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Derivative Compensation in Control Systems

- Derivative compensation can improve the transient response of a system by speeding up the response time. - It works by adding a zero to the compensator transfer function placed on the left side of the s-plane real axis. - The document examines different locations for the compensator zero (-2, -3, -4) and compares the step response of the closed loop system using each one. It also checks the validity of treating the system as second order.

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gihe purnama
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46 views12 pages

Derivative Compensation in Control Systems

- Derivative compensation can improve the transient response of a system by speeding up the response time. - It works by adding a zero to the compensator transfer function placed on the left side of the s-plane real axis. - The document examines different locations for the compensator zero (-2, -3, -4) and compares the step response of the closed loop system using each one. It also checks the validity of treating the system as second order.

Uploaded by

gihe purnama
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

Derivative Compensation

• Used to improve the transient response


• It can speed up the response of the
uncompensated system
• This compensator uses a zero to improve
placed on the real axis and LHS of the s-
plane.
• The compensator form is Gc = s + zc
1
Consider a unity feedback plant G ( s ) =
( s + 1)( s + 2)( s + 5)
Conduct a RL plot for zc = −2, −3 and − 4
Compare the closed loop response due to a unit step input
Investigate 2nd order validity.
Derivative compensation:
a. uncompensated;
b. compensator zero at –2;
c. compensator
zero at –3;
d. compensator
zero at – 4
Uncompensated system and derivative
compensation
Comparing responses using the 3
compensators
Example

Design a derivative compensator that has a 16%


overshoot and a 3 times reduction of settling time as
compared to the uncompensated plant.
Root locus for uncompensated system
Evaluating the damping ratio by subst. %OS=16
− ln(%OS /100)
ς = = 0.504
ln (%OS /100) + π
2 2

The uncompensated point on the RL is -1.205 + j2.064


From the real part of the second order pair of poles, the
uncompensated settling time can be evaluated as
4 4
Ts = = = 3.320
ςωn 1.205
The third closed loop pole is at -7.59. The 2nd order approx.
is valid for the uncompensated system.
The compensator has to be now applied. First a reduction of Ts
by 3 indicates that the new settling time
3.32
Ts = = 1.107 sec
3
Hence the real part of the NEW dominant pair is
4
σ= = 3.613
1.107
The imaginary part of the complex pair is
ωd = 3.613 tan ( cos −1 0.504 ) = 6.192
So the desired closed loop compensared dominant pair is
+-3.613 + j 6.192
Compensated
dominant pole
superimposed
over the
uncompensated
root locus

Note that the desired


pole is NOT on the RL.
A compensator zero
has to be added to
reshape the RL so that
it passes through the
desired point
The angle criterion has to be used to calculate the location
of the compensator zero on the real axis.

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