Beruflich Dokumente
Kultur Dokumente
ASSIGNMENT
LAG-LEAD COMPENSATOR DESIGN VIA
ROOT LOCUS TECHNIQUE USING MATLAB
There are three (3) tasks are given in this assignment consists
of comprehension, application, analysis and design.
Every tasks must have clear explanation and description with
the help of labelled figure/diagram.
You may use formula to determine the pole location, steady
state error and transient responses parameters. Then, verify the
results using MATLAB software.
Describe the design procedure by capturing the MATLAB
window and use arrow to indicate the specific procedure.
Discuss the findings and show that all requirements for the
compensator design have been met.
Appendices A and B may help you in completing this
assignment.
Member: Maximum four (4) students in a group
Introduction
Autonomous vehicle systems are now used to elevate and enhance the
manoeuvrability performance. By using root locus technique, design a
compensator for that system in order to achieve the bearing angle
performance specification.
Compensator
Desired
bearing angle
+
-
Steering
Vehicle dynamics
50
s2 + 10s + 50
KGc (s)
1
s(s + 5)
Actual
bearing angle
Performance Specification
Percent Overshoot, OS%
Settling Time, T
1.5 seconds
Appendix A
Table 2: Performance Analysis of the Uncompensated and Compensated System
Uncompensated
Plant and
Compensator
Lead-Compensated
Lag-Lead-Compensated
50K
(s + zlead )
50K
(s + zlag )(s + zlead )
50K
2
2
s(s + 5)(s + 10s + 50) (s + plead ) s(s + 5)(s + 10s + 50)(s + plag )(s + plead ) s(s + 5)(s2 + 10s + 50)
Dominant Poles
Gain
Damping Ratio
Natural Frequency
Overshoot
Settling Time
Peak Time
Velocity Constant
Steady State Error
List of Formula
Appendix B