Beruflich Dokumente
Kultur Dokumente
Michala Srnová
2009/2010
Content
Compensator
P compensator
PI compensator
Lead compensator
Lag compensator
PID controller
Compensator
Additional component
Compensate a deficient performance
Alter of root locus or frequency response
Suitable place
Compensator II
Classical compensators
− P
− PI
− PID
− Lead
− Lag
− PD/Lead
− Lag/Lead
P compensator
Proportional control
Transfer function
Frequency independent
Steady state problems
Stability problems
Error multiplication → small fluctuation of error signal
→ great changes of control signal
P compensator
Step response
Steady state error or oscillations
Not often used alone
With connection with integral part (PI) or in PID
PI compensator
Proportional + Integral compensator
Ki – integral gain
Changes type of the system
No steady state error to step
Can make system slower
PI compensator II
Frequency response
Ti = Kp/Ki
High-frequency attenuator
PI introduce a phase lag !
Lead compensator
Lead phase → phase of compensator +
Lead: |z| < |p|
Lag compensator
|z| > |p|
PI
Lead and Lag Compensators
Alter of frequency response
Calculations
Definition of α, ωm ,τ
Transfer function
Transfer function:
KD – derivative gain
Used in majority of closed-loop industrial processes
PID controller
Step response
Rise time
Overshoot
Settling Time
Steady state Error
Effect of increasing the parameters:
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