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Chapter-8
Lag Compensation
1
Lecture Outline
Introduction to lag compensation
Examples
2
Lag Compensation
• Lag compensation is used to improve the steady state error
of the system.
• Generally Lag compensators are represented by following
transfer function
, ()
• Or
, ()
3
Lag Compensation
, ()
Pole-Zero Map Bode Diagram
1 30
25
Magnitude (dB)
20
0.5
15
10
0 5
Phase (deg) 0
-0.5 -30
-1 -60
-2 0 2
-10 -8 -6 -4 -2 0 10 10 10
4
Real Axis Frequency (rad/sec)
Lag Compensation
• Consider the problem of finding a suitable compensation network
for the case where the system exhibits satisfactory transient-
response characteristics but unsatisfactory steady-state
characteristics.
5
Lag Compensation
• To avoid an appreciable change in the root loci, the angle
contribution of the lag network should be limited to a small
amount, say less than 5°.
• To assure this, we place the pole and zero of the lag network
relatively close together and near the origin of the s plane.
6
Lag Compensation
• Consider a lag compensator Gc(s), where
, ()
• If we place the zero and pole of the lag compensator very close to
each other, then at s=s1 (where s1 is one of the dominant closed
loop poles) then the magnitudes and are almost equal, or
| |
1
𝑠+
^ 𝑇
|𝐺𝑐 (𝑠 1)|= 𝐾 𝑐 ≅^
𝐾𝑐
1
𝑠+
𝛽𝑇
7
Lag Compensation
• To make the angle contribution of the lag portion of the
compensator small, we require
( )
1
𝑠+
° 𝑇 °
− 5 <𝑎𝑛𝑔𝑙𝑒 <0
1
𝑠+
𝛽𝑇
• This implies that if gain of the lag compensator is set equal to 1, the
alteration in the transient-response characteristics will be very
small, despite the fact that the overall gain of the open-loop
transfer function is increased by a factor of , where >1.
8
Lag Compensation
• If the pole and zero are placed very close to the origin, then the
value of can be made large.
• It is noted that the value of T must be large, but its exact value is
not critical.
9
Lag Compensation
• An increase in the gain means an increase in the static error
constants.
• If the open loop transfer function of the uncompensated system is
G(s), then the static velocity error constant Kv of the
uncompensated system is 𝐾 =lim 𝑠𝐺(𝑠 )
𝑣
𝑠→ 0
^
𝐾 𝑣 =lim 𝑠 𝐺𝑐 ( 𝑠 ) 𝐺(𝑠)=𝐾 𝑣 lim 𝐺𝑐 ( 𝑠 )
𝑠→ 0 𝑠→ 0
1
𝑠+
^ ^ 𝑇
𝐾 𝑣 =𝐾 𝑣 lim 𝐾 𝑐 =𝐾 𝑣 ^
𝐾𝑐 𝛽
𝑠→0 1
𝑠+
𝛽𝑇 10
Lag Compensation
• The main negative effect of the lag compensation is that
the compensator zero that will be generated near the
origin creates a closed-loop pole near the origin.
11
Electronic Lag Compensator
• The configuration of the electronic lag compensator using
operational amplifiers is the same as that for the lead compensator
shown in following figure.
1
𝑠+
𝐸 𝑜 ( 𝑠) 𝑅 4 𝐶 1 𝑅1 𝐶1
=
𝐸𝑖 (𝑠) 𝑅3 𝐶 2 1
𝑠+
𝑅2 𝐶2
𝑅4 𝐶1
𝑇 =𝑅1 𝐶 1 𝛽𝑇 = 𝑅2 𝐶 2 𝐾 𝑐= 𝑅2 𝐶 2 >𝑅1 𝐶 1
𝑅3 𝐶 2
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Electronic Lag Compensator
• Pole-zero Configuration of Lag
Compensator
𝑅2 𝐶 2 >𝑅1 𝐶 1
13
Electrical Lag Compensator
• Following figure lag compensator realized by electrical
network.
