Control system design of dc motor position control using lead method 58 lab experiment 8. Then we present a design technique for the lead compensator by use of the bode diagram. Step8 cheak the gain margine of compensated system, if it is not satisfactory repeat the design by modifying the zero location at the compensator till a satisfactory result obtained. Pdf this paper introduce the lead,lag,laglead compensator design of root locus using single composite matlab programme.
May 22, 20 designing a lead compensator with root locus duration. Run the command by entering it in the matlab command window. Using these editors, you can interactively tune the gain, poles, and zeros of the compensator, while simultaneously visualizing the effect on the set of plants. The reader is referred to those notes for details on the individual design procedures. Pdf a root locus design matlab simulation lead and lag compensator to improve the steady state error and overshoot with settling time find. To train the students to use engineering tool, matlab, to create and extend its functions as necessary. A lead compensator design example is worked based on improving transient time domain specifications. Since we have a plant model now, we can apply control design technique to satisfy some design requirementa s. Laglead compensator is an electrical network which produces phase lag at one frequency region and phase lead at other frequency region. The examples and plots presented in this paper are all done in matlab, and the various measurements that are presented in the examples are obtained from the. Interactive educational tool for compensators design in.
This video walks through a phase lead compensator example using the root locus method. A number of matlab function are developed for the compensator design method. The controller design is demonstrated through matlab simulink in order to get an output of better dynamic and static performance. In this case, we will focus on using the root locus as the design method to improve the step response of the closedloop system. Lead, one pole and one zero on the negative real axis, with the zero having a lower. A firstorder lead compensator cs can be designed using the root locus. Design via root locus elec304alper erdogan 1 33 laglead compensation. Design via root locus elec304alper erdogan 1 33 lag lead compensation. For the yaxis you will repeat the above procedure with matlab s sisotool. Design and analysis portland state university department of electrical and computer engineering portland, oregon, usa december 30, 2009 abstract this paper discusses the design of a compensator for the buck dc switching converter.
A compensator that introduces a phase lead to an input signal is called a. Lead compensators design using frequency response techniques. Matlab assignment experts is a platform that has been helping students who get stranded with their assignments for years. Lec30 compensator design using root locus plots duration. Analytical and graphical design of leadlag compensators. Design via root locus elec304alper erdogan 1 1 lecture. Interactive educational tool for the design of compensators using. Build the simulink model and once completed, connect to target.
Designing a pid controller using matlab s siso tool august 19, 2015 by adolfo martinez control systems engineering requires knowledge of at least two basic components of a system. This paper introduce the lead,lag,laglead compensator design of root locus using single composite matlab programme. Aug 19, 2015 technical article an introduction to control systems. Various values of the sample period t will be used to show the effect that varying t has on closedloop performance. Design a compensator such that the closedloop system satis. This paper introduce the lead,lag,lag lead compensator design of root locus using single composite matlab programme. Analyze and interpret stability of the system through root locus, bode plot and nyquist plot.
In this page, you will learn how to design digital lead and lag compensators using the rootlocus design method. Because of its computational power, matlab is a tool of choice for many control engineers to design and simulate control systems. No matter what we pick k to be, the closedloop system must always have n poles, where n is the. Request pdf interactive educational tool for compensators design in matlab r using frequency response analysis this article presents an educational platform developed to support the teaching. If damping ratio alone is given then draw the root locus and draw line from origin at an angle to intersect the root locus, the point of intersection is the dominant pole measure angle contributed by each pole. From given specifications determine the damping ratio and the natural frequency find the dominant pole. A matlab based gui for the design of compensators has been presented as an educational aid for basic control theory courses. This will be a series of posts where i will be dealing with control system compensator design using matlab. A lead compensator increases the bandwidthspeed of response good if you want the system to react fast a lag compensator decreases the bandwidthspeed of response good if your model is bad at high frequencies good to reduce the impact of mostly highfrequency noise.
It is a combination of both the lag and the lead compensators. Buck converter circuit with nonideal circuit elements listed below are the fundamental equations for state space analysis. Using the initial design of the lead compensator from example 6 in series with the lag compensator gc. As the openloop gain, k, of a control system varies over a continuous range of values, the root locus diagram shows the trajectories of the closedloop poles of the feedback system. Determine the desired pole location based on speci. Design lag, lead, leadlag compensators and verify experimental results using matlab.
Pdf design of a leadlag compensator for position loop. However, we expect errors in our system identification. A phaselead compensator tends to shift the root locus toward to the left in the complex splane. Design example 1 design a lead compensator for the digital control system below so that the pm is 50, the gm is at least 10 db. Acquire a set of plant models for a typical feedback problem, the controller, c, is designed to satisfy some performance objective. Design via root locus elec304alper erdogan 1 1 lecture 1. Phase lag compensator design using bode plotsandphase lead compensator design using bode plots, theses notes will concentrate on the use of those two designs together.
The laglead compensator circuit in the s domain is shown in the following figure. Design lag, lead, lead lag compensators and verify experimental results using matlab. Lead or phaselead compensator using frequency response. Pdf root locus, lead, lag, lag lead commentator using matlab with. Design of a leadlag compensator for position loop control of a gimballed payload conference paper pdf available april 2015 with 3,859 reads how we measure reads. Designing a lead compensator with bode plot youtube. An introduction to compensator design with matlab geek peek. Three di erent compensators are designed and analyzed based on phase and gain.
