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Introduction
Performance specifications
performance specifications in the time domain
Overshoot
Setting time
%
ts
Steady-state error
ess
y (t )
overshoot
tp
ts
Performance specifications
performance specifications in the frequency domain
Closed-loop
Open-loop
Resonant peak M r
Gain-crossover frequency
Resonant frequency
Bandwidth
Gain margin
h / Lh
Phase margin
20 lg G
Mr
G
0.707M (0)
Performance specifications
Typical complex domain indices are represented by the
location of the dominant poles
j
% e
1 2
100%
ts
3.5
or
t s 3T
1
T
Example
What is compensation or correction of a control system ?
For example :
G( s)
K
s(Ts 1)(s 1)
Solution:
According to Routh - Hurwitz criterion, we can get : K T 1 1 1 (K 0 T 0)
T
But if : G ( s)
K
s 2 (Ts 1)
If we make : G( s)
K (s 1)
s 2 (Ts 1)
Example : G ( s)
R(s)
GC (s)
Controll
er
G(s)
controlled
process
Y (s)
R(s)
Y (s)
R(s)
G(s)
GC (s)
R(s)
GC (s)
Y (s)
G(s)
H (s)
G(s)
H (s)
Gn (s)
Y (s)
N (s)
R(s)
GC (s)
H (s)
GC (s)
G(s)
Y (s)
Approaches to Compensation
In the following sections, we will assume that the process has been
improved as much as possible and that the G(s) representing the
process is unalterable.
For frequency response methods, we are concerned with altering the
system so that the frequency response of the compensated system will
satisfy the system specifications.
Alternatively the design of a control system can be accomplished in the
s-plane by root locus methods. For the case of the s-plane, the
designer wishes to alter and reshape the root locus so that the roots of
the system will lie in the desired position in the s-plane.
We shall consider the addition of so-called phase-lead , phase-lag and
phase lag-lead compensation network ,and describe the design of the
network by frequency response techniques.
Ts 1
Ts 1
( 1)
10 lg
Gc
1
T
1
T
1
T
Ts 1
Ts 1
( 1)
00 m arcsin
1
900 ( 1)
1
R1
V1
R2
V2 ( s)
R2
V1 ( s) R1 R2
R1Cs 1
1 Ts 1
R2
R1Cs 1 Ts 1
R1 R2
R1 R2
R2
R1 R2
C
R1 R2
V2
G( s)
K
s(0.1s 1)
Y (s)
R(s)
GC (s)
G (s)
1
ess 0.01
K
K 100
20dB / dec
40dB / dec
44
c 31 rad / s
10
17.90
22 31
88
6dB
100
G( s)
s(0.1s 1)
40dB / dec
Gc ( s)
0.04544s 1
0.01136s 1
Gc ( s)
Ts 1
Ts 1
44
10
22 31
88
6dB
( 1)
1
here T1
22,
T
1
T2
88
T
c 44rad / s
100(0.04544s 1)
G( s)Gc ( s)
0
s(0.1s 1)0.01136s 1
49.8
and G( j )
Green line : Compensated system Bode plot 20log G( j)Gc ( j) and G( j)Gc ( j)
Y (s )
R(s )
GC (s )
G (s )
1/ T
-20
L( ) 20 lg T
20 lg
T 1
T 1 ( T ) 1
( T ) 1
Gc ( j) tan 1 T tan1 T
<G
1/ T
20 lg
-20
0
<G
R1
vi
R2
C
v0
Vo ( s)
R2Cs 1
Vi ( s) ( R1 R2 )Cs 1
R2
R1 R2
Gc s
1 Ts
1 Ts
T ( R1 R2 )C
1
T
Gc ( s) Gc1 ( s)Gc 2 ( s)
1 T1s 1 T2 s
lag
( 1, 0 1)
lead
It is usually assumed that the two break frequencies of the lag portion are
lower than the two break frequencies of the lead portion.
L( ) 20 lg | G |
1
T1
1
T1
1
T2
1
T2
( ) G
i
ei
R1
C1
R2
e0
C2
KI
s
PD controller
Effects are similar to phase-lead compensation
transfer function : Gc (s) K p K D s
R (s )
Assuming :
G( s)
s( s 2 n )
Kp
K Ds
G (s )
C (s )
GC (s )
n 2 ( K P K D s )
The open - loop transfer function of the compensated systemis : Gc ( s)G( s)
s( s 2 n )
K
It shows that the PD controller is equivalent to adding a open loop zero at : s P
KD
PI controller
Effects are similar to phase-lag compensation
Transfer function : Gc ( s) K p K I
1
s
R(s)
n
s( s 2 n )
2
Assuming : G( s)
Kp
KI
1
s
G(s)
C(s)
GC (s)
1
2
s n ( K P s K I )
s( s 2 n )
s 2 ( s 2 n )
n 2 ( K P K I )
KI
and a pole at : s 0
KP
PID controller
Effects are similar to phase lag-lead compensation
1
Transfer function: Gc(s) K p K I K D s
s
R(s)
Kp
KI
G(s)
C(s)
1
s
K Ds
GC (s)
u
r
R1
U 0 ( s ) R2 (1 R C s)
1 1
UR (s) R
1
u0
u
r
R1
PI controller
R2
u0
PD controller
U 0 ( s ) R2 (1 1 )
UR (s) R
R2Cs
1
R2
ur
R1
C
1
C2
_
+
PID controller
u0
U0 (s) ?
UR (s)