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lead_compensation_MCS1

The document covers the fundamentals of automatic control systems, including mathematical modeling, block diagram reduction, and transfer function analysis. It discusses various types of controllers, such as proportional, integral, and intelligent controllers, as well as the design of compensators using the root locus method. Additionally, it explains the effects of adding poles and zeros to the open-loop transfer function and provides examples of implementing these concepts using MATLAB.

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Omar Esmael
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6 views7 pages

lead_compensation_MCS1

The document covers the fundamentals of automatic control systems, including mathematical modeling, block diagram reduction, and transfer function analysis. It discusses various types of controllers, such as proportional, integral, and intelligent controllers, as well as the design of compensators using the root locus method. Additionally, it explains the effects of adding poles and zeros to the open-loop transfer function and provides examples of implementing these concepts using MATLAB.

Uploaded by

Omar Esmael
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
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Automatic Control

1- Mathematical modeling of system control


2- Block diagram
3- Reduction of block diagram
4- Transfer function
5- Transient response analysis
6- Design of control system (Routh’s stability ,root locus , frequency
domain )

Transfer function of the plant


Obtaining Cascaded, Parallel, and Feedback (Closed-Loop) Transfer
Functions with MATLAB:
Transient and Steady-State Response Analyses

1. Delay time, td
2. Rise time, tr
3. Peak time, tp
4. Maximum (percent) overshoot, Mp
5. Settling time, ts: the final value (2% or 5%).
Example 1: Obtain the transfer function of the motor.

Example 2:

MATLAB Description of Standard Second-Order System: Obtaining the


Unit-Step Response of the Transfer-Function System
if Wn = 5….20 and ζ = 0 ….. 1.
First: ζ =0.5 & Wn = 5 or 10 or 15 or 20 and draw the response any case
Second : Wn = best & ζ =0.3 or 0.6 or 0.9 or 1.2 and draw the
response any case
Type of Controllers

Classifications of Industrial Controllers:


Let the output signal from the controller be u(t) or U(s) and the actuating error signal be
e(t) or E(s).
1) Two-position or on–off controllers: In a two-position control system, the
actuating element has only two fixed positions, which are, in many cases, simply on
and off. Two-position or on–off control is relatively simple and inexpensive and, for
this reason, is very widely used in both industrial and domestic control systems
2) lead compensator using root locus method
3) lag compensator using root locus method
4) lead and lag compensator using root locus method
5) Proportional controllers : The proportional controller is essentially an amplifier
with an adjustable gain and the relationship between the output of the controller

U(s) and the actuating error signal E(s) is: = Kp

6) Integral controllers: =

7) Proportional-plus-integral controllers: = Kp

8) Proportional-plus-derivative controllers : = K p + Kd S

9) Proportional-plus-integral-plus-derivative controllers: = Kp

10) Intelligent controller (fuzzy, neural , expert system, …..)


CONTROL SYSTEM DESIGN USING ROOT LOCUS

Design of Compensator using Root-Locus Method.

The performance specification for a system are usually based on a desired damping
ratio , undamped natural frequency n , and steady state errors ess. The root locus
diagrams for the system may show that the desired performance cannot be achieved by
adjustment of gain alone. The control engineer must then attempt to reshape the root
locus by introducing dynamic compensator to meet the desired performance
specifications.

Effects of the Addition of Poles:

The addition of a pole to the open-loop transfer function has:

 the effect of pulling the root locus to the right,


 tending to lower the system’s relative stability ( less stable) and
 to slow down the settling of the response.

Remember that the addition of integral control adds a pole at the origin, thus making the
system less stable. Fig. 1 shows examples of root loci illustrating the effects of the
addition of a pole to a single-pole system and the addition of two poles to a single-pole

system

Fig. 1 Effects of the addition of a pole

Effects of the Addition of Zeros:

The addition of a zero to the open-loop transfer function has:

 the effect of pulling the root locus to the left,


 tending to make the system more stable and
 to speed up the settling of the response.
Physically, the addition of a zero in the feedforward transfer function means the addition
of derivative control to the system. The effect of such control is to introduce a degree of
anticipation into the system and speed up the transient response. Fig. 2(a) shows the root
loci for a system that is stable for small gain but unstable for large gain. Fig.2(b), (c), and
(d) show root-locus plots for the system when a zero is added to the open-loop transfer
function. Notice that when a zero is added to the system of Fig. 2(a), it becomes stable for
all values of gain.

Fig. 2 Effects of the addition of Zero

Adding only zero often problematic because such controller amplifies the high-
frequency noise and more stable.

Electronic networks of Compensators :

There are many ways to realize lead compensators and lag compensators, such as
electronic networks using operational amplifiers, electrical RC networks, and mechanical
spring-dashpot systems. Fig.3 shows an electronic circuit using operational amplifiers and
the transfer function for this circuit are:

Fig. 3 Electronic circuit


( )( )

GC =

Where : , , then

From Equation, we see that this network is a lead network if


or

It is a lag network if or

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