Computer controlled

experimental
By
Dr. Mariem Yassa
The object of a lead compensator
𝑠+𝑧
• May be 𝑠 + 𝑧 or 𝑘
𝑠+𝑝
𝑈
• =𝑠+𝑧
𝐸
𝑑𝑒
•𝑢 𝑡 = +𝑧𝑒 𝑡
𝑑𝑡
• Effect of adding zero : the root locus is attracted to the LHS of S plane,
decrease max. overshoot and settling time.
• Improve the transient response.
• Example: design a PD controller to yield 16% overshoot with three
fold reduction in settling time. The open loop transfer function is
𝑘
•𝐺 𝑠 = 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘
𝑠 𝑠+4 𝑠+6
−𝜋ζ/√ 1−ζ2
• 𝑀𝑜𝑠 = 𝑒
• ζ = 0.504

• 𝑘 = 𝑙1 𝑙2 𝑙3 = 1.22 + 2.062 4 − 1.2 2 + 2.062 6 − 1.2 2 +

2.062 = 43.35
4 4 3.32
• 𝑡𝑠 = = = 3.32 sec 𝑡𝑠− = = 1.1𝑠𝑒𝑐
ζ𝜔𝑛 1.2 3
4
• ζ𝜔𝑛 = = 3.61
1.1
• 𝜃1 + 𝜃2 + 𝜃3 − 𝜃𝑧 = ±180
• 𝜃1 = 180 − cos −1 ζ = 120.26
−1 6.192
• 𝜃2 = tan = 86.42
4−3.61
−1 6.192
• 𝜃3 = tan = 68.42
6−3.61
• 120.26 + 86.42 + 68.42 − 𝜃𝑧 = ±180
• 𝜃𝑧 = 95.6
6.192
• tan 180 − 95.6 =
𝑥
• 𝑥 = 0.6
• 𝑧 = 3.61 − 0.6 = 3.013
• 𝑃𝐷 = 𝑠 + 3.013
• Example: design a PD controller to yield 35% overshoot with 4sec settling time.
The open loop transfer function is
2
•𝐺 𝑠 = 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘
𝑠2
4
• 𝑡𝑠 = = 4 sec ζ𝜔𝑛 = 1
ζ𝜔𝑛
−𝜋ζ/√ 1−ζ2
• 𝑀𝑜𝑠 = 𝑒
• ζ = 0.32
• The gain controller cannot achieve specification.
𝑠+𝑧
• 𝐺𝑐 = 𝑘
𝑠+𝑝
• Required find K, Z, P assume z=1
• 2𝜃1 + 𝜃2 − 𝜃3 = ±180
3
• 𝜃1 = 180 − tan−1 = 108.4
1
• 𝜃3 = 90 2 ∗ 108.4 + 𝜃2 − 90 = ±180 𝜃2 = 53.2
3
• tan−1 53.2 = x=2.24 p=3.24
𝑥
 𝑠+1 2 𝑠+1
• 𝐺𝑐 𝐺 𝑠 = 𝐾 = 2𝐾 2
𝑠+3.24 𝑠2 𝑠 𝑠+3.24
2
𝑙12 𝑙3 12 +32 ∗ 32 +2.24 2
• 2𝐾 = = = 12.47
𝑙2 3
• K = 6.235
𝑠+1
• 𝐺𝑐 = 6.235
𝑠+3.24
The object of lag compensation
Improve the steady-state error without effect transient.
• Design steps
1. plot the root locus of the uncompensated system
2. determine the dominant closed-loop poles(transient specification)
3. design a compensator to satisfy transient specification.
4. calculate the error constant. If the desired error constant is greater
𝑠+𝑧
than the existing one , design 𝐺𝑐 = 𝑘 p<z
𝑠+𝑝
5. determine z/p such that the transient is slightly affected (angle
contribution ≤ 2𝑜 𝑎𝑡 𝑑𝑒𝑠𝑖𝑟𝑒𝑑 𝑐𝑙𝑜𝑠𝑒𝑑 𝑙𝑜𝑜𝑝 𝑝𝑜𝑙𝑒𝑠)
• Example: design compensator to yield 0.45 damping ratio and 𝐾𝑣 = 20. The
