Lesson 19 PI Controllers and Lag Compensators-1

1/28
Lesson 19: PI Controllers and Lag

Compensators
Nise 9.1 – 9.2
Lesson #19: PI Controllers and Lag Compensators

Announcements 2/28
• ICE #18 is due at the end of class today.

• HW #18 is EXTRA CREDIT and is due the Wednesday after
spring break.

Course Objectives 3/28
• Determine the transfer function for electrical, mechanical, and

electromechanical systems.
• Determine the time response of a system from its transfer function.
• Reduce a block diagram of multiple subsystems to a single block representing
the transfer function from input to output.
• Determine the stability of a system represented as a transfer function.
• Calculate the steady-state error for both unity and non-unity feedback systems.
• Sketch the root locus of a closed-loop system and use it to find the poles of the
system.
• Use root locus methods to design cascade compensators.
• Use a system’s frequency response to determine its stability, transient response,
and steady- state error.
• Use frequency response methods to design cascade compensators.
• Design digital control systems to meet specifications on stability, transient
response, and steady-state error.
• Determine the state-space representation of a system and use that representation
to find its time response.
Lesson Objectives 4/28
19.1 Explain the role of compensation in improving

steady-state error.
19.2 Distinguish between the compensation
provided by a differentiator and by an integrator.
19.3 Design both ideal and non-deal compensators
to improve the steady-state error of a system
without altering its transient response.

Review of Root Locus Methods 5/28
Recall what we have learned so far:

• Root locus techniques graphically display the
locations of closed-loop poles as the open-loop
gain is varied.
• The points on the root locus are defined by having
an angle that is an odd multiple of 180° and a
magnitude of one.

Review of S-Plane Geography 6/28
Damped Frequency Faster

of Oscillation: Peaking
wd = wn sin q
x
wd = wn 1 - z 2
Tp =
p
=
p wd=Im(s)
wd Im(s)
z = cosq 180° - q
Faster Settling q
sd=Re(s)
Exponential s d = Re(s)
Damping s d = s × cosq Ts = 4 = 4
Frequency: s = w × z zw n Re( s)
d n
7/28
Section 9.1
Design with Root Locus
Techniques

Design Methods Using Root Locus 8/28
• Recall that the purpose of the root locus methods

we have studied was to understand the motion of
the closed-loop poles as the open-loop gain was
varied.
• Knowing where the closed-loop poles are, we can
determine the dynamic behavior of the system.
• However, we are limited to selecting only points
that lie on the root locus. It may be that the point
we want to use does not lie on the root locus. In
that case, we can add open-loop poles and zeros
to shift the root locus.
Pole Location and Transient Response 9/28
• If we want the
transient response
that corresponds
to point A, we
can just select a
value of K.
• If we want the
response at point
B, we need to
shift the root
locus.
Compensation 10/28
• Rather than
changing the
existing system
(which might be
very difficult), we Cascade Compensation
can simply add
additional poles
and/or zeros.
• This is known as
compensation.
• We can do this
either using a
cascade connection
Feedback Compensation
or a feedback
connection.
Two Types of Compensation 11/28
We can use compensators to improve two system

characteristics:
1.Transient Response
This is done through the use of a differentiator.
2.Steady-State Error
This is done through the use of an integrator.
Until now, we had a trade-off between transient
response and steady-state error. (Higher system gain
yields better steady-state error, but it also increases
percent overshoot and settling time.) Now we can
improve one without affecting the other.
Ideal and Non-Ideal Compensators 12/28
• Ideal compensators are pure integrators and pure

differentiators. They have the advantage that they
provide the best possible improvement to the
system’s response. They are constructed from
active components (typically operational
amplifiers).
• A non-ideal compensator is an approximation of
an integrator or a pure differentiator. It has the
advantage that it can be constructed from passive
components and will not require an additional
power supply.
13/28
Section 9.2
Cascade Compensation and
Steady-State Error

Ideal Integral Compensators 14/28
An ideal integral
compensator is used
to improve steady-
state error without
significantly
changing transient
response.
Consider this root
locus, which passes
through A. It is a
type 0 system, which
has non-zero estep(¥).
However, if we
simply add a pole
at s=0 (which
makes this a type 1
system with
estep(¥)=0), then
the root locus shifts
and no longer
passes through A.
This changes the
transient response.
The secret is to add a

pole at s=0 and a new
zero very close to the
new pole. The angles
of the new pole and
zero will nearly
cancel each other out,
leaving a type 1
system with no
change to the
transient response.
Ideal Integral Compensator Example 17/28


