a

Attribution Non-Commercial (BY-NC)

11 views

a

Attribution Non-Commercial (BY-NC)

- Strategic Thinking for Leaders, The Systems Thinking Approach ( PDFDrive.com ).pdf
- Movie Goal
- Choice of a Project Delivery System for a System of Systems
- Bus Suspension Modelling in Simulink
- Bruce Tuckman
- IJMER-46066571.pdf
- Lec_19_Colpitts_Osc_08
- Quality Management Principles
- Paper
- 12 Model Program
- Project Text6!1!37 48
- Assignment 6
- Solving a System in Matlab
- EC2255 NOV-DEC 2010
- 03 Swarm Urbanism
- Power Tool: Anja Serfontein Thriving Vs. Surviving
- SAE Electrical Load Shedule Latest 16.7.12
- Chapter 11 Chang.1
- Root Locus
- 8

You are on page 1of 7

Lag Compensation

Chapter V Control Systems Design by Root-Locus Method

The transfer function for this circuit

1 Eo (s ) R2 R4 R1C1s + 1 R4C1 R1C1 = = Ei (s ) R1 R3 R2C2 s + 1 R3C2 s + 1 R2C2 s+

Eq.1

Lag Compensation

or

1 s+ E o (s ) Ts + 1 T =K = Kc c 1 Ei (s ) Ts + 1 s+ T

From eq.1and 2 ,for lag network if R1C1 < R2C2

Eq.2

where

T = R1C1 ,

T = R2C2 , =

Evaluate

Draw the root-locus plot for the uncompensated system whose open-loop transfer function is G(s). Based on the transient-response specifications, locate the dominant closed-loop poles on the root locus. Assume the transfer function of the lag compensator to be

1 T =K (s + zc ) Gc (s ) = K c c 1 (s + p c ) s+ T s+

the particular static error constant specified in the problem. Determine the amount of increase in the static error constant necessary to satisfy the specifications.

Then the open-loop transfer function of the compensated system becomes GcG(s).

Determine the pole and zero of the lag compensator that produce the necessary increase in the particular static error constant without appreciably altering the original root loci. (Note that the ratio of the value of gain required in the specifications and the gain found in the uncompensated system is the required ratio between the distance o the zero from the origin and that of the pole from the origin.)

7

Draw a new root-locus plot for the compensated system. Locate the desired dominant closed-loop poles on the root locus. (If the angle contribution of the lag network is very small, that is. a few degrees, then the original and new root loci are almost identical. Otherwise, there will be a slight discrepancy between them. Then locate, on the new root locus, the desired dominant closed-loop poles based on the transient-response specifications.)

8

Adjust

C (s ) 1.06 = R(s ) s (s + 1)(s + 2 ) + 1.06

gain Kc of the compensator from the magnitude condition so that the dominant closed-loop poles lie at the desired location. (Kc will be approximately 1.)

10

The dominant closed-loop poles are

The damping ratio

= 0.49

ess = 1 1 = = 1.886 K v 0.53

The static velocity error constant is 0.53 sec-1

11

12

It is desired to increase the static velocity error constant Kv to about 5 sec-1 without appreciably changing the location of the dominant closed-loop poles.

The transfer function of the lag compensator becomes

K vcomp

K vuncomp

5 10 0.53

s + 0.05 Gc (s ) = K c s + 0.005

The angle contribution of this lag network near a dominant closed-loop pole is about 40 Because this angle contribution is not very small, there is a small change in the new root locus near the desired dominant closed-loop poles.

pc =

zc

0.05 = 0.005 10

13

14

The open-loop transfer function of the compensated system then becomes

Gc (s )G (s ) = K

where

K = 1.06 K c

15 16

If the damping ratio of the new dominant closed-loop poles is kept the same, then the poles are obtained from the new root-locus plot as follows:

Then the lag compensator gain

The open-loop gain K is

Thus the transfer function of lag compensator designed is

KB1 =1 A1 A2 A3 A4

AA A A K= 1 2 3 1 B1

K = 1.0235

17

Gc (s ) = 0.9656

s + 0.05 s + 0.005

18

19

20

R(s) C(s)

The steady-state error of the system for a unit-ramp input is

ess = lim sE (s ) = lim

s 0

s 1 1 2 = lim s 0 1 + G (s ) s s 0 sG (s )

5 G (s ) = s (s + 2 )

The closed-loop transfer function

ess = lim s

s 0

s (s + 2 ) 1 = 0 .4 s 2 + 2s + 5 s 2

21

K v = lim sG (s ) = lim s

s 0 s 0

5 = 2.5 sec -1 s (s + 2 )

22

1+ K 1 =0 s (s + 2 )

At K=5

T ( s) =

23

p1, 2 = 1 j 2

24

The desired system velocity constant Kv =20 Thus, the steady-state error of the system for a unit-ramp input is

We might set zc=0.1 and then

ess =

1 1 = = 0.05 K v 20

pc =

zc

0.1 = 0.0125 8

Thus, the compensated system transfer function is Thus, the required ratio of the zero to the pole of compensator is

