Viaytics Lag Compensators Experiment 4 : AIM P To study the open loop response : fig. 1, process é : fe 5 EQUIPMENT REQUIRED 1. Lead - Lag-Compensator System > 2. Dual Trace CRO > 3. Phase Angle Meter (Optional) 3 > INPUT 2 SINE WAVE > OUTPUT PRocess |} > 7 > > , a | , y Oat > F) ey | Fig. 4 7 Open Joop response of process PROCEDURE ‘ ‘Se ) 1-1 Connect the sine source with otocess /piani input, Connect CRO across input and output (dual face mode): Measure input voltice A=. Vpp, 1.2 Start from the low frequency end (10Hz), increase: frequency in step of 19, 20, 30, 40, 50Hz for linear mode 10, 20, 40, 8C, 100, 200 for octace ‘ode anc noie ‘he Cutput voltage Vpp as B. Note'the phase difference for eact: test frequency. 1.3 Prepare a table between inp and phase angle in degree. 1.4 Sketch the phase’/ frequency (Bode piot) respo: paper, From the’ low frequency and obt k ut - output volts, the gain mecnitude in «8 (20le. se for smoot: curves upon serilog ‘ain the error ecefficient and required jainVinytics ee oN Typical Table (example) Tor plating of response Guive (Process a HEAD Bp ca dim 10 wu v dB “te, 20 . . >, 40 . . 80 . “4 100 3 es 200 400 . : 800 3 7 1000 c é 3 é Typical table (example) tor plotting of response curve (Process or plant) Freq AVpp “BVpp GainaB | 10 Vv ty & . 40 a % £ 80 7 400 en i. if 200 e 7 400 = ‘ 800 . ee 1000 Baas ri &Experiment 2: te AIM To study the open loop response of Lag Compensator (Fig 2a) aytics EQUIPMENT REQUIRED 1, Lead - Lad Compensator System 2. Dual Trace CRO 3. Phase Angle Meter (Optional) INPUT 2 ‘SINE WAVE OUTPUT [phase | Fig. 2a ‘Open’ loop. response of lag compensator PROCEDURE 2.1 Connect the:sine source with Lag input. Connect CRO across input and output (dual trace). Measure input voltage A........VpP. % 2.2. From the low frequency end (10Hz) note the output voltage Vpp as B. Note the phase difference for each test frequency as previous experiment. 2.3. Prepare'a table between input - output volts, the gain magniiude in dB (20log, ,B/A) and phase angle in degree. 2.4. Sketch the Bode plot for smooth curves upon semilog pape!. Fromm the iow frequency end obtain the error coefficient and gain K.y | Vinytics Lead - Lag Comper \ Typical abe (exaniple) for plating of response cua (Cag CoMgETsaITy— Freq AVpp = BVpp_—s G 10 Vv : : 20 o 40 ° 80 ¥1. Lead - Lad Compensator System 2. Dual Trace CRO 3. Phase Angle Meter (Optional) INPUT 2 SINE WAVE OUTPUT [Phase INPUT 1 Fig. 2b Open loop response of lead compensator PROCEDURE 3.1. Connect the sine source with Lag input. Connect CRO across input and output (dual trace). Measure input voltage A........ VPP. 3.2. From the low frequency end (10Hz) note the output voltage Vp as B. Note the phase difference for each test frequency as previous experiment. 3.3 Prepare a table between input - output volts, the gain magnitygle in dB (2009,,64) and phase angle in degree. 3.4 Sketch the Bode plot for smooth curves upon semilog paper. From the low frequency end obtain the error coefficient and gain K.— VinyticsSs 4 ay __ Lead » Lag Compensators 2Periment 4: ye? iM j T ‘0 study the open loop response of Lag - Lead Compensator (Fig 2¢) EQUIPMENT REQUIRED 1. Lead - Lad Compensator System 2, Dual Trace CRO © 3. Phase Angle Meter (Optional) INPUT 2 SINE WAVE OUTPUT | Phase INPUT Fig. 2c Open \6bp response of laglead compensator PROCEDURE with Lag input. Connect CRO across input and output 4.1. Connect the)sine source (ual trace), Measure input voltage A.......VPP. 4.2. From the low frequeney end (10Hz) note the output voltage Vp as B. Note the phase difference for each test frequency as previous experiment, 43. Prepare atable between input - output volts, the gain magnitude in dB (20!0g,,B/A) and phase angle in degree. 