Lead compensator design using matlab pdf manual

Design leadlag compensator using sisotool in matlab arabic abdo hamdy metwaly. Design via root locus california state university, sacramento. Then we present a design technique for the lead compensator by use of the bode diagram. The reader is referred to those notes for details on the individual design procedures. Finally, the result of phase lead and phase led compensator is presented by using matlabgui. Assistant professor of laki reddy balireddy college of engineering, mylavaram. Abstractthis paper describes design of phase lead and phase lag compensator for pitch controller of aircraft. There is nothing you have to do with this simulink model other than build once. Comment on what you could do to ensure you meet this requirement. Process parameters time constant and delaylag will be provided. 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 firstorder phase lead compensator can also be designed using a frequency reponse approach. I am working on position control of a dc motor connected to a pulley and getting position feedback by means of a potentiometer.

So, in order to produce the phase lag at the output of this compensator, the phase angle of the transfer function should be negative. Jun 14, 2015 control system design with control system tuning app. This will lead to automatic control of position of the dc motor without manual interference. It ties the creation of user interfaces called front panel into the development panel cycle.

Ee302 phase lead compensators depiero compensator networks are typically implemented as electrical circuits in the feedforward path of a control system. The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design proportional integral derivative pid controller to control the ball position. Discretetime or continuoustime leadlag compensator simulink. The procedure for designing the laglead compensator is presented in section ii. Design of phase lead and phase lag compensator for pitch.

Design compensator using automated pid tuning and graphical bode design. Find range of gain k for stability using root locus plot duration. This method can be extended to more complicated design problems, such as two phaselag lead compensators connected in series. The purpose of compensator design generally is to satisfy both transient and steadystate speci.

Design via root locus elec304alper erdogan 1 1 lecture 1. Simulation results under two typical cases show that this method is general, too. We will now employ these models within simulink to simulate the system response and design different approaches to control. Design of lead and lag compensators using frequency domain techniques prof. Using matlab, obtain the partial fraction expansion of fs. A fourparameter laglead compensator is presented, which formulates the design problem into a polynomial function optimization problem solved by using sos techniques.

In the limit as k infinity, the poles of the closedloop system are bs 0 or the zeros of hs. The procedure of lag compensator design is same as lead only the change in procedure is of calculations for poles and zeros. I deduced the transfer function and designed a pid using the manual method and zn. In matlab a phase lead compensator in root locus form is implemented using the following commands where kc, z, and p are defined. Lead or phaselead compensator using frequency response. Determine the transfer function of the lead compensator. Matlab is a highperformance language for technical computing. Run matlab and change your workspace to your folder on the c. In this page, you will learn how to design digital lead and lag compensators using the rootlocus design method. This has been the most difficult part for me since i started writting this series.

Control system design using bode plot lead, lag and leadlag controllers. We will start from the frequency domain design using bode plot. Pdf computer aided design of lead compensator using root. Compensator design to improve transient performance using root locus prof. How to plot the root locus of transfer function in matlab. The root locus plotted by using matlab on the figure window, click edit copy. Using control system designer, you can manually edit compensator. Gain a better understanding of root locus plots using matlab. Start by evaluating t determine the pole and zero location of the lead compensator. Unit b involves compensator design for systems with realistic parameters involving practical speci. Now i need to design a phase lead and phase lag compensator. For those who have followed my previous posts will know by now what the. Validate your compensator design by simulating the nonlinear simulink model with the tuned controller parameters. The transfer fcn lead or lag block implements a discretetime lead or lag compensator of the input.

Design of compensators for speed control of dc motor by. Prior to carrying out these steps, it is assumed that all transient response speci. To satisfy the tracking requirement of zero steadystate error, add an integrator to the compensator. For the phaselead compensator the design procedure has the following steps. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. These results can then be marked authorized by using matlab simulink and manual calculations. Evaluate the steady state performance of the lead compensated system to. Design singleinput, singleoutput siso controllers matlab.

State space root locus sketching rules negative feedback rule 1. You can design the compensator by shaping the openloop frequency response in either the bode editor or nichols editor. Pdf design of a leadlag compensator for position loop. You should see on the encoder scopes that the square wave reference signals appear. The gain of the controller to be computed by using zn.

