Solution Display
03-Jan-15
Problem 11.26
Subject: 11. Design via Frequency Response.
Problem Hints Directions Detailed Solution Final Answer
1. Part a:
We need to design a lag-lead compensator for the system shown in Fig 26-1 to meet the following performance
specifications: overshoot
, settling time
, steady state error
. It is given that
and
(Figure 26-1)
2. First we write the transfer function from
3. Letting
to
, we can redraw the block diagram of Fig. 26-1 in a standard form with a negative feedback (Figure
26-2):
(Figure 26-2)
4. Following the lag-lead compensation design procedure, we translate the performance specifications into the frequency
domain requirements.
5. We obtain the required damping ratio from the percent overshoot:
6. Next, we determine the phase margin,
, from the relationship between phase margin and damping ratio:
7. Using the relationship between damping ratio, settling time and bandwidth, we determine the required bandwidth:
8. Finally, the specification on the velocity constant
the lag-lead compensator's static gain equals
yields the required gain:
. Assuming that
, we have:
http://higheredbcs.wiley.com/legacy/college/nise/0471794759/justask/Q144.html#detailed
1/3
Solution Display
03-Jan-15
9. The Bode plots for the uncompensated system with
are shown in Fig. 26-3.
(Figure 26-3)
10. We select
as the new phase margin frequency.
11. At this frequency, the uncompensated phase is
. Adding a
phase contribution from the lag compensator, we
obtain the required phase contribution from the lead portion of the compensator:
12. Now, we design the lag compensator so that its phase response will have little effect at the phase-margin frequency
. The higher break frequency is chosen to be a decade below
13. Since we need to add
, at
of phase shift using the lead compensator at
can be calculated from:
14. Thus, the transfer function of the lag compensator is:
15. Now we design the lead compensator. Using the values of
angle occurs), and
(the frequency at which the maximum phase
, we find the lower break frequency:
16. The higher break frequency is:
17. Thus, the transfer function of the lead compensator is:
18. Combining (2), (3), (8), (14) and (17), we obtain the lag-lead compensated system's open-loop transfer function:
http://higheredbcs.wiley.com/legacy/college/nise/0471794759/justask/Q144.html#detailed
2/3
Solution Display
03-Jan-15
19. The Bode diagrams of the lag-lead compensated open-loop system are shown in Fig. 26-4.
(Figure 26-4)
20. From this Figure we see that the phase margin ,
(the requirement found in (6)). Therefore, the phase-
margin specification is met.
21. The closed-loop bandwidth, is the frequency at which the magnitude response of the open-loop system is
Fig.26-4, we see that this frequency is
22. Since
. Thus, we estimate the closed-loop bandwidth to be
exceeds the requirement of
23. Finally, we must verify that the
. From
.
(found in (7)), the settling time specification is met.
requirement is also met:
24. Part b:
To test the second-order approximations used in the design procedure, we simulate the system with the designed gain and
lag-lead compensator. The simulation results are shown in Fig. 26-5.
(Figure 26-5)
25. From the step response we see that the overshoot is about
http://higheredbcs.wiley.com/legacy/college/nise/0471794759/justask/Q144.html#detailed
, and the settling time is less than
3/3