𝑅1
𝑅2
𝐸 2 (𝑠 ) 𝑅2 𝐶 𝑠+1
=
𝐸 1 (𝑠 ) ( 𝑅 1+ 𝑅 2 ) 𝐶 𝑠+1
14
Electrical Lag Compensator
𝐸 2 (𝑠 ) 𝑅2 𝐶 𝑠+1
=
𝐸 1 (𝑠 ) ( 𝑅 1+ 𝑅 2 ) 𝐶 𝑠+1
𝑅1 + 𝑅 2
𝑇 =𝑅 2 𝐶 𝛽= >1
𝑅2
• Then the transfer function becomes
𝐸 2 (𝑠 ) 𝑇𝑠 +1
=
𝐸 1 (𝑠 ) 𝛽 𝑇 𝑠+1
15
Electrical Lag Compensator
𝐸 2 (𝑠 ) 𝑇𝑠 +1
=
𝐸 1 (𝑠 ) 𝛽 𝑇 𝑠+1
𝐸 2 (𝑠 ) ^ 𝑇𝑠+1
= 𝐾𝑐 𝛽
𝐸1 (𝑠 ) 𝛽 𝑇 𝑠 +1
1
𝑠+
𝐸 2 (𝑠 ) 𝑇
=^
𝐾𝑐
𝐸 1 (𝑠 ) 1
𝑠+ 16
𝛽𝑇
Mechanical Lag Compensator (Home Work)
17
Design Procedure
• The procedure for designing lag compensators by the root-
locus method may be stated as follows.
18
Design Procedure
• Step-1
19
Design Procedure
• Step-2
20
Design Procedure
• Step-3
21
Design Procedure
• Step-4
22
Design Procedure
• Step-5
– (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.
– Then locate, on the new root locus, the desired dominant closed-loop
poles based on the transient-response specifications. 23
Design Procedure
• Step-6
– will be approximately 1.
24
Example-1
• Consider the system shown in following figure.
s = -0.3307 ± j0.5864
26
Example-1 (Step-2)
• According to given conditions we need to add following
compensator to fulfill the requirement.
27
Example-1 (Step-3)
• The static velocity error constant of the plant () is
^
𝐾 𝑣 =lim 𝑠 𝐺𝑐 ( 𝑠 ) 𝐺(𝑠)=𝐾 𝑣 lim 𝐺𝑐 ( 𝑠 )
𝑠→ 0 𝑠→ 0
1
𝑠+
^ ^ 𝑇
𝐾 𝑣 =𝐾 𝑣 lim 𝐾 𝑐 =𝐾 𝑣 ^
𝐾𝑐 𝛽
𝑠→ 0 1
𝑠+
𝛽𝑇
28
Example-1 (Step-3)
1
𝑠+
^ ^ 𝑇
𝐾 𝑣 =𝐾 𝑣 lim 𝐾 𝑐 =𝐾 𝑣 ^
𝐾𝑐 𝛽
𝑠→0 1
𝑠+
𝛽𝑇
^
𝐾 𝑣 =𝐾 𝑣 ^
𝐾𝑐 𝛽
5=0.53 𝛽
𝛽=10
29
Example-1 (Step-4)
• Place the pole and zero of the lag compensator
• Since , therefore
30
Example-1 (Step-4) Solution-1
=
• Open loop transfer function is given as
^
𝑤h𝑒𝑟𝑒 𝐾 =1.06 𝐾 𝑐 31
Example-1 (Step-5) Solution-1
32
Example-1 (Step-5) Solution-1
33
Example-1 (Step-6) Solution-1
| 𝐾 ( 𝑠+0.05)
𝑠 (𝑠 +0.005)( 𝑠+1)(𝑠+ 2) |
𝑠 =−0.31 + 𝑗 0.55
=1
𝐾 =1.0235
• Then the compensator gain is determined as
^
𝐾 =1.06 𝐾 𝑐
^ 𝐾
𝐾 𝑐= =0.9656
1.06
34
Example-1 (Step-6) Solution-1
𝑠+ 0.05
𝐺𝑐 ( 𝑠 )=0.9656
𝑠+ 0.005
35
Example-1 (Final Design Check) Solution-1
^ 1.0235 ( 𝑠+ 0.05 )
𝐾 𝑣 =lim 𝑠[ ]
𝑠→ 0 𝑠 ( 𝑠+0.005 ) ( 𝑠+1 ) ( 𝑠+2 )
^ 1.0235 ( 0.05 ) −1
𝐾 𝑣= =5.12 𝑠
( 0.005 )( 1 ) ( 2 )
36
Example-1 (Step-4) Solution-2
=
• Open loop transfer function is given as
^
𝑤h𝑒𝑟𝑒 𝐾 =1.06 𝐾 𝑐 37
Example-1 (Step-5) Solution-2
Root Locus
6
• New Closed Loop poles are Actual System
4 Compensated System
-2
-4
-6
-8 -6 -4 -2 0 2 4
Real Axis 38
Example-2
• Design a lag compensator for following unity
feedback system such that the static velocity error
constant is 50 sec-1 without appreciably changing the
closed loop poles, which are at.
39
END OF LECTURE
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