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    1st Order Tors

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    spams20035571
    1. Phase lead compensators introduce a phase lead to reduce phase lag and allow increased error dynamics (ed). They have maximum phase lead at 1/Ts. Gain must be adjusted as the gain plot decay is reduced, amplifying sensor noise. Used for stabilization and improving response speed and damping. 2. Phase lag compensators introduce a phase lag to increase gain at low frequencies, improving tracking and disturbance rejection. Additional phase lag up to 10/T reduces phase margin unless edT > 10. 3. Higher order compensators like multiple lead/lag elements or lead-lag have problems with phase and sensor noise. A standard compensator is a lead-lag which can independently improve bandwidth, damping and low frequency

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    1st Order Tors

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    spams20035571
    13 views3 pages
    1. Phase lead compensators introduce a phase lead to reduce phase lag and allow increased error dynamics (ed). They have maximum phase lead at 1/Ts. Gain must be adjusted as the gain plot decay is reduced, amplifying sensor noise. Used for stabilization and improving response speed and damping. 2. Phase lag compensators introduce a phase lag to increase gain at low frequencies, improving tracking and disturbance rejection. Additional phase lag up to 10/T reduces phase margin unless edT > 10. 3. Higher order compensators like multiple lead/lag elements or lead-lag have problems with phase and sensor noise. A standard compensator is a lead-lag which can independently improve bandwidth, damping and low frequency

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    1st Order tors

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    1. Phase lead compensators introduce a phase lead to reduce phase lag and allow increased error dynamics (ed). They have maximum phase lead at 1/Ts. Gain must be adjusted as the gain plot decay is reduced, amplifying sensor noise. Used for stabilization and improving response speed and damping. 2. Phase lag compensators introduce a phase lag to increase gain at low frequencies, improving tracking and disturbance rejection. Additional phase lag up to 10/T reduces phase margin unless edT > 10. 3. Higher order compensators like multiple lead/lag elements or lead-lag have problems with phase and sensor noise. A standard compensator is a lead-lag which can independently improve bandwidth, damping and low frequency

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    13 views3 pages

    1st Order Tors

    Uploaded by

    spams20035571
    1. Phase lead compensators introduce a phase lead to reduce phase lag and allow increased error dynamics (ed). They have maximum phase lead at 1/Ts. Gain must be adjusted as the gain plot decay is reduced, amplifying sensor noise. Used for stabilization and improving response speed and damping. 2. Phase lag compensators introduce a phase lag to increase gain at low frequencies, improving tracking and disturbance rejection. Additional phase lag up to 10/T reduces phase margin unless edT > 10. 3. Higher order compensators like multiple lead/lag elements or lead-lag have problems with phase and sensor noise. A standard compensator is a lead-lag which can independently improve bandwidth, damping and low frequency

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    Download as PDF, TXT or read online from Scribd
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    of 3

    1st order compensators

    1) Phase lead element



    ( )
    <
    +

    =
    =

    >
    <
    +
    +
    =
    90
    1
    1
    arcsin
    max
    1
    T max
    controller - PD : 0
    1 , 0 usually
    1 ,
    1
    1
    |
    |

    |
    e
    |
    |
    |
    |
    at lead phase imum
    Ts
    Ts
    s
    C
    G

    Bode plot of lead compensators




    Other representation: ( )
    T
    m
    m
    s
    s
    s G
    z
    h
    z h
    z
    R
    1
    , 1 ,
    1
    1
    = =
    +
    +
    =
    e
    |
    e
    e

    Maximum phase lead at m
    h z
    e

    Effect: e
    d
    can be increased because phase shift is reduced
    G
    0
    unchanged for
    e e << =
    z
    T
    1

    usually the maximal phase lead is used at e
    d


    Caution: gain has to be adjusted
    decay of the gain plot is reduced
    sensor noise is amplified esp. if is | small
    use in a region where the decay is 40 dB/decade
    problematic for non-minimum phase plants
    e
    z
    then has to be made large small effect at e
    d


    When to use a lead compensator:
    - stabilization
    - improvement of speed of response and/or damping
    id19330703 pdfMachine by Broadgun Software - a great PDF writer! - a great PDF creator! - http://www.pdfmachine.com http://www.broadgun.com
    2
    2) Gain reducing compensator (phase lag)

    0
    5
    10
    15
    20
    10
    -2
    10
    -1
    10
    0
    10
    1
    -60
    -50
    -40
    -30
    -20
    -10
    0
    P
    h
    a
    s
    e

    /

    G
    r
    a
    d
    o = 0.10
    B
    e
    t
    r
    a
    g

    /

    d
    B
    e T
    o = 0.50
    o = 0.17
    o = 0.25

    Bode plot of lag compensators


    o e
    o
    o
    = T at phase the of minimum
    1 ,
    1
    (s) G
    R
    <
    +
    +
    =
    sT
    sT


    Other form: ( )
    ( )
    T
    m
    s G
    n s s
    m
    s
    s
    R
    m
    n
    n s
    1
    ,
    1
    ,
    1
    1
    = =
    +
    +
    =

    e
    o
    e
    e


    PI-Controller:
    ( )
    sT
    s G
    R
    1
    1+ =
    (45 phase shift at
    e =
    1
    T
    )

    Effect: - Increase the gain at low frequencies
    - better tracking/ better disturbance rejection at low frequencies
    - additional phase lag up to 10/T
    thus reduced phase margin unless e
    d
    T >10 /

    3

    Higher order compensators

    - multiple lag elements not convenient, phase too negative for
    small e, creeping of the response

    - multiple lead elements necessary for large phase lead (>90)
    problems with sensor noise
    (approximate multiple differentiation)

    - lead-lag element (real PID) standard compensator


    ( )
    ( )
    s T
    s T
    s T
    s T
    K s G
    R C
    2
    2
    1
    1
    1
    1
    1
    1
    | o
    o
    +
    +

    +
    +
    =

    PID:
    ( )
    D V
    V
    D
    I
    R C
    T T
    sT
    sT
    sT
    K s G <<
    |
    |
    .
    |

    \
    |
    +
    + + = ,
    1
    1
    1


    0
    -90
    j
    e (log)
    (log)


    Zeros of the real PID-controller:


    ( )
    D V I n n
    D V n n
    T T T T T
    T T T T
    + =
    + = +
    2 1
    2 1

    Often it is reasonable to compensate the smallest pole of the plant by a
    controller zero. Using a lead-lag-compensator, both the bandwidth and
    the damping and the behaviour at low frequencies can be improved
    independently.

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