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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
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LeadCompensatorExample
DrawBodePlotofL1(s)
UsingapproximatedbodeplotPMisfoundtobe17o.
UsingMatlab,exactPMwasfoundtobe17.9o.
LeadCompensatorExample
Solvefor
Thegain(Km)causedbytheearlyzero
Thenewzerocrossing(m)iswheretheL1(j)= 6.2dB
FromtheGraph,thatislocatedatm =9rad/sec
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LeadCompensatorExample
ThezeroandthepoleandKC ofthecompensatorsarefoundasfollows
Thecompensatorisgivenas
LeadCompensatorExample
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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
Lag CompensatorExample
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Lag CompensatorExample
Lag CompensatorExample
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