Escolar Documentos
Profissional Documentos
Cultura Documentos
1. Lead compensator
2. Lag compensator
• Since a lead compensator has only positive phase angle, we must have:
○ ω z>ω p
• since:
○ ω p = .1 rad/sec, and
○ ω z = 1 rad/sec.
This Bode' plot shows the essential characteristic of a phase lag compensator.
• There is one pole and one zero. Both are real.
• Phase is always negative!
• ω z>ω p
○ If, for example, ω z<ω p , we would have a lead network, not a lag
network.
Here note the following in the plot of the example we encountered earlier.
• Phase angle is always negative.
○ The pole at ω z = .1, or f = .0159 Hz, causes the magnitude plot to bend
down, and the phase to become negative near f = .159 Hz.
○ Later, the zero at 1.59 Hz. brings the Bode' plot's slope back to zero
for high frequencies, and the phase back to zero.
Below, we have a video that shows how lag networks behave as the ratio of
the pole to the zero changes.
• In this system, we assume that you have a lag network, and an adjustable
gain in the lag network.
○ In that case, the compensator transfer function would be:
Gc(s) = Kc(s + a)/(s + b)
And we must have a > b, for a lag compensator.
Bode' Plot Effects
Let's first examine how adding a lag compensator to a system affects the
Bode' plot - and therefor the performance - of the system. Consider a system
with this transfer function.
Gp(s) = 1/[(s + 1)(s + 4)]
Here is the Bode' plot for this transfer function.
This is the Bode' plot for the system as it stands - with no compensator or
controller. Let us first see how well we can control the system as it stands. Here
are some specifications to try to achieve.
• SSE < 2%
• Phase Margin > 50o
The Bode' plot below has a line indicating where the phase reaches -130o.
Examining the Bode' plot we can conclude the following:
• The zero db crossing should occur at around f = 0.8 if we want to get a
phase margin of 50o.
• If the zero db crossing is set at f = 0.8, the db gain at that point is-30 db.
○ If the gain is -30 db, we can add 30 dbgain to the system.
○ If we add 30 db of gain, the DC gain will move from -12 db to +18 db.
A gain of 30 db is a gain of about 32.
○ A DC gain of 18 db is a gain of 8.
○ A DC gain of 8 will produce a SSE of .11 or 11%.
• Here's the Bode' plot after adjusting the gain.
Here is the response for the gain we have just computed. This response shows the
following:
• 11% SSE.
• About 24% overshoot (up to 1.1 when it settles out to 0.89).
• A rise time (10-90%) that looks to be a little less than 0.5 sec, and about
what we predicted.
Here is the unit step response for a system with that gain calculated above.
There seems to be something wrong here. It looks like this system has about 5%
SSE. However, that's not true! If you examine what happens over a longer time
frame, you get something like the response shown below. You can see the same
effect in the simulator where you can see how the exponential tail approaches the
steady state.
To see the root locus for the compensated system click the button on the right.
You should be able to see that the root locus doesn't change much except for the
addition of a branch between the compensator pole and the compensator zero.
That branch is critical. Here is the root locus for the compensated system.
Note the following points that you can see in this plot.
• The centroid (center of gravity) shifts to the right when the lag
compensator is added because the zero is larger than the pole.
○ The shift isn't really very large, but there is definitely a shift.
○ Putting the pole and zero at higher frequencies - keeping the pole-to-
zero ratio the same - would cause the centroid to shift even further
because the pole and zero would both be further into the left half
plane.
○ The asymptotes for the branches going to infinity will be shifted to
the right because of the centroid's shift to the right.
• If there is root locus activity near the zero, then the locus will have a
tendency to bend toward the zero.
Why Use Lead Compensators?
Lead compensators are sometimes the best controller to use to get a system
to do what you want it to do. It's as simple as that. They are an option that you
may need if you cannot use anything in the PID family to bring a system's
performance within specifications. There's no guarantee that a lead compensator
will do the trick, but it is another weapon in the arsenal.
• Since a lead compensator has only positive phase angle, we must have:
○ ω z<ω p
• Notice:
○ ω z<ω p
• since:
○ ω z = .1 rad/sec
○ ω p = 1 rad/sec.
This Bode' plot shows the essential characteristic of a phase lead
compensator.
• There is one pole and one zero. Both are real.
• Phase is always positive!
• ω z<ω p