In 11, using matlabsimulink software simulation was done to demonstrate the performance of the system for each of the facts. In the editor, you can adjust the openloop bandwidth and design to gain and phase. The examples and plots presented here are all done. As you may have seen in the continuous lead and lag compensator design tutorial, a lead compensator can increase the stability or response speed of a system. Pdf this paper introduce the lead,lag,laglead compensator design of root locus using single. Bode diagram design is an interactive graphical method of modifying a compensator to achieve a specific openloop response loop shaping. Laboratory instruction manual jis college of engineering. The lead compensator is an electrical network which produces a sinusoidal output having phase lead when a sinusoidal input is applied. In matlab a phaselead compensator in root locus form is implemented using the following commands where kc, z, and p are defined. The objective of this lab is to introduce to the students the design and implementation of. Compensators design utilizing the frequency response. 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. Design feedback compensators to achieve a set of desired closed loop system characteristics and design a compensator in the frequency domain to meet specific design requirements using a lead compensator, lag compensator, or lead lag compensator.

The controller design process called controller the mathematical model of a pitch controller is calculated. Lead or phase lead compensator using frequency response. The minor loop is designed to change the open loop poles and open loop transientresponse. Pdf this paper introduce the lead,lag,lag lead compensator design of root locus using single composite matlab programme. Design a phase lead compensator which provides a maximum phase angle of 30at 500hz. Lead and lag compensators with complex poles and zeros design formulas for modeling and loop shaping.

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. Simulink modeling page we generated two different dc motor models in simulink. With this design tool, control engineers would be able to rapidly design nonlinear lead andor lag compensators. Analyze and interpret stability of the system through root locus, bode plot and nyquist plot. Compensator design for a set of plant models matlab. Comparing with other tuning methods, this method is simple with a short tuning time. Generate the bode plot of your lead compensator and verify that you have the desired phase margin at the desired frequency. To train the students to use engineering tool, matlab, to create and extend its functions as necessary.

Position control using p, pd and lead control print both the root locus and the time trace with a marker at the rst peak labeling them 7. Compensator design to improve transient performance using. During any system functioning much nonlinearity such as dead zone. Designs are based on a target gain cross over frequency and a target phase margin. 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. Design compensator for systems represented by frequency. Design and implementation of ball and beam system using pid. A fourparameter lag lead compensator is presented, which formulates the design problem into a polynomial function optimization problem solved by using sos techniques. Use matlab to compare the responses with a simple gain design, a lag design and a lead design and comment on what you find. Position control of dc motor by compensating strategies. The leadlag discrete or continuous block implements a leadlag compensator in conformance with ieee 421. Design a phase lead compensator which provides a maximum phase angle of.

Phase lead compensator design using bode plots, a slightly di. Control system design by frequency response using matlab. 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. Rlocus analysis design nyu tandon school of engineering. Margins 12 mechanistic lead compensation design with matlab. This method can be extended to more complicated design problems, such as two phaselaglead compensators connected in series. Introduction to matlab lag compensator with bode plot lag compensator with root locus so far we have seen the design of lag compensators, now we move on to lead compensators which help in improving the transient response. 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. Then the manual observation and record will be evaluated for 50% of. Write a matlab code to design a phaselead compensator for the system. Pdf this paper introduce the lead,lag,laglead compensator design of root locus using single composite matlab programme.

No matter what we pick k to be, the closedloop system must always have n poles, where n is the. Lead lag compensator using either root locus or frequency response. Mar, 2012 how to plot the root locus of transfer function in matlab urban school. By using this method, the designer can predict the effects on the location of the closed loop poles of varying the gain value or adding openloop poles andor open loop zeros. Design lag, lead, lead lag compensators and verify experimental results using matlab.

Design three lead compensators for the system to reduce. First design the minor loop then design the major loop. In these editors, interactively modify the gain, poles, and zeros of the compensator. Build the simulink model and once completed, connect to target. Examples functions and other reference release notes pdf documentation. Design leadlag compensator using sisotool in matlab. Consider of lead compensator having the following transfer function. Design and implementation of ball and beam system using. Position control of dc motor by compensating strategies s prem kumar1 1 1j v pavan chand b pangedaiah 1. Its objectives includes, among other things, the modeling and simulation study of the use of svc in the nigeria 31bus 330 kv power transmission network, using.