4.4. Sketch the Bode plot for smooth curves upon semilog paper. From the low frequency end obtain the error Coefficient and gain K. ® 12 aVinytics Lead - Lag Compensay,, _Typical table (example) for plotting of response curve re (tag Lead Compensatory Freq AVpp BVpp Gain dBy oo 10 oM 20 40 80 100 200 400 4 800 aLead - Lag Compensators ‘Xperiment 5 : To study the open loop respnse of Plant with Compensator EQUIPMENT REQUIRED 1. Lead - Lad Compensator System La 2. Dual Trace CRO =D mD INPUT 2 ate) SINE WAVE i OUTPUT | Phase m® INPUT 4 mD COMPENSATOR i > oo J 2 ~~» > > ~s pebLEL t Fig. 3 Open loop response of process + compensator woe & i PROCEDURE 5.1. Connect the'system as shown in fig. 3. Measure sine wave signa! of .....Vpp at the input of the compensator with connecting CRO channels at input / output. 5.2 The'feadings between input / output as A and B, phase relation between them may either by linear increment as, 10, 20, 30, 40, ..... or by octave steps, as 0, 100, 200, 400, 800 & 1000Hz 6.3. the results as given in exemplary tables. ——————— 14 weweeee vedLead - Lag Compa ypical table (example) for pio ing of response curve Plant [Lagy—~" ain dB. ¢ Freq Avpp, 8YpP Vinytics 40 MW a . ai 40 ‘ 80 ‘ 100 ‘ 200 : 400 ‘ 800 e 1000 : E a os ‘Typical table (example) for plotting of response curve Plant + (Lead) Freq AVpp BVpp». Gain\dB ¢° 10 av) a 20 © 40 : 80 Q 100 . @ 200 - 400 -@ 800 G 1000 eo ‘i ‘ ‘ Typical table (example) for plotting of response curve Plant + (Lag -Teady Freq A Vpp, BVpp — Gain dB ge 10 Ma? Iseee ket tie Lead - Lag Compensators AIM To study the close loop transient response (Process or plant) EQUIPMENT REQUIRED 1, Lead - Lad Compensator System 2. Dual Trace CRO Fig. 4 Close loop respanse,vof process with Ka PROCEDURE : 6.1 Connect the sy: quare wave) signal of 40Hz, 1Vpp at the one input 6.2 Adjust K1 (gain 1) to the raised to 10dB/octae ap} Sketch it upon the paper. 6.3. From the transient response measu e,and the peak time Up. stem as shown in fig. 4. The step (st of the error detector is available 3.2 approx for e,, = 0) gain 1e value found from the plot (K = .d shape of the response. prox. Fine adjust K1 for require re maximum overshoot Mp, steady state error Compute'damping factor ¢ and an. Un Mp) ene one ntliOP_ Lead - Lag Compensators periment 7 : fo study of Process or plant with compensator (fig. 5) EQUIPMENT REQUIRED +. Lead - Lad Compensator System . 2. Dual Trace CRO lpRocess| AMP Figy’5 Close loopliifesponse of process with compensator PROCEDURE i 74 Connect process with Lag compensator and gain 2, in the circuit Remain the gain 1 to previous adjustment (for example 3.2). Adjust gain 2, to compensate the compensator loss (10dB/decade = gain 3.2). Note the gain 2 setting from the dial. Trace the waveform upon paper with record of Mp, tp and Compute ¢ and 2” for process with Lag compensator. 7.2 Connect process with Lead compensator and gain 2, in the circuit. Trace the waveform upon paper, with record of Mp, tp and e,, Computexzyand 2n for process with Lead compensator 17 { \7.3 Connect process with Lag - Lead compensator and 9: jain 2, in ty waveform upon paper, with record of Mp, tp and e, ey Trace Compute ¢ and an for process with Lag-Lead compensator. Now from the transient response for each experiment tabulate the result Typical table (example) for comparison of close loop transient response. test — frequency 40Hz sq 1Vpp. Configuration Mp tp e, ¢ on Comment Process only mS v rd Process + Lag 3 mS LW, td Process + Lead SS mS Mi rd Process + Lag -Lead_... ms uM rd 18‘ics Lead - Lag Compensators periment 8 : oa ‘AIM Plots of response curves (a) The ‘Bode Plot’ Tyg eee a ae ea seniog paper bola Gain Magnitude vis Frequency are taken from exemplary tables. me plot. Some example for plotting are given which Plot 4 : (K/{1+jaT)?) +The upper cure is gain magnitude / frequency raised to 1048, fre middie curve response taken ffom process open loop tablg and lower curve is for Frage. Note the shift in gan crossover frequency and phase maffin due to applied gain K,= gain 1°. * 20log,,3.2 = 10dB.Lead - Comp. oa i ator table given in examples He\sioht chan, lot of Lag Fe sg Zo and Po are approximated. ives smother. 110 400 o- 800 ing Pl Plot 2: Showing ‘occurred to draw cul Freq with Lag zs : SS process only pases Plot 3 : Showing plot of process + Lag compensator table given in example. The slight Shanges occurred to draw curves smoother. The response curve is ifted by added gain 2 setting in experiment 6. Plot 4 : Showing plot of Occurred to draw one en uh Sxample, The sii 1e Zo and Proximated. ight changesgeese uu_usgesogoeoseosseo e Plot 5 : Showing plot of process + Lead compensator table given in example. The slight changes occurred to draw curves smoother. The response curve is lifted by added gain 2 setting found in experiment 6. 10 100 400 @- 800 aie! {Ses oe eee coe: Plot 6 : Showing plot of Lag - Lead compensator table given in example. The slight changes occurred to draw curves smoother. the Zo and Po are approximated= Lead - Lag Compensy, 22s Lead bo Compensators __ periment 9: i The two corner frequencies of above ci where W =f1 (1/T) and V is = f2 (1/87) » The transfer function of this curve vi eth pay Ge(s) = K- Bist ca x i and T = 4If. Finding values of fi/and 2, put these values. Where #7 is the attenuation rate. In given example in lot 2, comer frequency at 110Hz, 6dB/octave. The transfer function is ansteaty, 23Vinytics Lead - Lag Compen,, > to (b) From the plot of compensators find out the comer frequen i ‘as shown below in example. x Actual curve The two comer frequencies of above where W curve =1 (177) and Vis = ¢2 (Vay) ‘The transfer function of this curve is | Ts+1 Seeere and T = 1M. Finding values of 1 ‘and f2, put these ~{2'. I Given example in pot 4, comer is ’S. Where @ ig the attenuation SdBloctave the transfer function ~~;Lead + Lag Compensators The plot of compensators find out the own below in example. comer frequencies by, stn Approximation Actual curve The two corer frequencies in each slope okebony Gliive is (1/ 6 T2) and (1/72), (1/71), (1/aT1) respectively. “%. The transfer function of this curve is Ge(s) = Ke (af is +1) BP2s4 0) and T = 1/f. Finding values of f1, f1" and 12, 12" put these values. Where a is the attenuation rate. In given example in plot 6, the transfer functicn is i 25 orsient response| 2. Select the specific phase g, desired dd tolerance of:8°- 10° to it for compensation. Calculate attenuation factor ~ as, A &=(1-singrn)/(1+ sing) Find the new gain crossover frequency oy new as, 8% NEW =20l0g1/JaaB Find out the new gain crossover frequency from the Plot at this attenuation. Calculate the corner frequencies as, VT =aeg new 1/7 = egnew/ Ja . Calculate the necessary gain Ke required, while taking gain K1, as . Ke= Kila Write the transfer function for the compensator as Gels) = Kea 1+sT_ HOS Ms I+sar Compute the value of R1 and R2, with C from the trafister function as, Time constant += ric =1/7, and @ = R2/RI+R2 27DESIGN OF LAG COMPENSATOR + From the plo find out the gain crossover frequency (OdB) and phase, is equal to actual phase ¢. MAS rom ay, 148 Co, . 