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5/4/2012

LeadCompensatorsDesignUsing
FrequencyResponseTechniques
AhmedAbuHajar,Ph.D.

FrequencyResponseofFeedbackSystem
TransferFunctionofFeedbackSystem:

Let180 bethefrequencyatwhichthe
phaseofL(j)is1800

ImportantNotes:
1 PositiveFeedback,systemisnot
stable(oscillateat180)

FrequencyResponseofFeedbackSystem
2 Infinite(orveryhighgain@180
StabilityConsiderations
bili
id
i
Letassumethatthereisafrequencyx suchthat

3 StableandTolerableGainat180

5/4/2012

PhaseMargin&GainMargin
PhaseMargin(PM)
Let0 bethefrequencyatwhichtheOpenLoopGainis0dB(unitygain).
PMmustbepositive

PM>30
PM > 30o 60o.
0dB

GainMargin(GM)

GM

@180,|L(j180)|<<1(0dB).
0

180

GMmustbepositive

GM > 6dB
GM>6dB.

PM

-180o

180

LeadCompensatorDesignusingFrequencyresponse
TheTransferFunction:
Km
z

m
TheMaximumPhasem

m p

ThegainisincreasedbecauseofKc and
becauseof thezeroswhichgives+20dB/Dec

m:Thefrequency@whichthephaseism

5/4/2012

DesigningLeadCompensators
DesignObjective
1 Increasethephaseatthefrequency0dBcrossing,henceincreasesPM
2 ImprovesthevelocityerrorconstantKv byselectingtheproperKc.

Steps:
1 FindtheLoopGainL(s)=G(s)H(s).
2 DetermineK=Kc thatwouldgivethedesiredKv.
3 DrawBodePlotofL1(s)=KG(s)H(s).
MustcompensateforK changesthePM requirement.
EvaluatethePM.
4 Add5o12o becauseoftheincreaseinthegainduetothezero
5 Determine fromtherequiredPM.
Thenewzerocrossingoccursatfrequencyiswherem islocated.
It i h
th
i f L1(s)isgivenas:
( )i i
ItiswherethegainofL
6 Determinethelocationofthezeroandthepoleas:

7 ChoosethevalueofKc fromK=KC.
8 ChecktheGMandPMrequirements.Ifnotmet,reiteratetheprocess.
(Usually,youneedtogotostep4andaddmorephase).

LeadCompensatorExample
R(s)

G(s)

C(s)

DesignaleadcompensatorusingBodePlotMethodsuchthat
1 ThevelocityerrorconstantKv =20sec1
2 PhaseMarginPM=50o
3 GainMarginGM>10.

R(s)

Gc(s)

G(s)

C(s)

Solution

5/4/2012

LeadCompensatorExample
DrawBodePlotofL1(s)

UsingapproximatedbodeplotPMisfoundtobe17o.
UsingMatlab,exactPMwasfoundtobe17.9o.

Weneedtoevaluatem ofthecompensatortoget50o +(5o 12o)


Themaximumphaseofthecompensator

LeadCompensatorExample
Solvefor

Thegain(Km)causedbytheearlyzero
Thenewzerocrossing(m)iswheretheL1(j)= 6.2dB

FromtheGraph,thatislocatedatm =9rad/sec

5/4/2012

LeadCompensatorExample
ThezeroandthepoleandKC ofthecompensatorsarefoundasfollows
Thecompensatorisgivenas

LeadCompensatorExample

5/4/2012

LeadCompensatorExample

LeadCompensatorExample

5/4/2012

LagCompensatorsDesignUsing
FrequencyResponseTechniques
AhmedAbuHajar,Ph.D.

Lag Compensator
TheTransferFunction

Km
p

TheObjective:

Toprovideattenuation(reductioninmagnitude)afterz.
Byreducingthemagnitudebeforethe0dBcrossing(0),thephasemarginimproves.

Thelocationofzandpmustbebefore0.
Theattenuationisdeterminedbytheratio
DesignObjectives:
ImprovingthesteadystateerrorwhileimprovingthePM.

5/4/2012

Lag CompensatorExample
R(s)

C(s)

G(s)

DesignaLagCompensatorusingFrequencyResponsemethodsuchthat:
Design a Lag Compensator using Frequency Response method such that:
1 ThevelocityerrorconstantKv =5sec1
2 PhaseMarginPM=40o

R(s)

Gc(s)

G(s)

C(s)

Solution
Thevelocityerrorconstantisgiveas:

Lag CompensatorExample
Kchangesthe0dBcrossingfrequency0.
InvestigatetheeffectofKon0.

DrawBodePlotofL1(s)

UncompensatedthePMis30o
DuetoK=5,thePMis12o
Notstablesystem.

5/4/2012

Lag CompensatorExample
Now,weneedtolocatethefrequencyatwhichwegetaphasemargin
Fromthegraph,@=0.7,PM=40o.
Add12o correctionfactor,(acquiredbytrialanderror)
@0 =0.5=PM=52.
Choosethe0dBcrossing@0 =0.5

Choosez= 0.01 before0 p= 0.01


ThecompensatedPM= 40.7o

Lag CompensatorExample

5/4/2012

Lag CompensatorExample

Lag CompensatorExample

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