The document discusses lag compensation in control systems. It describes how a lag compensator can be used to improve steady-state response when a system has satisfactory transient response but unsatisfactory steady-state response. The lag compensator shifts poles slightly to the right on the root locus to increase gain without significantly changing transient response. Examples are provided to illustrate the design process of selecting lag compensator parameters to meet steady-state specifications while maintaining original pole locations.
The document discusses lag compensation in control systems. It describes how a lag compensator can be used to improve steady-state response when a system has satisfactory transient response but unsatisfactory steady-state response. The lag compensator shifts poles slightly to the right on the root locus to increase gain without significantly changing transient response. Examples are provided to illustrate the design process of selecting lag compensator parameters to meet steady-state specifications while maintaining original pole locations.
The document discusses lag compensation in control systems. It describes how a lag compensator can be used to improve steady-state response when a system has satisfactory transient response but unsatisfactory steady-state response. The lag compensator shifts poles slightly to the right on the root locus to increase gain without significantly changing transient response. Examples are provided to illustrate the design process of selecting lag compensator parameters to meet steady-state specifications while maintaining original pole locations.
The document discusses lag compensation in control systems. It describes how a lag compensator can be used to improve steady-state response when a system has satisfactory transient response but unsatisfactory steady-state response. The lag compensator shifts poles slightly to the right on the root locus to increase gain without significantly changing transient response. Examples are provided to illustrate the design process of selecting lag compensator parameters to meet steady-state specifications while maintaining original pole locations.
– If we choose R2C2>R1C1 in the circuit shown, it becomes a lag
compensator. LAG COMPENSATION
– The transfer function of the lag compensator is given by:
LAG COMPENSATION
– If the system exhibits satisfactory transient-response characteristics
but unsatisfactory steady-state characteristics.
– A lag compensator is put in cascade with the given feedforward
transfer function.
– Lag compensator will always add a negative angle to the angle
criterion. Therefore it will tend to shift the root locus to the right in s plane. That is toward the unstable region. LAG COMPENSATION
– To avoid an appreciable change in the root loci, the angle contribution
of the lag network should be limited to a small amount. – To assure this, we place the pole and zero of the lag network relatively close together and near the origin of the s plane. LAG COMPENSATION
– In figure (b), point P is still at approximately the same location on the
compensated root locus. – Then at where p=s1 is one of the dominant closed-loop poles
– If lag compensator gain is set equal to 1, the alteration in the transient-
response characteristics will be very small. The overall gain of the open- loop transfer function is increased by a factor of 𝛽. LAG COMPENSATION
– An increase in the gain means an increase in the static velocity error
constants. – The static velocity error constant 𝐾𝑣 of the uncompensated system is:
𝑣 of the compensated system is:
– The static velocity error constant 𝐾 LAG COMPENSATION
– Instead, the phase lag compensator is used to improve the system
steady state response.
– The characteristic equation of the uncompensated system is:
1 + 𝑘𝐺𝑝 (𝑠)𝐻 𝑠 = 0
– The system gain to place the system pole at s1 is:
−1 𝑘0 = 𝐺𝑝 𝑠1 𝐻(𝑠1 ) LAG COMPENSATION
– The system gain of the compensated system at s1 is:
– Thus the overall gain has been increased but the transient response appears to remain unaffected. Hence the steady state response of the system has been improved, and this is the principle use of lag compensator LAG COMPENSATION
Design Procedures for Lag Compensation by the Root-Locus Method
1. Draw the root-locus plot for the uncompensated system. Based on the transient-response specifications, locate the dominant closed- loop poles on the root locus.
2. Evaluate the particular static error constant specified in the
problem.
3. Determine the amount of increase in the static error constant
necessary to satisfy the specifications. LAG COMPENSATION
4. Determine the pole and zero of the lag compensator that produce the necessary increase in the particular static error constant without appreciably altering the original root loci. 5. Draw a new root-locus plot for the compensated system. If the angle condition is not satisfied there will be a slight discrepancy between them. Then locate, on the new root locus, the desired dominant closed- loop poles based on the transient-response specifications. 6. Adjust gain of the compensator from the magnitude condition so that the dominant closed-loop poles lie at the desired location. Example #1
Consider the system shown
Design lag compensator to increase the static velocity error
constant to about 5 sec–1 without appreciably changing the location of the dominant closed-loop poles. Example #1
– The feedforward transfer function is
– The closed-loop transfer function becomes
Example #1
– The root-locus plot for the system is:
– The dominant closed-loop poles are:
– The damping ratio of the dominant closed-loop
poles is ղ= 0.491. – undamped natural frequency of the dominant closed-loop poles is 𝜔𝑛 =0.673 rad/sec. Example #1
– The static velocity error constant is 0.53 sec–1.
