag compensator

PID controller
 Compensator

Additional component

Compensate a deficient performance

Alter of root locus or frequency response

Suitable place
 Compensator II

Classical compensators
− P
− PI
− PID
− Lead
− Lag
− PD/Lead
− Lag/Lead
 P compensator

Proportional control

Transfer function


Frequency independent

Steady state problems

Stability problems

Error multiplication → small fluctuation of error signal
→ great changes of control signal
 P compensator

Step response


Steady state error or oscillations

Not often used alone

With connection with integral part (PI) or in PID
 PI compensator

Proportional + Integral compensator


Ki – integral gain

Changes type of the system

No steady state error to step

Can make system slower
 PI compensator II

Frequency response
Ti = Kp/Ki


High-frequency attenuator

PI introduce a phase lag !
 Lead compensator

Lead phase → phase of compensator +


Lead: |z| < |p|
 Lag compensator

|z| > |p|


PI
 Lead and Lag Compensators

Alter of frequency response

Calculations
 Definition of α, ωm ,τ

Transfer function

 Calculation for maximum phase angle ( ω=ωm)

 System gain = -10 log α → frequency = ωm

 System with comp.: gain = 0 db by frequency ωm
 PID controller

Proportional + integral + derivative


Transfer function:
 KD – derivative gain

Used in majority of closed-loop industrial processes
 PID controller

Step response

Rise time

Overshoot

Settling Time

Steady state Error

Effect of increasing the parameters:
Thank you for your attention