Chapter 7 System Compensation: (Linear Control System Design)
Chapter 7 System Compensation: (Linear Control System Design)
Chapter 7 System Compensation: (Linear Control System Design)
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Question: What is system compensation?
Given the control plant, the procedure of controller
design to satisfy the requirement is called system
compensation.
Question: Why to compensate?
The closed-loop system has the function of self-tunning.
By selecting a particular value of the gain K, some single
performance requirement may be met.
Is it possible to meet more than one performance
requirement?
Sometimes, it is not possible.
Something new has to be done to the system in order to
make it perform as required.
1.Control system design and compensation
Design : Need to design the whole controller to
satisfy the system requirement.
Compensation : Only need to design part of the
controller with known structure.
2. Three elements for compensation
Original part of the system
Performance requirement
Compensation device
7.1 Introduction to Compensation Design
Resonant frequency r n 1 2 2
Bandwidth b n 1 2 2 (1 2 2 ) 2 1
Compensator
+
R(s) + + C(s)
Original Part
-
N(s)
Compensator
+ +
R(s) + + Original C(s)
Controller Part
+
-
L ω L ω L ω
C
1. Transfer function Ei Eo
R2
: E s 1 1 Ts
Gc s o
Ei s 1 Ts Passive Phase Lead Network
where
R1 R2 R1R2
1, T C
R2 R1 R2 1 1
T T
Multiplying the transfer function by α
Lc ( ) 20 lg ( T ) 2 1 20 log (T ) 2 1
( 1)T
c ( ) arctg T arctgT arctg
1 T 2 2
dc ( ) 1 1 1
0 , m , m arctg arcsin
d T 2 1
L( )
Lc (m ) 10 log 20 log a
20dB / dec 20 log a
Determination of
( )
1 sin m
1 sin m m
0 20
Geometry mean 1 / aT
m 1/ T
2 、 Effect of phase lead compensation
L ,
40 20 20
20 40
1000
0 142
10 23.8
100 40
2
40
1
2
3
4 2
1
Example 7.1: Given a unity-feedback system with
the following open-loop transfer function
4K
G ( s)
s ( s 2)
Please design phase lead element to satisfy the following
three requirements:
1. steady speed error constant K v 20s 1
20 Uncompensated
0
system
-20
20
-40 G ( s)
-60
10
0 1
10
2
10
s (0.5s 1)
-100
-120 c 0 6.17rad/s
-140 17
-160
-180
0 1 2
10 10 10
1
10 lg 6.2dB m 9rad/s c1
T
40
1 m 20
1 4.4rad/s
T
0
1
-20
2 m 18.4rad/s -40
T -60
0 1 2
10 10 10
s 4.4 1 0.227 s
Gc s 0.238 50
s 18.4 1 0.054s 0
-50
1 0.227 s
Gc s -150
1 0.054s -200
0 1 2
10 10 10
Comments on phase lead compensation
1 、 The slop around the gain crossover frequency is
increased. It improves the relative stability.
2 、 The closed-loop resonance peak is reduced. Also, the
overshoot is reduced.
3 、 Increase the open-loop phase margin.
4 、 The open-loop (and usually the closed-loop)
bandwidths are increased. It is beneficial for fast
response. But it may cause problems if noise exists at
the higher and unattenuated frequencies.
5 、 Take no effect on the steady-state performance.
Rules to design phase lead compensation
(1) Determine K to satisfy steady-state error
constraint
(2) Determine the uncompensated phase margin γ0
(3) estimate the phase margin m in order to satisfy the
transient response performance constraint
(4) Determine
(5) Calculate ωm
(6) Determine T
(7) Confirmation
Constraints for application of lead compensation :
Constraint 1: The system is stable.
If it is unstable, the phase need to compensate is
too big. The noise takes severe effects on the system.
Constraint 2: The phase cannot reduce very fast
around the gain crossover frequency.
The phase lead compensation can only provide less
than 60o extra phase margin.
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6.3 Phase Lag Compensation
R1
Transfer function:
R2
1
R2 Ei
Gc ( s ) CS Eo
C
1
R1 ( R2 )
CS
R2Cs 1 Passive phase lag network
( R1 R2 )Cs 1
Ts 1
Ts 1
R2
T ( R1 R2 )C , 1
R1 R2
L( )
1 20dB / dec
m
T
10 lg
dB 0
(c1 )
-20 5
-5
20 lg
-40
-2 -1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4 -0.2 010
-10
K v 30 40 o GM 10(dB )
c1 2.3(rad / s )
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(4) L(ωc1)=22dB
L c1 / 20
10 0.08
(5) 1 1
c1 0.25
T 10
1
p 0.25 0.08 0.02rad/s
T
(6) 4s 1
Gc s
50 s 1
Confirmation: c1 44 , g 6.7 rad / s, GM 10dB
o
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Applicable for the following systems :
( 1 ) The transient performance is satisfactory, but the steady-
state performance is desired to be improved.
( 2 ) High requirement for noise attenuation.
Drawback : The system response is slow down.
Comparison of phase lead and lag compensation
Phase lead compensation Phase lag compensation
Main Improve transient performance by using Improve the steady-state performance by
Idea phase lead characteristics using magnitude attenuation at the high-
frequency part
(1) Around ωc, the absolute value of slope is (1) Keep relative stability unchanged, but
reduced. Phase margin γ and gain margin reduce the steady-state error.
GM are increased. (2) Reduce ωc and then closed-loop
Effect (2) Increase the bandwidth bandwidth
(3) With bigger γ, overshoot is reduced. (3) For specific open-loop gain, γ, GM and
(4) Take no effect on the steady-state resonant peak Mr are all improved due to
performance. magnitude attenuation around ωc
(1) Broad bandwidth reduces the filtering Narrow Bandwidth increase the response
Weak for noise. time.
ness (2) For passive network implementation,
need an extra amplifier.
(1) Extra phase lead compensation is less (1) The phase lag of the uncompensated
than 550. system is fast around ωc.
(2) Require broad bandwidth and fast (2) Bandwidth and transient response are
Applic
ation
response satisfactory.
(3) No matter the noise at high-frequency (3) Require attenuation of noise
part. (4) The phase margin can be satisfied at
the low frequency.