– To increase the static velocity error constant by a factor of about
10, let us choose 𝛽=10 and place the zero and pole of the lag compensator at s = - 0.05 and s = - 0.005, respectively.
– The transfer function of the lag compensator becomes
Example #1
– The angle contribution of this lag network near a dominant closed-
loop pole is about 4°. There is a small change in the new root locus near the desired dominant closed-loop poles. – The open-loop transfer function of the compensated system then becomes Example #1
– The root-locus plot for the
compensated system near the dominant closed-loop poles together with the original root-locus plot. – If the damping ratio of the new dominant closed-loop poles is kept the same, then these poles are obtained from the new root-locus plot. Example #1
– The open-loop gain K is determined from the magnitude condition
as follows:
– Then the lag compensator gain is determined as:
Example #1
– Thus the transfer function of the lag compensator designed is:
– Then the compensated system has the following open-loop transfer
function: Example #1
– The static velocity error constant is:
– The addition of the lag compensator increases the order of the system from 3 to 4.
– The two other closed-loop poles for the compensated system are found as follows: Example #2
Consider the control system shown
Design a lag compensator Gc(s) such that the static velocity error constant Kv is 50 sec–1 without appreciably changing the location of the original closed-loop poles, which are at 𝑠 = −2 ± 𝑗 6 Example #2
– The dominant closed-loop poles are:
𝑠 = −2 ± 𝑗 6
10 – The damping ratio of the dominant closed-loop poles is ղ= . 5
– Undamped natural frequency of the dominant closed-loop poles is
𝜔𝑛 = 10 rad/sec. Example #2
𝑣 is specified – The static velocity error constant is 2.5 sec–1. Since 𝐾 as 50 sec–1
𝑐 = 1, then 𝛽=20 – Let us choose 𝐾 – Choose T =10. Then The transfer function of the lag compensator becomes Example #2
– The angle contribution of this lag network near a dominant closed-
loop pole is -1.3616 which is small.
– The magnitude of Gc(s) at 𝑠 = −2 + 𝑗 6 is 0.981. Hence the change
in the location of the dominant closed-loop poles is very small. Example #2
– The open-loop transfer function of the compensated system then
becomes
– The closed-loop transfer function is
Example #3
The open loop function of a radar tracking system is
𝐾 𝐾𝐺𝑝 𝑠 𝐻 𝑠 = 𝑠 (𝑠 + 2) The system requirements are a time constant of 1 s and a damping ratio of 0.707. The system is required to track aircraft that have a constant velocity which will appear as a ramp input of the control system. Design a control system to keep the aircraft within the beam width of the antenna with a steady state error of 0.2. Example #3
– The root locus plot of the system is
– From the specified transient response requirements, the pole
location is s =-1 +j, which is located in the root locus. Example #3
– The uncompensated system gain is:
−1 𝐾0 = =2 1 𝑠(𝑠 + 2) 𝑠=−1+𝑗
– The steady state error for the compensated system is:
– The pole positions for the designed value of K=10 occur at :
S=-0.1092, -0.9554±𝑗0.9584 Example #3
– The poles at 𝑠 = −1 ± 𝑗 have been shifted to -0.9554±𝑗0.9584. In
addition a pole at s =-0.1092 which has a very slow time constant of 9.16 s.
– The system would be so slow that the aircraft would fly out of the beam width of the antenna. Lecture #3 /Example #3
Given a unity feedback system that has the following
forward transfer function.
a. Sketch the root locus.
b. Find the point where the locus crosses the 0.5 damping ratio line. c. Find the gain at the point where the locus crosses the 0.5 damping ratio line. d. Find the range of gain, K, for which the system is stable. Lecture #3 /Example #3
– The finite open loop poles are 𝑠 = −3 ± 𝑗4. While the finite open loop zeros are s= 2 and 4.
– To find break in points ,we will use the transition method as follow:
The root locus line will cross the jw-axis at jw= ±𝑗4.06 with corresponding gain of k= 1 Lecture #3 /Example #3
a) The root locus plot of the system is
Lecture #3 /Example #3
b) The point where the locus crosses the 0.5 damping ratio line is at 𝑠 = −2.42 + 𝑗4.18 c) The gain at the point where the locus crosses the 0.5 damping ratio line is: 𝑠 2 + 6𝑠 + 25 𝑘= = 0.106 (𝑠 − 2)(𝑠 − 4) 𝑠=−2.42+𝑗4.18
d) The range of gain K for which the system is stable is k < 1.
