NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

Design of a Lead Compensator

D Bishakh
Dr. Bi h kh Bhattacharya
Bh tt h

Professor, Department of Mechanical Engineering

IIT Kanpur

Joint Initiative of IITs and IISc - Funded by MHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

The Lecture Contains

 Standard Forms of a Lead Controller

Design of a Lead Filter

 Effect of Lead Compensation

Practical Realization

Assignment

Joint Initiative of IITs and IISc - Funded by MHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

What is a Lead Compensator?

• Lead Compensator is similar in structure as a Lag Compensator, the transfer

f
function
ti could
ld be
b written
itt as:
K c ( s  a)
K lead ( s ) 
sb
• However, in this case the zero is dominating over the pole and hence b>a.
Remember, if a pole or zero is closer to the origin it becomes dominating. Now
since zero gives a positive phase and a pole negative phase; hence, in this
configuration the compensator provides a neat positive phase and thus the
name ‘lead’ is justified.

• Lead Compensator improves the stability of a system by shifting the root locus
towards the left of the origin. Thus while a lag compensator improves the
steady state response sacrificing the stability, lead improves the stability of the
system.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

Design of a Lead filter

• Consider a Plant with open loop poles at 0, 0,-4

4 and
-6, even if this is a 3rd order system, the third pole is quite away.
Objective: Get 16% overshoot with three-fold reduction in
settling time.
• ζ=.504 (for 16% OS) (see the chart in the next page)
• Poles at -1.20 +- j2.06, K=43.20
• The uncompensated system is shown in the next slide.
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

Design of a Lead filter

1
tf1 
s ( s  4)( s  6)
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

Damping Factor Vs. Overshoot

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

Design of a Lead filter

• As per design specification: at the current location
• Ts = 4/ζω = 4/1.20
4/1 20 = 3.33
3 33
• Recheck it as a 2nd order system
• Desired Ts = 1.107 s, corresponding σ = 4/Ts = 3.613
• With same damping,
d i ωd = 3.613
3 613 ttan(180-120.26)
(180 120 26) =
6.193
• Hence, the desired poles are at -3.613 +- j6.193
• Pl t and
Plot d gett the
th phase
h att the
th point
i t as -275.6
275 6o
• Hence, angle of the compensator zero is 95.6o, Use
graphical plot to get the real part of zero.
• The compensator zero could be obtained as -4.22
• The compensator pole may be chosen at -20.
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

Root Loci of the Compensated and

uncompensatedt d system
t
• The plot clearly shows that the introduction of the lead compensator has
shifted
hift d the
th plot
l t towards
t d left
l ft and
d increased
i d the
th stability
t bilit off the
th system.
t

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

PD Vs Lead Compensator
1
G( s) 
s( s  1)

PD - control
D ( s )  K ( s  2)

L d compensatiion
Lead
s2
D( s)  K ,
s p
 5 z  10
p
10 z  20
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

Assignment

Consider a unity feedback system as

2
G (s) 
s ( s  20)( s  40)

Find out the lead compensator such that

( ) the maximum overshoot allowed is about 20%

(a)
(b) the settling time improves by a factor of five.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

Practical Realization of a Lead

C
Compensatort
The figure below shows the practical realization of a Lead
Compensator with the help of resistors and capacitor. In terms of
mechanical elements we can realize the same by using dashpot
and springs.
springs Just replace the resistors by dashpots and
capacitor by spring.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 20

Special References for this lecture

 Feedback Control of Dynamic Systems, Frankline, Powell and Emami, Pearson

 Control Systems Engineering – Norman S Nise, John Wiley & Sons

 Design of Feedback Control Systems – Stefani,

Stefani Shahian,
Shahian Savant,
Savant Hostetter

Oxford

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