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
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
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
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 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 /
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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.
