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    S S S S G: LEAD COMPENSATOR: Requirements

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    Edhem
    The document specifies requirements for a lead compensator to improve the steady state error and phase margin of a plant. The plant transfer function is given as Gp(s)=2/(s+1)(s+2)(s+3). The uncompensated phase margin is calculated to be 26.8 degrees. The lead compensator transfer function is defined, and the values of α and crossover frequency are calculated to satisfy the phase margin requirement of 50 degrees while maintaining stability (α<1). The compensated crossover frequency is determined to be 0.957 rad/sec.

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    S S S S G: LEAD COMPENSATOR: Requirements

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    Edhem
    7 views8 pages
    The document specifies requirements for a lead compensator to improve the steady state error and phase margin of a plant. The plant transfer function is given as Gp(s)=2/(s+1)(s+2)(s+3). The uncompensated phase margin is calculated to be 26.8 degrees. The lead compensator transfer function is defined, and the values of α and crossover frequency are calculated to satisfy the phase margin requirement of 50 degrees while maintaining stability (α<1). The compensated crossover frequency is determined to be 0.957 rad/sec.

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    Lead

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    The document specifies requirements for a lead compensator to improve the steady state error and phase margin of a plant. The plant transfer function is given as Gp(s)=2/(s+1)(s+2)(s+3). The uncompensated phase margin is calculated to be 26.8 degrees. The lead compensator transfer function is defined, and the values of α and crossover frequency are calculated to satisfy the phase margin requirement of 50 degrees while maintaining stability (α<1). The compensated crossover frequency is determined to be 0.957 rad/sec.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    7 views8 pages

    S S S S G: LEAD COMPENSATOR: Requirements

    Uploaded by

    Edhem
    The document specifies requirements for a lead compensator to improve the steady state error and phase margin of a plant. The plant transfer function is given as Gp(s)=2/(s+1)(s+2)(s+3). The uncompensated phase margin is calculated to be 26.8 degrees. The lead compensator transfer function is defined, and the values of α and crossover frequency are calculated to satisfy the phase margin requirement of 50 degrees while maintaining stability (α<1). The compensated crossover frequency is determined to be 0.957 rad/sec.

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    of 8

    LEAD COMPENSATOR: Requirements

    2
    G p (s) =
    ( s + 1)( s + 2)( s + 3)

    Steady state error (unit ramp ess=1.2)


    Phase margin (500)

    Department for Automatic Control and Electronics


    Faculty of Electrical Engineering
    Sarajevo, November, 2013
    University of Sarajevo
    Adnan Tahirovic

    LEAD COMPENSATOR: Requirements

    2
    G p (s) =
    ( s + 1)( s + 2)( s + 3)

    zc
    =
    <1
    pc

    Faster response
    More noise

    pc=2, zc=1
    pc=4, zc=1

    15
    Magnitude (dB)

    s
    +1
    z
    Gc _ lag ( s ) = K c c
    s
    +1
    pc

    Bode Diagram
    20

    pc=8, zc=1
    10

    0
    60

    Phase (deg)

    SSE SPECIFICATION

    30

    0
    -2

    10

    -1

    10

    10

    10

    Frequency (rad/sec)

    10

    10

    LEAD COMPENSATOR: Requirements

    2
    1
    G p (s) =
    = N sys G p _ s ( s )
    ( s + 1)( s + 2)( s + 3) s

    SSE SPECIFICATION

    s
    +1
    z
    Gc _ lead ( s ) = K c c
    s
    +1
    pc

    zc
    =
    <1
    pc

    2 .5 2
    G ( s ) = K c ( N req N sys ) G p _ s ( s ) =
    s ( s + 1)( s + 2)( s + 3)
    s
    1

    LEAD COMPENSATOR: Making the Bode plots

    2.5
    2
    G(s) =
    s ( s + 1)( s + 2)( s + 3)

    LEAD COMPENSATOR: Uncompensated phase margin

    2.5
    2
    G(s) =
    s ( s + 1)( s + 2)( s + 3)

    G ( j x ) = 0

    x = 0.65

    G ( j x ) = 153.2o
    PM uncompensated = 180o + G ( j x )

    PM uncompensated = 26.8o

    LEAD COMPENSATOR: Determination of \PHI_max and \alpha

    s
    +1
    z
    Glead ( s ) = c
    s
    +1
    pc

    2.5
    2
    G(s) =
    s ( s + 1)( s + 2)( s + 3)
    zc
    =
    <1
    pc

    max = PM specified + 10o PM uncomensated

    sin max

    1
    =
    1+

    1 sin max
    =
    1 + sin max

    = 0.292

    LEAD COMPENSATOR: Compensated crossover frequency

    2.5
    2
    G(s) =
    s ( s + 1)( s + 2)( s + 3)
    zc
    = 0.292 =
    pc
    Lead compensator feature:

    Glead ( jmax ) = 10 log( ) max = zc pc

    G ( jcompensated ) = 10 log( )

    zc = 0.517
    pc = 1.77

    compensated = 0.957 = max

    s
    +1
    2.5 0.517
    Gc _ total ( s ) =
    s
    s
    +1
    1.77

    LEAD COMPENSATOR

    safety factor

    SF G ( j x uncompensated ) G ( j x compensated )

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