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Understanding Compensators in Control Systems

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6 views10 pages

Understanding Compensators in Control Systems

Uploaded by

techifiafrica
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

Introduction to Compensators

Compensators are used to obtain the desired


performance of a system
It is used to stabilise the unstable system.

It is used to stabilise the unstable system


It explains how much compensation is required to get
the desired response.

Types of Compensators

i/p Plant o/p

-Ve Feedback Sys Feedback

i/p GC Plant o/p

Feedback
Cascaded Compensator

i/p Plant o/p

GC
FB Compensator

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i/p GC Plant o/p

GC2

Feedback

Cascade with Feedback Compensator

Classification of Compensators
 Lead compensator
 Lag compensator
 Lag-Lead compensator
 Lead-Lag compensator

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Lead Compensator

Lead compensator is an electrical N/W


which produces sinusoidal O/P, having
Phase Lead when sinusoidal input is
applied.

sz
 General TF : Gc ( s ) 
s p
 Necessary Cond Gc ( s )  ve, p  z
n

1 1
z , p , 1
z z
s 1
 Gc ( s )  z
s 1
z
 1  zs 
  
 1  z s 

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To get frequency response put s=jw
 1  j z 
 Gc ( j )    
 1  j z 
 Phase response
Gc ( j )    tan  z  tan  z
1 1

 tan   tan(tan  z  tan  z )


1 1

 z   z
 tan  
1   z ( z )
 z   z
tan  
1  z 
2 2

 Magnitude response
1  z
2 2
Gc ( j ) 
1  z 
2 2 2

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For max imum compensation
d
0
d   m
 1  1 
 where, m  c1c 2    
 z  z 
1

z 
max . phase
 1   1   1 
  z   z     1
 z   z    
tan    
 1  2 2 2 
1  2  z 
z

1 
1

2 
1
 sin  
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 Magnitude response
2

1  1  2
 z
Gc ( j )   z 
2
 
1  1  z 
2 2

 z 


1 1    1 

1
1   (1   ) 

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6/3/23, 4:21 PM Control Systems - Compensators

Frequency response

Here, the capacitor is parallel to the resistor R1


and the output is measured across the resistor
R2.

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6/3/23, 4:21 PM Control Systems - Compensators

Vo ( s ) R2

Vi ( s ) R2  R1  (1 sC )
R1 (1 sC )

Vo ( s ) R2 (1  R1sC )

Vi ( s ) R1  R2  R1 R2 sC
 
 
Vo ( s ) R2  (1  R1sC ) 

Vi ( s ) R1  R2    R1 R2   
 1    sC  
  R  R  
 1 2 
 1  zs 
  
 1  z s 
R2
z  R1C ,   ,   1.
R1  R2

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Effects of Lead Compensator (HPF)

 Stability Increases
 Bandwidth Increases
 Rise time decreases
 Transient time response will improve
 Noise enters into the system at high freq.

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