Leadlag compensator using either root locus or frequency response. Lead compensation tutorial resources in control education. Sumofsquares design method for fourparameter laglead. The control system designer app lets you design singleinput, singleoutput siso controllers for feedback systems modeled in matlab or simulink requires simulink control design software. Control system design using bode plot lead, lag and leadlag. Depending on the effect desired, one or more lead and lag compensators may be used in various combinations. Develop a plc program for an automatic control system of a medium degree of complexity. In the limit as k 0, the poles of the closedloop system are as 0 or the poles of hs.

The following steps outline the procedure that will be used to design the special lag compensator using root locus methods in order to satisfy steadystate speci. Control tutorials for matlab and simulink motor speed. Compensators design utilizing the frequency response methods. A designer must know how to generate the root loci of the closed loop system both by hand and with a computer e. A lead compensator in frequency response form is given by the following. Achieve your design goals by manually editing compensator poles, zeros, and gains. Method design a lead compensator to place the dominant poles at the desired places while neglecting the effects of the lag compensator. Lead, one pole and one zero on the negative real axis, with the zero having a.

Design of lead and lag compensators using frequency. The motor is given a square wave for obtaining a step response. A known nonlinear compensator design approach is adapted to allow design of nonlinear lead andor lag compensators, and a number of matlab functions are developed that automate the compensator design procedure. Matlab is an interactive program for numerical computation and data visualization. For a servo plant with an integrator, analytical tuning formulas for phase lead compensators with both gain and phase margin specifications are derived in this paper. The conjugate poles p 1 and p 2 of the complex lead compensator lie at the intersection. Shows how matlab tools can be used quickly and efficiently to implement, and illustrate, the mechanistic design procedure for a lead compensator. The proposed phase lead and phase lag compensator design can be used for any system that the mathematical model have been known to meet desired specifications. In the root locus design approach presented here, these two tasks are approached separately. Students will have the knowledge on matlab and scilab tools.

Design via root locus using the systems poles and the pole and zero of the ideal integral compensator, the summation of. Position control using p, pd and lead control startup. Analyze toque speed characteristics of dc and ac servomotors. Three di erent compensators are designed and analyzed based on phase and gain. Wonhee kim energy system engineering, chungang university. In this paper compensator is designed by using matlab programming. Keywords mathematical model, phase lead and phase lag compensator, desired. Using the systems original poles and assuming a lead compensator zero at 1. To open the compensator editor dialog box, in control system designer, in an editor plot area, rightclick and select edit compensator.

Lead lag compensators example with design so that dominant closed loop poles are at the sse is 0. Compensators, computer aided design, desired response specifications, matlab, root locus. Design via root locus elec304alper erdogan 1 1 lecture. Design feedback compensators to achieve a set of desired closed loop system characteristics and design a compensator in the frequency domain to meet specific design requirements using a lead compensator, lag compensator, or leadlag compensator. To interactively shape the openloop response using control system designer, use the bode editor. This is useful when selecting new phase margins in compensator design. Run the command by entering it in the matlab command window.

How to design a pid controller in matlab manual tuning method. The frequencyresponse design method therefore by applying the lead compensator. Consider compensation as adding poles and zeros to feedback section for the equivalent system. Design a laglead compensator such that the system will operate. Design and comparison of a multipurpose pid controller using. Then all of design parameters of compensator and design steps are implemented using matlab without. Compensator design for speed control of dc motor by root.

Design of a leadlag compensator for position loop control of a gimballed payload. Design lag, lead, leadlag compensators and verify experimental results using matlab. Execute time response analysis of a second order control system using matlab 2. Design via root locus elec304alper erdogan 1 35 two approaches for feedback compensation 1. Pdf lead and lag compensators with complex poles and zeros. The user can simulate the phase lead or phase lag program by clicking these two. You can add dynamics and modify compensator parameters using the compensator editor or using the graphical bode editor, root locus editor, or nichols editor plots compensator editor. I took one whole day to figure out how to write a program to designa lead compensator with rot locus in matlab.