Scribd
Upload
9 views

Lec 21 Bode 5

The document discusses using frequency response techniques to design cascaded compensators to improve transient response and reduce steady-state error. It provides an example of designing a phase lag compensator to increase the phase margin of a unity feedback system from 11 degrees to over 20 degrees without changing the overall gain. The design procedure involves determining the required phase compensation, identifying the frequency and gain where the uncompensated system meets this phase, then calculating the phase lag transfer function parameters to shift the system response accordingly. Bode plots are used to verify the compensated system meets stability and performance criteria.

Uploaded by

Daffa Hafiz Zaidan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
9 views

Lec 21 Bode 5

The document discusses using frequency response techniques to design cascaded compensators to improve transient response and reduce steady-state error. It provides an example of designing a phase lag compensator to increase the phase margin of a unity feedback system from 11 degrees to over 20 degrees without changing the overall gain. The design procedure involves determining the required phase compensation, identifying the frequency and gain where the uncompensated system meets this phase, then calculating the phase lag transfer function parameters to shift the system response accordingly. Bode plots are used to verify the compensated system meets stability and performance criteria.

Uploaded by

Daffa Hafiz Zaidan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 13

Unit 9

Frequency-domain Design of Control Systems


Lec21: Objectives

At the end of the lecture, I should be able to:

 Use frequency response techniques to adjust the gain


to meet a transient response specification
 Use frequency response techniques to design
cascaded compensator to improve the steady-state error
 Use frequency response techniques to design
cascaded compensator to improve the transient
response.
Phase Compensation
• In the last example we saw that when the forward path gain was
sufficiently low, the closed-loop system was stable.
• This gives us a crude type of controller, by lowering the forward path
gain the Gain Margin can be increased, hence improving stability.
• Unfortunately thus could give an unacceptable low output at low
frequencies.
• We will now look at a more sophisticated controller in which we
reduce the gain only at high frequencies to improve the Gain Margin,
leaving the low frequency gain unaffected (phase lag compensation).

In standard format the Phase Compensation  1  1  s


devices have a transfer function of the form: Gc ( s)   
  1  s

If <1 then the break point for the lag component occurs at a lower frequency than the
lead component (1/ > 1/) and we will end up with a Phase Lag Compensator. If >1
then the reverse is true (1/ < 1/) and we have a Phase Lead Compensator.
Phase Lag Compensation
The function of a lag compensator as seen from the Bode diagrams below is:
 To improve the static error constant by increasing only the low frequency gain
without any resulting instability
 To increase the phase margin of the system to yield the desired transient
response.
Designing Phase Lag Device

1. Add 5 to the required phase margin and find the frequency at which the
uncompensated system has this value of phase margin. This frequency is
known as c. at c measure the gain of the uncompensated system this is
known as Gc.
2. Calculate  from Gc = 20 log.
3. Choose  so that the high frequency break point is one decade below c i.e.
(1/) = (c /10).
4. Calculate the break point 1/ and hence sketch the Lag device frequency
response on a Bode diagrams.
5. Adjust the gain of the uncompensated system to compensate for the term
1/.
6. Determine the frequency response of the compensated system and check
that the Phase and Gain margin are ok.
Example 39

25
i) A unity feedback system has a transfer function s(1  s)

Show that the phase margin of this system is just 11.

ii) Design a compensation device that will increase the


phase margin to at least 20 without altering the overall
gain, using each of the following devices;

a) A Phase Lag device.


25
Example 39 G(s) 
s(1  s )
The system is made up of the following elements:
1 1
G2 (s)  G3 ( s ) 
G1 ( s )  25 s 1 s

28

1/(1+s)

1/s

0.01 0.1 0.2 1 3 5 10 100


25
Example 39 G(s) 
s(1  s )
The system is made up of the following elements:
1 1
G2 (s)  G3 ( s ) 
G1 ( s )  25 s 1 s
Example 39

28
Example 39

 (rad/s) 0.1 0.8 1 2 5 5.6 10


Mag 249 24.4 17.7 5.59 0.981 0.785 0.249
20logMag 47.9 27.7 24.9 14.9 -0.2 -2.11 -12.1
Phase -95.7 -128.7 -135 -153.4 -168.7 -170.0 -174.3

From the Bode plots and the table above, we can see that the system
will be always stable since the phase never crosses -180. At around 5
rad/s the magnitude passes through 0 dB and at this frequency we see
that the Phase is -168.7, hence the Phase Margin is around 11.
Example 39
Phase Lag Design

1) Required PM = 20 + 5
Phase Angle = -180 +25 = -155
c  2 rad/s (from table/plot)
Gc = -15 dB (from table/plot)

2) Calculate  from Gc = 20log


 = 10^(-15/20) = 0.1778

3) Choose  so that (1/) = (c/10)


 = 28.11

4) Calculate (1/) = 0.036


Example 39
Phase Lag Design

Sketch the frequency response of phase lag controller


1/ = 0.036 1/ = 0.2

-15 dB

m    1
 m  sin 1    44
   1

5) Adjust the gain of the uncompensated system to


compensate for the term 1/
6) Check the compensated system
Example 39

1/ = 0.036 1/ = 0.2

PM = 20-25

You might also like