Unit 5 Compensator Design3
Unit 5 Compensator Design3
@
lus l-Qrn
-Lc
r Y
Co^rnex {re? = \,rJ"r
@'*)
:
toto {-eq. ; t,.)j : o'l.ocl f sec
hiqh *".1i = t,.7y, , tP radlt<c
I xad lspc lt)"'=
5-nac0f"e c
"- 5D : z-o lq
< kJ = lltqdlsec 20 tog Ea
{,o
ttl= 5ta{fsec -4o toe aa t+ = b{b
[-L)
{
7
,I
fe) + (" = -
t2-db ^E
Lo = ro'rad)rec -bo
to9
J
?h*o an9! t*..ntl o^2\-o
*I
+*il w {
d
I
( g'qP)') E
- zz-*
+''.,.n,r
@ fs. = ^'\ '-. go
I + PS'
7
rt
?t,t'=-
'r'o
=- \SD-2^LY
J
-,++" =-
J
@ MqX" \actc) fh a,r e-
o'ng\ €- J
d4 -?n t-Q- J
Q- --
= zo - U+4)
+D i
=- bq" ghould be I
Q* )bd 2- leaa\ comPenrolox t.
I
rh
Ym =g2-
=Z+'D 1
de\9ne c)
I
7
J
J
i
i
I
,
I
Ii
t \+s da) z It
;12 / I +O'2\-t I
'aa
l.\
BRe e E R e ot ts fl f F+
L--
lJ O},u n \ooP *xorut<' fundie'"'
\z'bl
E
Dvre,ta\l
@
-_
(a" I t) tt a, (s)
l- O2s'(t+p._rbs)^ /, Do
L- :
g"zs
lt5
Ci+ o-otr-rry=> s (s +D (
(,+ o"z+s)-
rSliy
s ( r+D-obrs)-(r+s)( l+o-2r)
o Dode ?\c+ O1 Cc rn\,anro\.e d -sg<tero .
o .obt
I
0.2
lsrlc -tre Q = tr)'t : 0'1 nred s?c 11)h = 20 vad]sec .
t lt- -2-D
JrD *2-o -2-o-2-o- -+rdt/.lE
_l r roQls<c
lfv)
"-4o+tk) - O
(1
q^o
Lt+io'z\-) ar.rr*)t..
o .-2-o * -zodbfdel
?..{)
*t 5 -
+io'zt,.>
t
*4o -2-o-to = -bddfl+
.
t+,9
t +o.DbJ u)
$a$ni\ud €
zptog+ :4sau
.
1r"l
= D' l
2n to9 JL
Jvl
trl.- II h \og l+
:_g cl b
-t-
I
(9'
I
-
!J : +-2 J
\n-- 5 J
j
1xt =t
trl-2o
l+"9
I \
t
7 !
phua 6,ng\ e
q
Y '
I
t'afl
-tq'C 'o -
D'zLD '
_2r^3
l
+ *eg - l2-1 - I +& -_lto -l1l -l&9
j
)
o j
*r. = -l[tr
I
{
? : tg'o- iq+ 1I
1
6b a' Comf'enldk c'l I
The t:rqr..A+€r $,*n c\\orr 1
1
&y\ew ;D -2 )
^r\
c,1i,
l4 t l+o'L+s) 2_
j
)
11p ours)
t 6s+D ( \r-o'zs) a
{
{
,l
1
,l
1
I
-!
I
I
N
t e 0.d - to9 t o rq Yer'ralo v
I+ 0, si-trr,,retdq\ siSnct t wc a\tP\.ecf a^ inp u* trJ
t sLeady s|aFa O otpol toitl hava
t-q9 - t zacl. Lp\-nPzr\^o.tot , ih
bolh phasa \qg and ph<u. \eqJ tciFh 'xa;e\,ac+ +e ,,n\rLr)
,
v {
Y
v
4R.' Rr
Y dvl
' --
scr *--
Y -'--R,+-L t4 Rrcrs
. SCr
?