open loop transfer function is
𝑘
•𝐺 𝑠 = 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘
𝑠 𝑠+2
𝜔𝑑
• tan 𝜃 = 𝜔𝑑 ≈ 2
1
• 𝑠𝑐𝑙 = −1 ± 𝑗2
• 𝑘 = 𝑙1 𝑙2 = 5
𝑘 𝑘
• 𝐾𝑣 = lim 𝑠 = = 2.5 < 20
𝑠→0 𝑠 𝑠+2 2
𝑠+𝑧
• Required to design lag compensator
𝑠+𝑝
𝑘 𝑠+𝑧 𝑘𝑧 5𝑧
• 𝐾𝑣𝑛𝑒𝑤 = lim 𝑠 = = 20 =
𝑠→0 𝑠 𝑠+2 𝑠+𝑝 2 𝑝 2𝑝
𝑧
• =8 𝑙𝑒𝑡 𝑧 = 0.1 𝑡ℎ𝑒𝑛 𝑝 = 0.0125
𝑝
𝑠+0.1 𝑠+𝑧 𝑠+0.1
• 𝑎𝑛𝑔𝑙𝑒 𝑎𝑡 𝑠 − 1 ± 𝑗2 ≅ −2𝑜 𝐺𝑐 = =
𝑠+0.0125 𝑠+𝑝 𝑠+0.0125
 𝑠+𝑧
PI controller𝑃𝐼 = 𝐾
𝑠
Example: design PI controller to this system that has open loop transfer
function:
1
𝐺 𝑠 = 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘
𝑠+1 𝑠+2 𝑠+10
Required 0.174 damping ratio and steady-state error equal zero for step
input.
𝑠 = −0.694 ± 𝑗3.92
𝑘 = 𝑙1 𝑙2 𝑙3 = 164.5
Assume z = 0.1
𝑠+𝑧
angle at 𝑠 = −0.694 ± 𝑗3.92 =-1.4 is accepted.
𝑠
𝑠 = −0.67 ± 𝑗3.8
𝑘 = 158
 1
PID controller design𝐺𝑐 = 𝐾𝑝 + 𝐾𝑖 + 𝐾𝑑 𝑠
𝑠
Design steps:
1. Evaluate the performance to determine the required improvement in transient
response.
2. Design the PD controller to meet transient specifications.
3. Simulate the system to verify the PD design.
4. Redesign the PD controller if required.
5. Design a PI controller to improve the steady-state error.
6. Determine 𝐾𝑝 , 𝐾𝑖 , 𝐾𝑑 .
7. Simulate to verify the response.
8. Redesign if required.
• Example: design PID controller to yield 20% max. overshoot and 𝑧𝑒𝑟𝑜 𝑠𝑡𝑒𝑎𝑑𝑦 −
𝑠𝑡𝑎𝑡𝑒 𝑒𝑟𝑟𝑜𝑟. The peak time is 2/3that of the uncompensated system. The open
loop transfer function is
𝑘 𝑠+8
•𝐺 𝑠 = 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘
𝑠+3 𝑠+6 𝑠+10
• From max overshoot ζ = 0.456 𝜃 = cos −1 0.456
• 𝑠 = −5.4 ± 𝑗10.57
𝜋 𝜋
• 𝑡𝑝 = = = 0.297
𝜔𝑑 10.57
2
• 𝑡𝑝 𝑟𝑒𝑞 = 𝑡𝑝
3
• 𝜔𝑑 𝑟𝑒𝑞 = 15.85
15.85
• = tan cos−1 0.45 𝜎 = 8.13
𝜎
• 𝑠 = −8.13 ± 𝑗15.85
• PD controller s+z
• 𝜃1 + 𝜃2 + 𝜃5 − 𝜃3 − 𝜃4 = ±180
−1 15.85
• 𝜃1 = 180 − tan
8.13−3
−1 15.85
• 𝜃2 = 180 − tan
8.13−6
−1 15.85
• 𝜃3 = 180 − tan
8.13−8
−1 15.85
• 𝜃5 = tan
10−8.13
• 𝜃4 = 180 − 𝜃1 − 𝜃2 − 𝜃5 + 𝜃3 = 18.37
15.85
• tan 18.37 = 𝑧 = 55.9
𝑧−8.13
• PD = s+55.9
• 𝑠 = −8.13 ± 𝑗15.86
• K = 5.339
 𝑠+0.5
PI controller
𝑠
𝑠+0.5
angle at 𝑠 = −8.13 ± 𝑗15.86 =-1.4 is accepted.
𝑠
𝑠 + 0.5
𝐺𝑐 = 𝑘 𝑠 + 55.9
𝑠
K = 4.6
• Sheet
A-6.1
A-6.17
B- 6.1
B-6.17
B-6.19