Lead Compensator
Design Example :
For the system with the following block diagram
representation
Find so that the dominant closed loop poles are at
Solution : Start with
Compensator design with is not sufficient
However if the compensator is in the form
with
The closed loop Char. Eq . will be in the form
Centriod at
3 closed loop poles
(an additional at c )
By changing the values of and we can chance the
place of the centroid, and hence bend the root locus to go
through the desired closed loop poles.
Note that we need to ensure are more dominant
compared to the new pole located at
The problem is now to design and to ensure
the closed loop dominant poles are at
Method 1 :
Using Magnitude and Angle conditions
The closed loop transfer function :
Characteristic equation :
Magnitude condition dictates
Also from Angle condition
select in order to reduce the unknowns, now we have
or simply
How did we selected 'a'
Selection of 'a'
There is no unique value for 'a'
If it is selected to big, we might not be able to find an
apropriate value for 'b'
If it is picked to small, the extra pole inserted might
become the dominant pole
Back to the Magnitude condition with the values of a and b
selected
Now we can calculate the value for K
The equation of the compensator
Method 2:
Coefficient matching
From the root locus we know that there are 3 closed loop
poles
the closed loop ch. equation
the desired ch. equation
From we have
4 unknown Select a=3
3 equations
then
Solution is
Same result with
the value of c
also obtained
A side note
From the previous solution we can determine how big the
value of 'a' can be selected.
We had
Eliminate
K and b
when simplified
for c to be positive
Final value
initial value
The time domain behavior
How does the compensated system behaves ?
The compensated overall transfer function
for a step input we would have
use PFE to find the values of
SSE Specification
How to decrease the steady state error (SSE) so that the
output goes close to the input ?
Consider
Let Transfer function
error
For a step input the SSE becomes
SSE
SSE goes down as K increases...
Transient Responce + SSE ?
Can we place the closed poles at desired values and
decrease SSE at the same time ??
Back to the same example :
Given
Find K so that the closed loop poles are at
Root locus
2
Imag Axis
-1
-2
-3
-4
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis
Magnitude condition
SSE
Fixed for specific value of
K= 13
The value of SSE is fixed. Then how to we shape the
transient response (place dominant poles) and reduce
SSE at the same time ??
Lag Compensation
This time; consider
where
and let to meet transient specs
Design
typical values for c,d are
Error (from the block diagram)
The SSE is then (with unit step input)
SSE
for our case
SSE (approximately)
When we have and K=13 SSE = 1/3
The Lag compensator have improved the SSE
performance !!!!
Lead/Lag Compensators
Example
with
Design so that
Dominant closed loop poles are at
The SSE is 0.01 for a step input
Method
Design a Lead compensator to place the dominant poles at
the desired places while neglecting the effects of the Lag
compensator. Then design the Lag compensator to meet the
SSE specifications.
Solution :
let The closed
loop TF
[Link].
(required for Root Locus)
The Root Locus
Need to find the values of a and b
25
20
15
10
Imag Axis
5 j5
0
-5
-b -c -a - j5
-10
-15
-20
-25
-15 -10 -5 0 5
Real Axis
Angle condition
pick
Guess why ??
then
Magnitude Condition
Lag Compensator Design
Lag
Lead
SSE
That is for a step input
pick
How accurate is our desing?
With the designed compensator we have
chac. eq.
Angle condition
Magnitude condition
The reason for small offsets is
Hence by selecting the lag compensator zero close to jw
axis and lag compensator pole relatively close to the lag
compensator zero, the overall desing changed the angle
and magnitude conditions very little.
The above approximation seems fairly accurate.
Example
For the system of the form
with
Design a lead/lag compensator that has
Dominant closed-loop poles at
SSE = 0.01 for a step input
Start with the design of the lead compensator
(neglect the lag compensator part for now)
Lead compensator
Ch. Equation
15
Imag Axis
10
5
-b-a j2
0
-c - j2 Draw the root locus
-5
-10
-15
-12 -10 -8 -6 -4 -2 0 2 4
Real Axis
Use Angle condition to select a
Let
Now apply Magnitude condition to find the value of K
Now desing the lag compensator part
use SSE for the design of the Lag compensator
parameters
Let then
Overall Compensator
check the angle and magnitude conditions to ensure the
accurisy of the design
How does the system behaves now
