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PD compensation.
PI compensation.
PID compensation.
PD Control
= loop gain
= desired closed-loop pole location.
Find a controller s.t.
its odd multiple (angle condition).
Controller Angle for
Remarks
or
Zero location
3
Procedure:MATLAB or Calculator
1. Calculate
theta = pi angle(evalfr(l, scl) )
2. Calculate zero location using
3. Calculate new loop gain (with zero)
Lc = tf( [1, a],1)*L
4. Calculate gain (magnitude condition)
K = 1/abs( evalfr( Lc, scl))
5. Check time response of PD-compensated
system. Modify the design to meet the desired
specifications if necessary (MATLAB).
&
Example 5.5
(a)
&
MATLAB
Calculate pole location & corresponding gain
>> scl = 10*exp( j*( pi-acos(0.7) ) )
scl =
7.0000 + 7.1414I
>> g=zpk([ ],[0,-4],1);
>> theta=pi( angle( evalfr( g, scl) ) )
theta =
1.1731
a = 10 * sqrt(1-0.7^2)/ tan(theta) + 7
a=
10.0000
k =1/abs(evalfr(tf( [1, a],1)*g,scl)) %
k=
10.0000
Gain at scl:
RL of Uncompensated System
Root Locus
0.7
0.7
System: gcomp
Gain: 10
Pole: -7.01 + 7.13i
Damping: 0.701
Overshoot (%): 4.56
Frequency (rad/sec): 10
2
Imaginary Axis
Imaginary Axis
RL of PD-compensated System
Root Locus
8
7
10
4
3
10
0
-2
-4
1
-6
0
-8
-7
-6
-5
-4
-3
-2
-1
-8
-20
Real Axis
11
0.7
-18
-16
-14
-12
-10
Real Axis
-8
-6
-4
-2
12
(b)
13
RL of PD-compensated System
14
fixed
16
PI Control
PI Remarks
17
Procedure 5.3
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Comments
or
3. Tune the gain of the system to moved the
closed-loop pole closer to
19
20
Proof
tan 180
d
z scl a
From Figure
p scl
Controller angle at
n
tan 180
21
22
Controller Angle at
Proof (Cont.)
Trig. Identity
3.5
2.5
1.5
Solve for
0.5
0.1
Multiplying by
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
gives
23
24
Solution
Example 5.6
25
26
RL of PI-compensated System
Root Locus
Imaginary Axis
0.7
-10
-8
4
-4
-6
Real Axis
-2
27
28
Analytical Design
MATLAB
2
n
s 3 ( 2 n )s 2 (2 n n2 )s n2
10 2 n 10 2(0.7)(4) 4.4
K n (2 n ) 4 2(0.7)(4.4) 4 40.64
n2
4.4 4 2
a
1.732
K
40.64
29
30
Design I Results
Closed-loop transfer function for Design I
rad/s.
=
7.143
0.7 + 1 0.49/ tan 3
rad/s
Time response for Designs I and II
PO for Design II (almost pole-zero
cancellation) << PO for Design I (II better)
34
35
36
Example 5.7
Design I
Cancel pole at 1 with a zero & add an
integrator
37
Design II
38
Conclusions
Example 5.8
Design a PID controller for the transfer
function to obtain zero
due to step,
and
rad/s
(
)(
41
Solution
Solution (cont.)
Stable for all gains.
Closed-loop characteristic polynomial
42
43
44