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    Loop Shaping

    Uploaded by

    Hafeezullah Khan
    Loop shaping is the process of designing a controller to modify the open loop transfer function (L(s) = GP) to satisfy stability and performance specifications. This is done by appending basic transfer functions like gains, poles, zeros, and filters to the controller. The document then provides an example of using loop shaping to design a controller for a plant with a crossover frequency requirement of 10 rad/sec, gain margin of 10dB, and phase margin of 45 degrees. Several transfer functions are sequentially added to the controller, including lags, gains, zeros and poles, while monitoring the open loop response on the Nichols chart, until the specifications are met.

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    Loop Shaping

    Uploaded by

    Hafeezullah Khan
    66 views12 pages
    Loop shaping is the process of designing a controller to modify the open loop transfer function (L(s) = GP) to satisfy stability and performance specifications. This is done by appending basic transfer functions like gains, poles, zeros, and filters to the controller. The document then provides an example of using loop shaping to design a controller for a plant with a crossover frequency requirement of 10 rad/sec, gain margin of 10dB, and phase margin of 45 degrees. Several transfer functions are sequentially added to the controller, including lags, gains, zeros and poles, while monitoring the open loop response on the Nichols chart, until the specifications are met.

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    Loop Shaping on the nichols chart

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    Loop shaping is the process of designing a controller to modify the open loop transfer function (L(s) = GP) to satisfy stability and performance specifications. This is done by appending basic transfer functions like gains, poles, zeros, and filters to the controller. The document then provides an example of using loop shaping to design a controller for a plant with a crossover frequency requirement of 10 rad/sec, gain margin of 10dB, and phase margin of 45 degrees. Several transfer functions are sequentially added to the controller, including lags, gains, zeros and poles, while monitoring the open loop response on the Nichols chart, until the specifications are met.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    66 views12 pages

    Loop Shaping

    Uploaded by

    Hafeezullah Khan
    Loop shaping is the process of designing a controller to modify the open loop transfer function (L(s) = GP) to satisfy stability and performance specifications. This is done by appending basic transfer functions like gains, poles, zeros, and filters to the controller. The document then provides an example of using loop shaping to design a controller for a plant with a crossover frequency requirement of 10 rad/sec, gain margin of 10dB, and phase margin of 45 degrees. Several transfer functions are sequentially added to the controller, including lags, gains, zeros and poles, while monitoring the open loop response on the Nichols chart, until the specifications are met.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    of 12

    What is Loop Shaping?

    Loop Shaping Process


    Effect of Simple TFs on L(jw)
    Loop Shaping on the Nichols Chart - Example
    1
    10/08/2014 Hafeezullah(MS71) - NUST-CEME 2
    r(t )
    R(s)
    y(t )
    Y(s)
    F(s) G(s)
    P(s)
    H(s)
    N
    d1
    d2
    Figure SISO 2DOF feedback structure
    The process of Designing a controller, G(s),
    Such that the Open Loop TF L(s) = GP
    satisfies certain specifications
    The most important specification is that L(s)
    satisfies the Nyquist Stability criteria
    Other Specifications include one or more of
    the following
    Gain-margin, Phase-margin, cross-over
    frequency, bandwidth, etc
    Loop-Shaping of NMP, systems with pure-
    delay, and open-loop unstable systems is
    more challenging and sometimes it is
    required to relax the specifications
    10/08/2014 Hafeezullah(MS71) - NUST-CEME 3
    The process of Loop-Shaping involves
    appending basic TFs to the controller until
    the specifications are met
    Basic TFs
    Simple gain, k
    Simple pole or simple zero,

    +
    ,
    +


    Simple lead or lag,
    +
    +

    Second order pole or zero,

    Notch ,

    10/08/2014 Hafeezullah(MS71) - NUST-CEME 4
    2
    2
    2
    2
    n n
    n
    s s


    2
    2
    2
    2
    n
    n n
    s s


    2
    2
    2
    2
    1
    2
    2
    2
    n n
    n n
    s s
    s s




    Simple gain, k shifts L(jw) up by kdB if k>dB,
    or down if k<dB
    A simple loop located at p shifts L(jw) by
    10 log 1 +

    2
    and
    1


    The Max(Min) phase of Lead(Lag) element
    +
    +

    appears at = and is given as
    = 90 2
    1




    10/08/2014 Hafeezullah(MS71) - NUST-CEME 5
    Plant, P =
    10

    , Requirnments, Crossover
    frequency,

    = 10 rad/sec, Gain-Margin =
    10dB, Phase-Margin = 45deg
    Solution :
    10/08/2014 Hafeezullah(MS71) - NUST-CEME 6
    -360 -315 -270 -225 -180 -135 -90 -45 0
    -40
    -30
    -20
    -10
    0
    10
    20
    30
    40
    6 dB
    3 dB
    1 dB
    0.5 dB
    0.25 dB
    0 dB
    -1 dB
    -3 dB
    -6 dB
    -12 dB
    -20 dB
    -40 dB
    Nichols Chart
    Open-Loop Phase (deg)
    O
    p
    e
    n
    -
    L
    o
    o
    p

    G
    a
    i n

    (
    d
    B
    )
    -360 -315 -270 -225 -180 -135 -90 -45 0
    -100
    -80
    -60
    -40
    -20
    0
    20
    40
    60
    6 dB
    3 dB
    1 dB
    0.5 dB
    0.25 dB
    0 dB
    -1 dB
    -3 dB
    -6 dB
    -12 dB
    -20 dB
    -40 dB
    -60 dB
    -80 dB
    -100 dB


    Nichols Chart
    Open-Loop Phase (deg)
    O
    p
    e
    n
    -
    L
    o
    o
    p

    G
    a
    i n

    (
    d
    B
    )
    Nichols chart of P
    without Controller
    Nichols Chart after
    Loop Shaping
    Gm = 9.34dB(at 28.9rad/sec)
    Pm = 44.8deg(at 10.6 rad/sec)
    How?
    Changing the dynamics of the Plant by
    designing a Controller to meet the required
    specs
    Start from Simple gain, k, As the OL is
    straight line, adding k has no effect
    First Add a lag compensator,
    +
    +
    , which has
    Max lag Phase of 45deg at w = 10rad/sec
    Using = , and = 90 2
    1


    a = 24, and b = 4
    10/08/2014 Hafeezullah(MS71) - NUST-CEME 7
    10/08/2014 Hafeezullah(MS71) - NUST-CEME 8
    -360 -315 -270 -225 -180 -135 -90 -45 0
    -60
    -40
    -20
    0
    20
    40
    60
    6 dB
    3 dB
    1 dB
    0.5 dB
    0.25 dB
    0 dB
    -1 dB
    -3 dB
    -6 dB
    -12 dB
    -20 dB
    -40 dB
    -60 dB
    Nichols Chart
    Open-Loop Phase (deg)
    O
    p
    e
    n
    -
    L
    o
    o
    p

    G
    a
    i
    n

    (
    d
    B
    )
    GM = (Not
    good)

    PM = 48.1 deg
    (at 5.83rad/sec)
    Gain Margin is
    almost Achieved,
    But the crossover
    frequency is
    changed
    Next step is to
    add Simple gain
    to fix it.
    We need to move L(j10) up by 7.8dB, so that
    L(j10) = 0dB
    20log(k) = 7.8dB, implies k = 2.2
    10/08/2014 Hafeezullah(MS71) - NUST-CEME 9
    -360 -315 -270 -225 -180 -135 -90 -45 0
    -60
    -40
    -20
    0
    20
    40
    60
    6 dB
    3 dB
    1 dB
    0.5 dB
    0.25 dB
    0 dB
    -1 dB
    -3 dB
    -6 dB
    -12 dB
    -20 dB
    -40 dB
    -60 dB
    Nichols Chart
    Open-Loop Phase (deg)
    O
    p
    e
    n
    -
    L
    o
    o
    p

    G
    a
    i
    n

    (
    d
    B
    )
    GM = (Not
    good)

    PM = 44.5deg
    (at 9.31rad/sec)
    Add a zero, such that the Phase of L(jw) is -
    90 at -14dB(4dB less than the desired GM)
    The element is 1 + s/45
    10/08/2014 Hafeezullah(MS71) - NUST-CEME 10
    -360 -315 -270 -225 -180 -135 -90 -45 0
    -40
    -30
    -20
    -10
    0
    10
    20
    30
    40
    50
    60
    6 dB
    3 dB
    1 dB
    0.5 dB
    0.25 dB
    0 dB
    -1 dB
    -3 dB
    -6 dB
    -12 dB
    -20 dB
    -40 dB
    System: sys
    Gain (dB): -14
    Phase (deg): -90.1
    Frequency (rad/s): 28.3
    Nichols Chart
    Open-Loop Phase (deg)
    O
    p
    e
    n
    -
    L
    o
    o
    p

    G
    a
    i
    n

    (
    d
    B
    )
    From the previous step frequency at [-14dB,
    -90deg] is about 30rad/sec
    Adding a complex pole with appropriate
    damping ratio to shift the phase of L(j30) to -
    180 degrees
    After several iterations
    10/08/2014 Hafeezullah(MS71) - NUST-CEME 11
    1 30 / 6 . 0 30 /
    1
    2 2
    s s
    -360 -315 -270 -225 -180 -135 -90 -45 0
    -100
    -80
    -60
    -40
    -20
    0
    20
    40
    60
    System: sys
    Gain (dB): -10.5
    Phase (deg): -180
    Frequency (rad/s): 30.5
    6 dB
    3 dB
    1 dB
    0.5 dB
    0.25 dB
    0 dB
    -1 dB
    -3 dB
    -6 dB
    -12 dB
    -20 dB
    -40 dB
    -60 dB
    -80 dB
    -100 dB
    System: sys
    Gain (dB): 5.27e-05
    Phase (deg): -136
    Frequency (rad/s): 9.99
    Nichols Chart
    Open-Loop Phase (deg)
    O
    p
    e
    n
    -
    L
    o
    o
    p

    G
    a
    i
    n

    (
    d
    B
    )
    -180 -150 -120
    -25
    -20
    -15
    -10
    -5
    0
    5
    10
    System: sys
    Gain (dB): -10.5
    Phase (deg): -180
    Frequency (rad/s): 30.5
    6 dB
    3 dB
    System: sys
    Gain (dB): 5.27e-05
    Phase (deg): -136
    Frequency (rad/s): 9.99
    Nichols Chart
    Open-Loop Phase (deg)
    O
    p
    e
    n
    -
    L
    o
    o
    p

    G
    a
    i
    n

    (
    d
    B
    )
    1
    30
    6 . 0
    30
    45
    1
    4
    1
    24
    1
    2 . 2 ) (
    2
    2

    s
    s
    s
    s
    s
    s G
    Quantitative Feedback Design of Linear and
    Non-linear Systems by Oded Yaniv
    10/08/2014 Hafeezullah(MS71) - NUST-CEME 12

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