design of lead and lag compensators using frequency ......2016/03/05 · bode diagram. if that is...
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![Page 1: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/1.jpg)
Design of Lead and Lag Compensators usingFrequency Domain Techniques
Prof. Wonhee Kim
Energy System Engineering, Chung-Ang University
![Page 2: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/2.jpg)
Steady-state Error
![Page 3: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/3.jpg)
System Type
![Page 4: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/4.jpg)
Damping Ratio from Phase Margin
![Page 5: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/5.jpg)
Damping Ratio from Phase Margin
![Page 6: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/6.jpg)
Frequency domain analysis
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![Page 7: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/7.jpg)
Bode Diagram
![Page 8: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/8.jpg)
Compensators and Bode diagram
![Page 9: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/9.jpg)
Lead Compensator
![Page 10: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/10.jpg)
Lead Compensator
![Page 11: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/11.jpg)
Lead Compensator
![Page 12: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/12.jpg)
Bode Design Principles (lead)
![Page 13: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/13.jpg)
Design Guidelines
![Page 14: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/14.jpg)
Example
![Page 15: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/15.jpg)
Example
![Page 16: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/16.jpg)
Bode Diagram
![Page 17: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/17.jpg)
Step Response
![Page 18: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/18.jpg)
Ramp Response
![Page 19: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/19.jpg)
Ramp Response, Detail
![Page 20: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/20.jpg)
Lag Compensators
![Page 21: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/21.jpg)
What will lag compensation do?
![Page 22: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/22.jpg)
Qualitative example
![Page 23: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/23.jpg)
Bode Design Principles (lag)
![Page 24: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/24.jpg)
Design Guidelines
![Page 25: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/25.jpg)
Example, same set up as lead design
![Page 26: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/26.jpg)
Example
![Page 27: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/27.jpg)
Example: Compensated open loop
![Page 28: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/28.jpg)
Step Response
![Page 29: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/29.jpg)
Ramp Response
![Page 30: Design of Lead and Lag Compensators using Frequency ......2016/03/05 · Bode diagram. If that is insufficient.. O Determine dc, the frequency at which the uncompensated open loop,](https://reader035.vdocuments.us/reader035/viewer/2022081400/608987b1ddc6ff6f69030855/html5/thumbnails/30.jpg)
Ramp Response, detail