,a N-;- z R-+-L
scz
-fr
:I
{
I
co/
^l
.T
9o[ s]
'- ---:
v
Az_
\-
Rrf +,
;,r2_
3_;il* -l
Zl-TtZ
^l
,
e;ts) r\-/
R\c's
l+
-E
I + SRzcz ,aI
SLz
a,t)
.E
€
SLz(l +n1c,)
T
--( tSRzcz)[l+Rr(rs) 3
2-
fr+se,c') f SRzCz-+sR 'R'c 'cf
RlGs
J
I r rs (2c) (t te' c,g)
-I
.r
szRr s$,c-+qq+R\.{ *
vzLiL2-+
t
c
d
f
^1
tu
j
J
J
I
Q"ttl )
**]@--^a"A
r!,l =
t ffi( 'olo I
C-ompore O "h@ 1
-1, = R1C; -T- - RrL- :
t
)
t4
*J__ =
I
_i -i + (P '=l
r( T-[,-
Pr,T, P -- la
.
+t- d't> I
-R-tc,-r' -L +-l
Ef, R,(u' RrCr
N t knorD .-1il^,o) db =l
Gr, tt) : t \ + sT)
(t* t')
-
( tljur)
GcLi-) = ( t +3u:r)
ryBd
Coxne-r {xe{u en cU
tr),La^ = -)_ u.F ^l
t0"r = i \^J. - T2 o('1;
PTr
t
(
odb
v
Y
\
v 6
\ o
V
-P
J
^:I
\3/
^:I
'L -
a,\
D P -rc\vl {l-, e Bod a \'\o-t o+ $rrbrnp<lv,qfa d sy\em .
JI
t Rom lilna Bodep\o{ deta-'ro\ne tne phcr'se r\1aYir,
A.-
.rla
J i
C-otO\renro.tox tA ra$r'tre d
i
.I
CI. na\'f, PhcLA e rna^€\ o
^
\) Choosa- ) F
.l
\h'e- Bod<P\* dtkrminz ne-\'}J Sain cjrpse A+
i ppm I
LOhiCn u ihe
'ftrraQw-ncy Co-u-rcxpodi'r9
*requ-o-rrug tv9g*)
to Pha,l e- boo"'sgia Ob f
1,t?3tn -) ne-\o
'nC-rsose ovz't +'eq\r9ntl
gCIlf' t:
,*
ang\e- o't u)gcrl
;
S9.n + Phcur'e-
an*he-pho'rap\ol(IbunLoropr'soledsu{ter0'fu ac
ro \8 uf,Ecrr ' Choose
.f.z,1wncg Corrce>lorr\ir'9 Sgo' +J
pgc o'b tcrg (-o cD penxatcrr , ru\cl '$rvq"chai- ,)
'-
J
5) ca!.cu\qlo ta of tqg tornf,ewralo v &*.n n".)
r . yn5 Aj.I, ^j
Ag. -q : I CrU",l I a; Lc = wg. -t I -\ =tp
w5 cr
";;,
p'- lo'-/z
c'r''l- LE\'l
Ag s- a> , -]-
U''l*f<
P = [oA9ca/><> G. Gu't- tc-A f'C
PI
'rz-fn % tqg Sac\ion =- h",L') : R t=9
I+ sPTr
b. Detexn,r\r a tT'\ < +r. UII [eq.d 9e-ctis p
t-r - .
n z.\ ^- d(r+Ef.)
Crc--Cs)
-trr--fn o+ taad Sqctron: tSx-r-)
i'
Lt
q p2terrm\na lrh e t" ,t" % Ic.g - \cad Corn P.s atb r
h.tg) = G.Ct Q",Ls) = BgjJq Y {!'*A
t +sPI r tso(T:-
u =yp
f rtspilat ts,(O
tO . p etexrn.n s Dfren \oof t r-
f.n O+ Coroprr*a]ed s S*1r-- -
&rots) : &.ti C,rts) ,
8D :L1-
g?o
Sklfr+Cs) ^I
8D : Lt g' \r
-\ T
s -z o gts+5fs+0
]
K = t+4o J
D G\tt = \+t*o J
=
s(s+t
\ Lr-\ 0
cs+b)
J
{
ax[ s 1r + 9r) Lt*%
d
lt
L
3r:
s Ll+ FrOI.le'tu1'o) ,"
T
6oxnax -$requetru\,
4r
)
trlc t
o"}} J
i a 6 "radisec '
wt- J
p,.
