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LeadLagBode Handout
LeadLagBode Handout
1 / 30
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
EE3CL4:
Introduction to Linear Control Systems
Section 9: Design of Lead and Lag Compensators using
Frequency Domain Techniques
Tim Davidson
McMaster University
Winter 2014
EE 3CL4, 9
2 / 30
Outline
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
2 Lead
Compensators
3 Lag
Compensators
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
L(s) = Gc (s)G(s)H(s).
Nyquists stability criterion
1
Gain margin: |L(j
, where x is
x )|
the frequency at which L(j) reaches 180
Phase margin, pm : 180 + L(jc ), where c is
the frequency at which |L(j)| equals 1
Damping ratio: pm = f ()
Roughly speaking, settling time decreases with
increasing bandwidth of the closed loop
EE 3CL4, 9
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Bode diagram
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
L(j) =
1
j(1 + j)(1 + j/5)
Gain margin 15 dB
Phase margin 43
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
= 20 log10 (|Gc (j)| + 20 log10 |G(j)|
Phase:
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
Lead Compensators
(s+z)
Gc (s) = Kcs+p
, with |z| < |p|, alternatively,
Gc (s) = Kc 1+s
1+s , where p = 1/ and = p/z > 1
Bode diagram (in the figure, K1 = Kc /):
EE 3CL4, 9
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Lead Compensation
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
margin pm
Slope is positive: might be able to increase the
EE 3CL4, 9
10 / 30
Lead Compensation
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
Gc (s) = Kc 1+s
1+s
By making the denom.
real,
can show that
Gc (j) = atan
(1)
1+( )2
1
Max. occurs when = m =
=
zp
1
1
Equivalently, sin(m ) = +1
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
appropriate
To maximize impact of phase lead, want peak of phase near
c of the compensated open loop
EE 3CL4, 9
12 / 30
Design Guidelines
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
2
3
4
5
6
7
8
9
10
EE 3CL4, 9
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Example
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
5
Type 1 plant of order 2: G(s) = s(s+2)
Design goals:
Steady-state error due to a ramp input less than 5% of
velocity of ramp
Phase margin at least 45 (implies a damping ratio)
Hence Kp = 8.
To find phase margin of prop. controlled
loop
we need
40
c 6.2rad/s
Evaluate Kp G(j) = 90 atan(/2) at = c
Hence pm, prop = 18
EE 3CL4, 9
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Example
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
1
Solving +1
= sin(30 ) yields = 3. Set Kc = 3 8
Since 10 log10 (3)
= 4.8 dB we should choose m to be
40
= 4.8 dB
where 20 log10 jm (j
m +2)
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
Bode Diagram
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
Step Response
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
Ramp Response
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
EE 3CL4, 9
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Lag Compensators
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
Gc (s) =
Kc (s+z)
s+p , with |p| < |z|, alternatively,
Kc (1+s )
1+s , where z = 1/ and = z/p
Gc (s) =
>1
Bode diagrams of lag compensators for two different
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
EE 3CL4, 9
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Tim Davidson
Qualitative example
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
EE 3CL4, 9
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Design Guidelines
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
2
3
are maintained
Place zero of the comp. around c0 /10 so that at c0 we
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
Hence Kp = 8.
To find phase margin of prop. controlled
loop
we need
40
c 6.2rad/s
Evaluate Kp G(j) = 90 atan(/2) at = c
Hence pm, prop = 18
EE 3CL4, 9
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Example
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
0.8(s+0.15)
s+0.015
z = 0.15
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
4(s+0.15)
Compensated open loop: Gc (s)G(s) = s(s+2)(s+0.015)
Numerical evaluation:
new c = 1.58
new phase margin = 46.8
By design, Kv remains 20
EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
Step Response
EE 3CL4, 9
29 / 30
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators
Ramp Response
EE 3CL4, 9
30 / 30
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators