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Module - 3 - Control System

System compensation involves designing part of a controller to meet performance requirements like stability, speed of response, and minimizing steady-state error. There are different types of compensators that can be used, including cascade, feedback, feed-forward, and disturbance compensation. Commonly used compensators are lead compensators to introduce phase lead, lag compensators for phase lag, and lag-lead compensators that provide both phase lag and lead in different frequency regions. The goal is to alter the frequency response or root locus to achieve suitable closed-loop system performance.

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231 views18 pages

Module - 3 - Control System

System compensation involves designing part of a controller to meet performance requirements like stability, speed of response, and minimizing steady-state error. There are different types of compensators that can be used, including cascade, feedback, feed-forward, and disturbance compensation. Commonly used compensators are lead compensators to introduce phase lead, lag compensators for phase lag, and lag-lead compensators that provide both phase lag and lead in different frequency regions. The goal is to alter the frequency response or root locus to achieve suitable closed-loop system performance.

Uploaded by

Ronit
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System Compensation

• Given the control plant, the procedure of controller


design to satisfy the requirement is called system
compensation.
• Why to compensate?
– The closed-loop system has the function of self-
tunning. By selecting a particular value of the gain K,
some single performance requirement may be met.
• Is it possible to meet more than one performance
requirement?
– Sometimes, it is not possible.
• Something new has to be done to the system in
order to make it perform as required.
Control System Design and
Compensation
• Design: Need to design the whole controller to satisfy the
system requirement.
• Compensation: Only need to design part of the controller
with known structure.
• A compensator is an additional component or circuit that
is inserted into a control system to equalize or
compensate for a deficient performance.
• Three elements for compensation
– Original part of the system
– Performance requirement
– Compensation device
Necessities of Compensation
• A system may be unsatisfactory in：
• Stability.
• Speed of response.
• Steady-state error.
• Thus the design of a system is concerned with
the alteration of the frequency response or the
root locus of the system in order to obtain a
suitable system performance.
Performance Requirement
1. Time domain criteria (step response)
– Overshoot, settling time, rising time, steady-state
error
2. Frequency domain criteria
– Open-loop frequency domain criteria:
Crossover frequency, phase margin, gain margin
– Closed-loop frequency domain criteria:
Resonant Peak Mr , resonant frequency, bandwidth
Structure of Compensator
• According to the way of compensation, the
compensator can be classified into
following categories:
– Cascade Compensation
– Feedback Compensation
– Cascade and Feedback Compensation
– Feed-forward Compensation
– Disturbance Compensation
Compensators

+ + C(s)
Original Part
- -

Compensator

(b) Feedback compensation


Compensators
Disturbance Compensation
Commonly Used Compensators
• Lead compensators
– If a sinusoidal input is applied to the input of a network,
and the steady-state output (which is also sinusoidal) has a
phase lead, then the network is called a lead network.
• Lag compensators
– If the steady-state output has a phase lag, then the
network is called a lag network.
• Lag–lead compensators
– In a lag–lead network, both phase lag and phase lead
occur in the output but in different frequency regions.
– Phase lag occurs in the low-frequency region and phase
lead occurs in the high-frequency region.

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