1
estep,uncompensated (¥) = = 0.108
1 + 8.23
estep,compensated (¥) = 0

PI Controller 20/28
Another name for an ideal integral compensator is a

Proportional/Integral (PI) Controller.
æ K2 ö
K1 çç s + ÷÷
K2 è K1 ø
GC ( s) = K1 + =
s s

Lag Compensation 21/28
• An ideal integral controller uses active elements to

place the pole directly at the origin, increasing the
system type by one and driving the steady-state
error to zero for the input type in question.
• We can use passive elements
to design a compensator that
places the pole close to, but
not directly at, the origin.
This will reduce the steady-
state error, but it will not
drive it all the way to zero.
• Such a passive device is called a lag compensator.
Lag Compensator 22/28
Uncompensated System:
Kz1 z 2 !
Kv0 =
p1 p2 !
Compensated System:
K ( z1 z 2 !)zc
K vN =
( p1 p2 !) pc

Lag Compensator 23/28
K vN zc zc
= K vN = K v 0 > Kv0
K v 0 pc pc
Uncompensated System Lag Compensated System

Lag Compensation Example #1 24/28
Recall from the earlier example that we selected

K=164.6 to meet a target of z=0.174.
164.6 1
K p = lim G ( s) = = 8.23 estep,uncompensated (¥) = = 0.108
s ®0 1× 2 ×10 1 + 8.23
The goal now is to add a lag compensator that will
reduce steady-state error by a factor of 10 without
significantly changing z or K.
0.108 1
estep (¥) = = 0.0108 =
10 1 + K pN
zc K pN
K pN = 91.59 =
pc K p 0
= 11.13
Let pc = 0.01 zc = 11.13 pc = 0.111


• All the parameters of the compensated system are

nearly unchanged, except Kp.


Lag Compensation Comparison 29/28
• We arbitrarily selected pc=0.01.

• What if we had selected pc=0.001?
• This would have resulted in zc=0.0111.
• The pole-zero pair would still decrease estep(¥) by
a factor of ten, and the pole and zero would still
essentially cancel each other out, leaving the
initial transient response unchanged.
• But the closer the compensator pole and zero are
placed to the origin, the longer the total response
time for the system to reach steady state.
Lag Compensation Comparison 30/28

Key Take-Aways 31/28
• Ideal integral controllers (PI controllers) use

active devices to place a pole directly at the origin
of the s-plane and a zero very close to that pole.
• Doing so increases the system type by one, and
drives the steady-state error from a finite value to
zero.
• Lag compensators use passive devices to place a
pole very close to the origin and a zero to the left
of the pole.
• Doing so increase the static error constant by a
factor of zc/pc.

Lesson 19 PI Controllers and Lag Compensators-1

Hochgeladen von

Dokumentinformationen

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

Lesson 19 PI Controllers and Lag Compensators-1

Hochgeladen von

Copyright:

Verfügbare Formate

1/28

Lesson 19: PI Controllers and Lag

Lesson #19: PI Controllers and Lag Compensators

• ICE #18 is due at the end of class today.

Lesson #19: PI Controllers and Lag Compensators

• Determine the transfer function for electrical, mechanical, and

19.1 Explain the role of compensation in improving

Lesson #19: PI Controllers and Lag Compensators

Recall what we have learned so far:

Lesson #19: PI Controllers and Lag Compensators

Damped Frequency Faster

Lesson #19: PI Controllers and Lag Compensators

• Recall that the purpose of the root locus methods

We can use compensators to improve two system

• Ideal compensators are pure integrators and pure

Lesson #19: PI Controllers and Lag Compensators

The secret is to add a

Lesson #19: PI Controllers and Lag Compensators

Lesson #19: PI Controllers and Lag Compensators

Lesson #19: PI Controllers and Lag Compensators

Another name for an ideal integral compensator is a

Lesson #19: PI Controllers and Lag Compensators

• An ideal integral controller uses active elements to

Lesson #19: PI Controllers and Lag Compensators

Uncompensated System Lag Compensated System

Recall from the earlier example that we selected

Let pc = 0.01 zc = 11.13 pc = 0.111

Lesson #19: PI Controllers and Lag Compensators

Lesson #19: PI Controllers and Lag Compensators

• All the parameters of the compensated system are

Lesson #19: PI Controllers and Lag Compensators

Lesson #19: PI Controllers and Lag Compensators

• We arbitrarily selected pc=0.01.

Lesson #19: PI Controllers and Lag Compensators

• Ideal integral controllers (PI controllers) use

Das könnte Ihnen auch gefallen