2 Select the specific phase ¢s, desired. Additolefance of § — 49° compensation. son Find the new gain crossover frequency ax new. Measure gain atts frequency, it mug, be equal to high frequency attenuation of lag network =20lo8/. Compute as © to ‘ag new = 20logl//BaB Calculate the comer frequencies as, 1/7 a ‘The other comer frequency equal to Po=10/¥. Les? 1+ spr Compute the value of R1 and R2, w Time constant = R2C =1/T, Go(s) = Kep. and =R2+RI/R2 28ol Lead - Lag Compensators a - —— en OF LAG-LEAD COMPENSATOR 3 t! ee fre equa t actual phase gu at low and high frequency side. 2. Select the specific phase gs, desired. Add/ tolerance of § - 10° to it for yw ‘compensation. ~~ — Galculate attenuation factor a as, e . a =(1-singm)/(1+singm) for lead Find the new gain crossover frequency ag riew/as) og new=20logi/VadB Find out the new gain crossover frequency from the plot at this attenuation. Calculate the comer frequencies as, VT=aaxgnew and 1/ar = og new/ Ja. Caleulate the necessary gain Ke required, while taking gain K1, as es Ke=Ki/a Write the transfer function for the compensatorias forlead List CO Gree | Compute the value of R1* and R2*. With C2 from the transfer function as, Time constant ¢ = RIC2=1/7 j and a= R2/Rl+R2 4 From the plot find out the gain crossover frequency (0dB) and phase from 180°. It 2. Select the»specific phase 4, desired. Add tolerance of § - 10° to it for compensation. Find the new gain crossover frequency ox new. Measure gain at this frequency, it must be equal to,high frequency attenuation of lag network = 201038. Compute i as dinev ~2010g11 {B40 Calculate the comer frequencies as, 1/7 ‘The other comer frequency equal to 7 Calculate the necessary gal at one decade or an octave below of a new =10/% | Ke required, while taking gain K1, as 29 ne plot find out the gain crossover frequency (ralsed) and phase from 180°Vinytics ead = Lag c. ii Kep=KUp dar oi Write the transfer function for the compensator as Oey a les Gels)= Keb or for lag Time constant = R2c1=1/T, and i= R2+ RI R2 ‘Combining both networks as gives four to higher side. Combine both networ “Keeping R1 lead = R1 lag and R2 fl=up ICL 2, £3 and 4 from lower lead = R2 lag, ‘f2=URICL #3=1/RIC2 ‘f4=a1R2C2 ‘~~ 30TORS (G (GRAPHS). MPENSA Gh oF 60 f the PROCESS: loop response of ; The open B(V) Experiment 2: The open loop fespone of LAG PRocess Frequency (he) | AM |"BW) Frequency (Hz). Gain (4B) 10 10 3.52 20 20 0.76 40 40 4.98 80 80 9.54 100 100 ~10.95, 200 200 12.64 400 400 12.64 800 | 800 13.28 1000 sli 3 1000 713.28 _—= oy 2 ‘3 2 2 3 2 3 3 2 2 > 3 4 3 » ° J am | BM 6 6.5 6.0 6.0 65 6.5 7.0 9.0 10.0 10.555 ®22HDBDOD Experiment 4 : The open loop résponse of LAG-LEAD PROCESS Frequency (Hz) Frequency (Hz)) Gain (dB) 10 10.0 6.02 20 5.58 40 4.08 0.00 100 -0.49 200 1.94 400 0.92 800 1.54 1000 2.43 a CMa 32Experiment 6 : Open Loop Tesponise of PROGESS with Leap compensator Frequency (Hz) | Av) |) By) |” ‘Frequency (Hz))_ Gain (dB) 10 78 5.0 210 -3.86 20 78. 4.9 20 % ~4.04 40 78 40 40 -5.80 80 80 | 46 80 4.81 100 80 | 49 100 4.26 84 I. 62 200 -2.64 200 400 Beli |. ar 400 -7.33 86 07 800 -21.79 B00 24.71 86 0.5 1000 224. 1000Lead - Lag Compe, a Vinytics he 5 eocen 7: Open loop response of PROCESS with LAG-LEAD Compensato, Frequency (Hz) | A(V) B(V) Frequency (Hz)| Gain (dB) -0.70 10 78 72 10 20 76 72 20 -0.47 40 8.0 62 40 2.21 80 8.0 48 80 4.44 100 8.0 46 100 481 200 84 44 200 5.62 400 88 16 400 14.81 800 88 05, 800 -24.91 1000 86 04- 1000 -26.65 Experiment 8 : Closed Loop Response of PROCESS with Compensators Configuration Process only Process + lag Process + lead 0.24 Process +lag + lead | 0.12. tb 0.8) ess 64 08 y 12 34 &