Outline
Introduction
Improving
I
i SSE via
i cascade
d compensation
ti
Improving
p
g Transient Response
p via cascade compensation
p
Improving SSE & Transient Response via cascade
compensation
Physical realization of compensation
control system.
9 Add a zero to the forward-path transfer function
9 require an active network for its realization
9 Differentiation is a noisy process
9 Differentiating high-frequency noise yield a large, unwanted
signal.
9 called proportional-plus-derivative (PD) controller
ttransfer
f function.
f
ti
9 require a passive network
9 Called
C ll d lead
l d compensator
t
is
G c ( s ) = s + zc
Uncompensated
p
System
y
Compensated System
add Zero@ s = - 2
TS =
4
= 1.33
1 33 s
3
Tp = =
= 0.46
0 46 s
6.874
Compensated System
add Zero@ s = - 3
TS =
4
= 1.64 s
2.437
Tp = =
= 0.56 s
5.583
Compensated System
add Zero@ s = - 4
4
4
TS = =
= 2.14 s
1.869
Tp = =
= 0.73 s
4.282
derivative compensator
p
to yyield a 16% overshoot,, with a
threefold reduction in settling time.
Uncompensated
p
System
y
%OS = 16% = 0.504
= cos 1 ( 0.504 ) = 59.74D
4
4
Ts =
= =
= 3.320
n 1.205
1 205
Compensated System
Threefold reduction in TS
33.320
320
Ts =
= 1.107 s
3
4
4
=
= 3.613
3 613
Ts 1.107
59.74D
3.613
Compensated System
1 6.193 1 6.193
1 6.193
D
1 2 3 = 180 tan
tan
= 275.6
tan
3.613
( 4 3.613)
( 6 3.613)
Compensated
p
System
y
The geometry:
6.193
= tan ( 84.4D )
3.613
= 3.006
3 006
Compensated System
K ( s + 3)
G=
s ( s + 4 )( s + 6 )
K ( s + 3 ) / s ( s + 4 )( s + 6 )
G
TF =
=
1 + GH 1 + K ( s + 3 ) / s ( s + 4 )( s + 6 )
TF =
K ( s + 3)
K ( s + 3)
=
s ( s + 4 )( s + 6 ) + K ( s + 3 ) s ( s 2 + 10 s + 24 ) + K ( s + 3 )
K ( s + 3)
K ( s + 3)
TF = 3
= 3
2
s + 10 s + 24 s + Ks + 3K s + 10 s 2 + ( 24 + K ) s + 3K
from
s 3 + 10 s 2 + ( 24 + K ) s + 3K = 0
s 3 10 s 2 24 s
K=
s+3
Compensated System
The second-order
approximate for the
compensated system
my be invalid.
%OS
TR,new
TS,new
TR,old
TS,old
controller?
GC(s)
K
GC ( s ) = K 2 s + K1 = K 2 s + 1
K2
differentiation.
o Differentiation is a noisy process, the level of the noise is
low, but the frequency of the noise is high compared to
the signal.
Overcome the disadvantages:
o The lead compensator is a passive network is used to
overcome these
th
d
drawbacks.
b k
Lead Compensation
Lead compensation
A single zero cannot be produced
A compensator zero and pole are used
If the pole is farther from the imaginary axis than the
Lead Compensation
Advantages
Ad
off a passive
i lead
l d networkk over an active
i PD
controller
No additional power supplies are required
Noise due to differentiation is reduced
root locus that cross the imaginary axis into the right halfplane, while the additional of the single zero of the PD
controller tends to reduce the ones.
Lead Compensation
Angular contribution required of the compensator
Lead Compensation
We realize that an infinite number of lead compensators
Uncompensated System:
Damping ratio line:
=
=
ln ( %OS / 100 )
2 + ln 2 ( %OS / 100 )
ln ( 30 / 100 )
+ ln ( 30 / 100 )
2
= 0.358
0 358
4
= 3.972
1.007
Compensated System:
Find the design point:
A twofold reduction in Ts :
Ts =
3.972
= 1.986 s
2
4
n = = 2.014
Ts
Compensated System:
Arbitrarily assume a
compensator zero at -5 on the
real axis as a possible solution:
Compensated System:
Angular distribution @desired point:
5.252
5.252
5.252
1
1
tan
tan
1 2 + 3 4 = 180D tan 1
2 014
2 014
2 014
2.014
4 2.014
5 2.014
5.252
D
172.69
tan 1
=
6 2.014
172.69D 5 = 180D
Compensated System:
5.252
= tan 77.31
31D
pc 2.014
pc = 42.96
K ( s + 5)
G (s) =
s ( s + 4 )( s + 6 )( s + 42.96 )
G (s)
K ( s + 5 ) / s ( s + 4 )( s + 6 )( s + 42.96 )
=
TF =
1 + G ( s ) H ( s ) 1 + K ( s + 5 ) / s ( s + 4 )( s + 6 )( s + 42.96 )
TF =
K ( s + 5)
K ( s + 5)
= 4
s ( s + 4 )( s + 6 )( s + 42.96 ) + K ( s + 5 ) s + 52.96 s 3 + 453.6 s 2 + (1031.04 + K ) s + 5 K
from
K = 1423
Compensated System:
a: ZC @ -5
b: ZC @ -44
c: ZC @ -2
independently.
o 1.