Evaluate the steady state performance of the lead compensated system to. Designing a lead compensator with root locus youtube. Therefore,the design can be successfully carried out using a compass and a ruler. Control system design by frequency response using matlab. Pdf computer aided design of lead compensator using root. Note the attenuation by 1 this accounted for by increasing the forward gain k by a factor of the compensators. The educational gui can help the students to ponder over the theoretical concepts and emphasizes on making the students understand the compensator design through interactive practice. This approach is described in more detail in my paper lagleadcompensator design using bode plots, as well as in the references. Matlab is an interactive program for numerical computation and data visualization. Plot the closed loop system performance using the feedback and step function in matlab. This example illustrates the root locus design process in the zplane to obtain a discretetime compensator. In this process, we have made a reputation for giving highquality services and amassed a large number of clients from different parts of the globe.
Control systemscontrollers and compensators wikibooks. May 07, 20 designing a lead compensator with root locus brian douglas. The app also computes the openloop transfer function at the output of the pid controller block, and adds this response to the. Run matlab and change your workspace to your folder on the c. Matlab simulink student software hardware support file exchange. Designing a lead compensator with root locus duration. Consider of lead compensator having the following transfer function. Execute time response analysis of a second order control system using matlab 2. Using control system designer, you can manually edit compensator. World academy of science, engineering and technology 42 2008 analysis of.
The pid controller design and choosing pid parameters according to system response are proposed in this paper. Dec 05, 2017 step8 cheak the gain margine of compensated system, if it is not satisfactory repeat the design by modifying the zero location at the compensator till a satisfactory result obtained. Make a bode plot of kghjw, including logmagnitude and phase plots. Depending upon the nominal operation design parameters of a system under an active feedback control. This example shows how to design and analyze a controller for multiple plant models using control system designer. The frequencyresponse design method therefore by applying the lead compensator with some gain adjustments. Root locus lead compensator design example polezero. A leadlag compensator is a component in a control system that improves an undesirable frequency response in a feedback and control system. Yaxis into matlab and start sisotool by typing sisotool sys in the command window. Control system design with the control system designer app. In the limit as k 0, the poles of the closedloop system are as 0 or the poles of hs. Root locus design is a common control system design technique in which you edit the compensator gain, poles, and zeros in the root locus diagram.
Phase lead compensator design using bode plots the gmu ece. A lead compensator can increase the stability or speed of reponse of a system. Lead compensator example draw bode plot of l1s using approximated bode plot pm is found to be 17o. This is intended primarily for btech electrical and electronics students. A phase lead compensator tends to shift the root locus toward to the left in the complex splane. Students will have the knowledge on matlab and scilab.
To solve and analysis the linear time invariant control systems by using matlab programming and also by scilab simulation. The controlsystemdesigner function can be used for analysis and design. Here pid controller is employed to control dc motor speed and matlab program is used. The procedure for designing the laglead compensator is presented in section ii. You should see on the encoder scopes that the square wave reference signals appear. The lead compensator zero location is placed over the left. Interactively estimate plant parameters from response data. The instantaneous gain of the compensator is 1, and the dc gain is equal to 1z1p, where z is the zero and p is the pole of the compensator the block implements a lead compensator when 0 9. World academy of science, engineering and technology 42 2008 analysis of phase lead compensator design for laser guided. To linearize the simulink model and set the control architecture, click ok by default, control system designer linearizes the plant model at the model initial conditions. Compensator design for a set of plant models matlab. A read is counted each time someone views a publication summary such as the title, abstract, and list of authors, clicks on a figure, or views or downloads the fulltext. The resultant output from controller is observed using the.
Control system design of dc motor position control using lead lag. Designing digital lead and lag compensators using the. Depending on the effect desired, one or more lead and lag compensators may be used in various combinations. In the limit as k infinity, the poles of the closedloop system are bs 0 or the zeros of hs. View notes missile from meded 121902 at university of texas, medical branch.
Achieve your design goals by manually editing compensator poles, zeros, and gains. Pid controller design for controlling dc motor speed in the project 38. When designing and implementing a phase compensator, it is important to analyze the effects on the gain and phase margins of the system, to ensure that compensation doesnt cause the system to become unstable. Apr 22, 2017 a lead compensator design example is worked based on improving transient time domain specifications.
In this paper modeling and simulation study of the use of static var compensator svc for voltage control in nigeria transmission network have. Control systemsmatlab wikibooks, open books for an open. The app adds the pid controller to the data browser, in the controllers and fixed blocks area. In the previous lab, we performed system identification of the xy stage. If you know your plant transfer function, sys, in this simple case, 1 over s plus 1, you can launch control system designer app by typing controlsystemdesignersys. A matlabbased gui for the design of compensators has been presented as an educational aid for basic control theory courses. There is nothing you have to do with this simulink model other than build once. Root locus lead compensator design example polezero cancellation duration. Mar 03, 2016 control system designer app lets you tune singleinput singleoutput compensators using graphical and automated tuning methods.
If you have system identification toolbox software, you can use pid tuner to estimate a linear plant model based on response data measured from your system. More than one section of compensator can be used if necessary. The transfer fcn lead or lag block implements a discretetime lead or lag compensator of the input. The transfer function of the lag compensator network is given by. The steps to design the lead compensator are with root locus are. State space root locus sketching rules negative feedback rule 1. Matlab is a programming language that is specially designed for the manipulation of matrices. Possible compensator types might include phase lead, phase lag, laglead, pid, pd, or pi. Recitation 4 report p, pd, pi, pid controllers group members.