Scribd
Upload
5K views

P, PI, Lead, Lag Compensators

This document discusses different types of compensators used to improve control system performance. It describes P, PI, lead, and lag compensators. The P compensator uses proportional control and can cause stability and steady state error problems. The PI compensator adds integral control to the P compensator to eliminate steady state error but can slow the system. Lead compensators increase phase lead while lag compensators increase phase lag to alter the frequency response. The document also briefly discusses PID controllers, which combine proportional, integral and derivative control and are commonly used in industrial processes.

Uploaded by

srnka
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
5K views

P, PI, Lead, Lag Compensators

This document discusses different types of compensators used to improve control system performance. It describes P, PI, lead, and lag compensators. The P compensator uses proportional control and can cause stability and steady state error problems. The PI compensator adds integral control to the P compensator to eliminate steady state error but can slow the system. Lead compensators increase phase lead while lag compensators increase phase lag to alter the frequency response. The document also briefly discusses PID controllers, which combine proportional, integral and derivative control and are commonly used in industrial processes.

Uploaded by

srnka
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 14

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

You might also like