w1 2 O'3-radlgn-c
tb1
Dn= ['3 ro.o\ ls.. .
j
b:xnco kn O s\oF a
45""9.aY slola t,i
{erm AV
I
.ro^dt I gc c,:
9J\^)
_)4
1
*24-2P'-\O
I V.JCI :- Z -2n
trrjo'gf.P
4>o .-ko '' ^ =-6Q
tJo.'b
r= <'-l
il
tt
E Dh
?h..rt anQ\a
' borad[sec ? --t otrgary)yti, Lrb = - Lt z srtdb
E
.
v \
\) in ;:/4a4Q-
-26+[
: +D" t"
-Y
E) Qg* = ,, - \s"i 6
c-o-rr€shoods 1t:
trlgcn
F-om bcclQ p\o+ Sg.",
v
Y
\og r-t- 2 4 'uad lse c ,
Y
b)
v Ag c-g- = \ C,ti,') \ qh uos c -Q
v Nt ci = >b c)'b
cY
*
P =\g.rz
J
::{
a
E
o
c
v
v
:
Y
\
v
-v
vc\
\ \ \
l_-.-
f_* BDC tr-y2"6''O( t+jo';-e-\D>
<?
to) L-'to[ i"r) =
jCI(l+ JaE -31\r( t +lo'olfq*) ( \ tio'alw) f \t j o-lull
t0ct
76-)\
t^f.z -'-
l_ r>
{,',Jc
5 i = A"otrqd
f sa c.
O"ZZ
w.\ i ^ \"5\
\
zqdlg"c
0,L2-
R r - ) zqc\l(PC
I
U)c ^
3. \b] =5-18 rl
-rU wcb Yct4 (sec '
I
: ba-Q
- 9'D19u- ^ I
(
se c t"J6 ; 2ooaqd lse
W1 = D,ol 'o'ad' I
.V
-t(r"o t"Orn* g lobc Chang t in SloP e
v duthnc 4b/ae c
t {- "rt
lq4tsec
v
tu
ju)
Y
-zo-La -hO
=
\, I 0 ^02-B ^Le
nJ I lj3e?hD
o't
:- -7a t"
t +) z-ritD
()
F.
-4otzo
-tV
- I z-og ^L-C)
n -1 _21) =^4O
-a \ +lD.a) 'ui
t -ts I o '>2-to q'b
r.,r
2--A - \.,c+2o = -zo
v
,5'qr _2_o -9-O'2n = ^4o
Y I t- j o"tb'i t^:
la
Y 6 q.^g -?-o
-q4*t-o =--l'o'
t +j,r-Dl5\t{)
Y
-V
lnog n\\-trd q
y
tr:0-ol + ryQdlseL 20 \.o3
go = 1e-obdb
ov O.tll
\Al = D"o2g "radf sec +
.r- zo \og W
o'1)2'Y
= 69-1\ db
{a
_l
E
E
\.r: = z"ol]odleac -2o \o9
iry*l {zze\ : D'\,-qb J
Jjr
ur ' \'5\ eodleec -r*o \o9 ) -qL
D : -t rdb
(
5*)
c
ur .- 6 e-q -rod.lec c -_4o ,Jr-,*) -+ -gq = -r1s^o14b ^E
\ q--98
€
\,t: :- }ceoad lsec -},o \o9 lror.
bo loe
ffi"q)
- +5
,^lr =
-D - --19--1db
7
pho-ra ang\ a :
;
J
o'o1 t?"o3
J
\^l AT
S \o g'z -\zz'* d
-
d-
I
L)
-1' tot:
\, ^
/r-o b5
*23$' 1:
"-<=
=L5o -t3
I'
I
Ot
-).lc]'g
^ 22\'\ ^>t-s'1
l
)
brg Lo ) -w\ t$rcm 3Tq\Ph)
)
i
tgD +Qg rc
j
?g.o = ,i
= 3q' i
aI
1qg - \eaA Co"crle rualo'x d'e-w1n t{ Coxrect .i
/
{
qI
1