K vcomp K vuncomp

20 =8 2.5

25

Gc (s )G (s ) =

26

27

28

- Strategic Thinking for Leaders, The Systems Thinking Approach ( PDFDrive.com ).pdfUploaded byÓscar LeMat
- Movie GoalUploaded by4gen_7
- Choice of a Project Delivery System for a System of SystemsUploaded byPovenesan Krishnan
- Bus Suspension Modelling in SimulinkUploaded byEbru Taş
- Bruce TuckmanUploaded byFlorin Astilean
- IJMER-46066571.pdfUploaded byIJMER
- Lec_19_Colpitts_Osc_08Uploaded byAritra Arsenous Kundu
- Quality Management PrinciplesUploaded bypadhusk
- PaperUploaded byAkhilesh Kumar Mishra
- 12 Model ProgramUploaded byMandraludin
- Project Text6!1!37 48Uploaded bySunil Kumar
- Assignment 6Uploaded byFulanito de Tal
- EC2255 NOV-DEC 2010Uploaded byVinay
- Solving a System in MatlabUploaded byKhurram Hashmi
- 03 Swarm UrbanismUploaded byFatma Al Za'abi
- Power Tool: Anja Serfontein Thriving Vs. SurvivingUploaded byCoach Campus
- SAE Electrical Load Shedule Latest 16.7.12Uploaded bybalabhavini
- Chapter 11 Chang.1Uploaded bysatya sagar
- Root LocusUploaded byVanillasky06
- 8Uploaded byMohamad Ali Ansari
- KundurFTProperties HandoutsUploaded bySaud Manzar
- 2012 ADSPUploaded bybinukiruba
- IEEE Transactions on Power Systems Volume 10 Issue 2 1995 [Doi 10.1109%2F59.387938] Larsen, E.v.; Sanchez-Gasca, J.J.; Chow, J.H. -- Concepts for Design of FACTS Controllers to Damp Power SwingsUploaded byPhạm Văn Tưởng
- MAEG3050Uploaded byLeungSiuYap
- MIT16_30F10_lec03Uploaded byMohammad Hosein Khanesaz
- Expt 6 Controls AmbayanUploaded byBrendan PG Arcenal Ambayan
- Teams_Understanding Your Team Role.pdfUploaded by秦晓虹
- dlscrib.com_systems-approach.pdfUploaded bySwaroop Menon
- Akashic-Angels - Kopya.pdfUploaded byPhoenix Rising
- FIRO PenjelasanUploaded bymorris tobing

- Transport Processes and Unit Operations-GeankoplisUploaded byJuliana Gume
- แบบฝึกหัด-เขียน-A-Z_Part1Uploaded byWatsaya Prapasong
- แบบฝึกหัด-เขียน-A-Z_Part2Uploaded byWatsaya Prapasong
- แบบฝึกหัด-เขียน-A-Z_Part3Uploaded byWatsaya Prapasong
- Fhiac j Catal 041220Uploaded byWatsaya Prapasong
- 1_Kapitel-1Uploaded byWatsaya Prapasong
- 49_1_Anaheim_03-04_0942Uploaded bynatch555
- chapter7_2Uploaded byWatsaya Prapasong
- chapter7_1Uploaded byWatsaya Prapasong
- ACS4-1Uploaded byWatsaya Prapasong
- 425308 FrequencyUploaded byWatsaya Prapasong
- SNSD - Dear Mom (transcribed by smrr00)Uploaded byMichael Switzal Christian
- Ingeo 4060DUploaded byWatsaya Prapasong
- MaterialData_103481Uploaded byWatsaya Prapasong
- PLA Polymer 4032DUploaded byWatsaya Prapasong

- Specimen QP - Paper 1 Edexcel Chemistry as-LevelUploaded byDulvin4
- oscillating foilUploaded byJosh Carrodus
- 2. Nfpa 13 1994 Tieng VietUploaded byVan Diep
- NASTRANrelease.pdfUploaded bykuligunt
- NNSMAUploaded byRamprasad Srinivasan
- Load on Tire PressureUploaded bysonirocks
- MCS Lecture01Uploaded byrajapandiya
- P_IDsInstrumentationUploaded bynarasimharaja
- Analytical Solution for Large Deflections of a Cantilever Beam Under Nonconservative Load Based on Homotopy Analysis MethodUploaded byDaniela Mihaiela Boca
- 2014 Tests and Keys.pdfUploaded byshaturocks123
- MOCK Test-2 For EC_By Kanodia.pdfUploaded byAnkur Singh
- Richard G. Griskey Ph.D., P.E. (Auth.) Polymer Process Engineering 1995Uploaded byQuan Nguyen
- SCHOTT Optical Filter Glass Properties 2015 EngUploaded byAli Erden Sizgek
- Design of Deep Foundations Using the Pressuremeter MethodUploaded by76027074
- Erwin Schrodinger What is Life PDFUploaded byJennifer
- WME02_01_que_20161102Uploaded bynaamashir
- Advantages and Disadvantages of Orifice Meter and Venturi MeterUploaded bypraveen
- Churchland - The Rediscovery of LightUploaded byMaríaMaría
- Friction and Minor LossesUploaded byahmedyashar
- Fundamental of Structural AnalysisUploaded byaditya2053
- fan2002.pdfUploaded byPedro Murgueytio
- Chapt 1Uploaded byIzzaty Riang Ria
- DIN-1048Uploaded byMostafa Hussein Abdou
- VokabellisteUploaded byVeio Macieira
- 18-Mechanical 2012-13Uploaded bySurdeepPanda
- Evaluación de Deformaciones de La Superficie de La Tierra en La MinaUploaded byRicardo Huisa Bustios
- AbaqusUploaded byalistugui
- How Thinks WorksUploaded bysandi rook
- Formate Brines - What's New - Siv HowardUploaded byDavid Kusuma
- 4. Acids and BasesUploaded byKarya muliana

## Much more than documents.

Discover everything Scribd has to offer, including books and audiobooks from major publishers.

Cancel anytime.