1 First improve the transient response and then
improve the SSE
9 decrease in speed of the response when the SSE is improved
response
9 Improvement in transient response yields deterioration in the
PI controller
9 ca
called
ed a
ap
proportional-plus-integral-plus-derivative
opo t o a p us teg a p us de vat ve
(PID) controller
o 2. Design
g ap
passive lead compensator
p
and then design
g a
passive lag compensator
9 Called lag-lead compensator
2 K1
K2
K3 s +
s+
2
K3
K3
K1s + K 2 + K 3 s
K2
Gc ( s ) = K1 +
+ K3s =
=
s
s
s
2.
3.
4.
5.
6
6.
7.
8.
=
=
ln
l ( %OS / 100 )
2 + ln 2 ( %OS / 100 )
ln ( 20 / 100 )
2 + ln 2 ( 20 / 100 )
= 0.456
0 456
Tp =
4
= 0.739 s
5.415
=
= 0.297 s
10.57
d
imaginary part:
real part:
d =
Tp
( 2 / 3)( 0.297 )
d
tan117.13
= 15.87
= 8.13
198.37D
198.37
198 37D + = 180D
therefore
OK
Stepp 5: Design
g PI controller
ideal integral compensator zero will work, as long as the zero
2 K1
K2
K
s
s
+
+
3
K3
K3
K1s + K 2 + K 3 s 2
K2
+ K3s =
=
Gc ( s ) = K1 +
s
s
s
G PD ( s ) = ( s + 55.92 )
s + 0.5
G PI ( s ) =
s
2
K ( s + 55.92
55 92 )( s + 0.5
0 5 ) 4.6
4 6 ( s + 55.92
55 92 )( s + 0.5
0 5 ) 4.6 ( s + 56.42 s + 27.96 )
G PID ( s ) =
=
=
s
s
s
K1 = 259.5
259 5
K 2 = 128.6
128 6
K 3 = 4.6
46
OK
Lag-lead
Lag
lead Compensator Design
The following
g steps
p summarize the design
g p
procedure:
1. Evaluate the performance of the uncompensated system to
2.
3.
4
4.
5.
6.
7
7.
8.
Lag-lead
Lag
lead Compensator Design
Problem: Design a lag-lead compensator for the system of Figure
so that the system will operate with 20% overshoot and a twofold
reduction in settling time. Further, the compensated system will
exhibit a tenfold improvement in steady-state error for a ramp
input.
= 0.456
4
Ts =
= 2.23
2 23 s
1.794
Angular
g distribution @
@desired ppole = 164.65D
Compensator pole location:
choose zero @ s = - 6
164.65D = 180D
- coincident with the open-loop
p
p ppole at -6
= 164.65D 180D = 15.35D
- leave the lead-compensated system with
7.003
three ppoles
t 15 35D
p 3.588 = tan15.35
c
pc = 29.1
compensated
p
system.
y
open loop uncompensated system TF (@K=192.1)
192.1
G (s) =
s ( s + 6 )( s + 10 )
K v = 3.201
K v = 6.794
lead
l d compensation
i has
h improved
i
d the
h SSE bby a ffactor: 6.794 / 3.201 = 2.122
lag compensation has improved the SSE by a factor: 10 / 2.122 = 4.713
Step
S 6 : Design the lag compensator
Lead-compensated
Lead-lag compensated
Vo ( s )
Z2 ( s )
=
Vi ( s )
Z1 ( s )
s + 55.92 )( s + 0.5 )
(
=
s
27.96
G c ( s ) = s + 56.42
56 42 +
s
R2 C1
+
= 56.42
56 42
R1 C2
R2C1 = 1
1
= 27.96
R1C2
1
1
s
+
s
+
T
T
1
2
Gc ( s ) =
s
+
s
+
T
T
1
2
s+4
Gc ( s ) =
s + 20.09
1
=4
R1C
1
1
+
= 20.09
R1C R2C
R1C = 0.25
R2C = 0.0622
0 0622
C = 1 F
R1 = 250 k
R2 = 62.2 k