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14 views4 pagesRoot Locus Technique for Controller Design
The document discusses the design of controllers using the root locus technique, emphasizing the importance of modifying root locations through compensators to achieve desired system performance. It explains the effects of adding poles and zeros on system stability and response, and outlines a procedure for designing lead compensators based on geometric root locations. Additionally, it highlights the need to verify performance specifications and adjust compensator parameters accordingly to meet design requirements.
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0% found this document useful (0 votes)
14 views4 pagesRoot Locus Technique for Controller Design
The document discusses the design of controllers using the root locus technique, emphasizing the importance of modifying root locations through compensators to achieve desired system performance. It explains the effects of adding poles and zeros on system stability and response, and outlines a procedure for designing lead compensators based on geometric root locations. Additionally, it highlights the need to verify performance specifications and adjust compensator parameters accordingly to meet design requirements.
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© All Rights Reserved
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Download as PDF, TXT or read online on Scribd
Design of controllers using the root locus technique
ROOTS.
Preliminary Design Considerations
When designing a control system, if a different adjustment than that of
the profit, we must modify the geometric places of the original roots
inserting a convenient compensator.
Essentially, in the design carried out through the method of the geometric locus of the
roots, the geometric places of the roots of the system are reconstructed
by using a compensator in order to place a pair of poles
dominant in closed loop at the desired position. (It is often specified that
relative damping factor and the undamped natural frequency of a pair
of dominant poles in closed loop.
EFFECTS OF ADDING POLES. The addition of a pole to the function of
open loop transfer has the effect of pulling the geometric location of the roots
to the right, which tends to decrease the relative stability of the system and encourage the
settlement of the response. (Remember that the addition of comprehensive controls
add a pole at the origin, making the system less stable.) The
Figure 1 shows examples of the geometric locations of the roots, which present
the effect of adding one or two poles to a single pole system.
EFFECTS OF THE ADDITION OF ZEROS. The addition of a zero to the function of
open loop feedback transfer has the effect of pulling the geometric location of the roots
to the left, which makes the system tend to be more stable, and accelerates the
settlement of the response. (Physically, the addition of a zero to the function of
direct trajectory transfer means adding control to the system
derivative. The effect of such control is to introduce a degree of foresight into the system and
accelerate the transient response.) Figure 2(a) shows the geometric locations of
the roots for a stable system with a small gain, but unstable with
a big gain. Figures 2(b), (c), and (d) show the graphs of the location
geometric of the roots for the system when a zero is added to the function of
open loop transfer. Note that when a zero is added to the system of
Figure 2(a), it becomes stable for all gain values.
In general, the design of controllers in control systems can be seen as
a filter design problem. From the filtering point of view, the controller
PD is a high-pass filter (lead controller), the PI controller is a low-pass filter.
(delay controller) and the PID controller is a band-pass filter
ADVANCE COMPENSATION TECHNIQUES BASED ON THE APPROACH
THE GEOMETRIC PLACE OF THE ROOTS.
The procedures for designing a lead compensator using the method
The geometric location of the roots is posed as follows:
1. Based on the performance specifications, determine the desired location.
for the dominant poles in closed loop.
2. Through a graph of the locus of the roots, verify if the
Gain adjustment may or may not produce the poles in the closed loop by itself.
convenient. If not, calculate the deficiency of angle 4. This angle must be a
contribution of the lead compensator if the new geometric location of the roots
It will pass through the desired locations for the dominant poles in closed loop.
3. Suppose that the lead compensator G(s) is:
where a and T are determined from the angle deficiency. Kc is determined
starting from the requirement of the gain in open loop.
4. If the static error constants are not specified, determine the location of the
pole and the zero of the lead compensator, so that the lead compensator
contribute to the required angle 4. If no other requirements are imposed on the
system, try to increase the value of a as much as possible. A larger value of a
generally produces a larger KV value, which is convenient. (If you
specify a static error constant, it is generally simpler to use the
frequency response approach.
5. Determine the open loop gain of the compensated system based on the
magnitude condition.
Once a compensator is designed, verify that all have been met.
performance specifications. If the system does not meet the specifications of
performance, repeat the design procedure by adjusting the pole and the zero of
compensator until all specifications are met. If a
large static error constant, cascade link a delay network or convert
the advance compensator in a delay-advance compensator.
Note that if the dominant poles in the selected closed loop are not
truly dominant, it will be necessary to modify the location of the pair of poles
closed loop dominant selected. (The poles in closed loop different
the dominants modify the response obtained from the dominant poles in a loop
closed. The degree of modification depends on the location of the poles in the loop.
remaining closed-loop zeros.) Likewise, closed-loop zeros affect the response if they are
located near the origin.
OTHER STEPS:
From the operating specifications, the desired location is determined.
of the dominant poles in closed loop.
2. Trace the geometric locus of the roots for the uncompensated system whose
The transfer function is G(s). Determine if it can be achieved by just adjusting the gain.
obtain or not the desired closed-loop poles. If it's not possible, calculate the
angular deficiency Φ, this angle must be provided by the compensator in
advance so that the new LGR goes through the desired locations.
3. α and T are determined from the angular deficiency, Kc is determined from
open loop gain requirement starting from the magnitude condition.
4. Verify that all performance specifications have been met; otherwise,
If necessary, repeat the procedure by adjusting the pole and zero of the compensator.
until fulfilling all the specifications.