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Lag Compensator 087

The document outlines the design of a lag compensator using MATLAB to meet specific time domain specifications, including a damping ratio of 0.707 and a settling time of 5 seconds or less. It details the procedure for determining complex dominant roots, calculating gain, and constructing the compensator's pole and zero. The results indicate a significant reduction in steady state error after compensation.

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mmkavin96
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4 views5 pages

Lag Compensator 087

The document outlines the design of a lag compensator using MATLAB to meet specific time domain specifications, including a damping ratio of 0.707 and a settling time of 5 seconds or less. It details the procedure for determining complex dominant roots, calculating gain, and constructing the compensator's pole and zero. The results indicate a significant reduction in steady state error after compensation.

Uploaded by

mmkavin96
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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9.

DESIGN OF LAG COMPENSATOR USING MATLAB

Aim: To design the lag compensator to meet the given time domain specifications using Root
Locus technique.

Apparatus Required:

MATLAB Software

Theory:

Lag Compensator:

 To improve steady state error


 Not a pure integration
 Placing a pole and zero nearer to origin and pole should be more nearer to origin
than zero.
 Implemented using passive network
v0 (s)
Transfer function =
vi (s)

Problem Statement:
k
Design a lag compensator network for the given open loop system G(s) =
s(s  2)

to have following time domain specifications:

damping ratio  =0.707

settling time ts  5 sec

velocity error constant kv  4

Procedure:

1. Draw the root locus for the given system

2. Determine the pair of complex dominant roots from ts and 



s  δω  jω 1 δ2
1,2 n n

If damping ratio alone is given, draw a  line with an angle of cos-1() from the negative real
axis. The point of intersection of  line on the root locus, is the complex dominant root (sd).

3. Locate the dominant root on the root locus drawn and calculate the gain (Knew) at that point.

1
Knew 
G(s) ssd

Also calculate the error constant kv  Lt sKnew G(s)  kvuc (Uncompensated)


s 0

(compensated) kvc = given kv in the specifications.


kvc
4. Select β =
kvuc
5. Construct a line at an angle of 10 (or less) with  line from sd. Intersection with real axis is
the compensator zero(zc)

6. The compensator pole (pc) = zc/


s  zc
7. The open loop transfer function of the compensated system is G (s)  K G(s)
c new
s  pc

8. Redraw the root locus for Gc(s) and verify the given specifications.

MATLAB Command:

z=[]
p=[-1 -2 -10]
k=[162]
sys1=zpk(z,p,k)
sysc=feedback(sys1,1)
figure(3)
step(sysc)
title('23EIR087')
z=[-0.5]
p=[-0.05]
k=[1]
sys2=zpk(z,p,k)
sys3=series(sys2,sys1)
sysc=feedback(sys3,1)
figure(4)
step(sysc)
title('23EIR087')
Steady state error of the uncompensated system = 0.11

Steady state error of the uncompensated system = 0.012


Result:

Thus, the lag and lead compensator are designed and verified.

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