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Control Engineering Compensator Design

The document outlines a tutorial on control engineering, focusing on the design of compensators for unity feedback systems to achieve specific performance criteria such as phase margin, percent overshoot, and steady-state error. It includes detailed problems involving phase-lag and lead compensators, as well as the design of a perception system for autonomous robots like the Spider-bot. Additionally, it discusses the analysis of Bode diagrams and the selection of optimal gains for desired system responses.

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8 views2 pages

Control Engineering Compensator Design

The document outlines a tutorial on control engineering, focusing on the design of compensators for unity feedback systems to achieve specific performance criteria such as phase margin, percent overshoot, and steady-state error. It includes detailed problems involving phase-lag and lead compensators, as well as the design of a perception system for autonomous robots like the Spider-bot. Additionally, it discusses the analysis of Bode diagrams and the selection of optimal gains for desired system responses.

Uploaded by

angelinamech19
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

EE3004 Control Engineering

Tutorial 10
4
1. A unity feedback system has an open loop transfer function G(s) = s(2s+1) .
Design a phase-lag compensator for the system in order to obtain a desired phase margin of 40◦ without
sacrificing the Kv (velocity error constant) of the uncompensated system.
K
2. Consider the unity feedback system with G(s) = s(s+5)(s+20) . The uncompensated system has about 55%
overshoot and a peak time of 0.5 second when Kv = 10. Design a lead compensator to reduce the
percent overshoot to 10%, while keeping the steady state error about the same or less and gain cross over
frequency is greater than 10rad/sec. Make any required second order approximations.
3. The unmanned exploration of planets such as Mars requires a high level of autonomy because of the com-
munication delays between robots in space and their Earth-based stations. This affects all the components
of the system: planning, sensing, and mechanism. In particular, such a level of autonomy can be achieved
only if each robot has a perception system that can reliably build and maintain models of the environment.
The perception system is a major part of the development of a complete system that includes planning
and mechanism design. The target vehicle is the Spider-bot, a four-legged walking robot, being developed
at NASA Jet Propulsion Laboratory. The control system of one leg is shown below.

(a) Sketch the Bode diagram for Gc (s)G(s) when K = 20. Determine the frequency when the phase is
−180 deg and the frequency when 20 log |Gc G| = OdB. (i.e ωpc and ωgc ).
(b) Plot the Bode diagram for the closed-loop transfer function T (s) when K = 20.
(c) Determine the maximum magnitude(Mpw ), Resonant frequency (ωr ) and bandwidth (ωB ) for the
closed-loop system when K = 22 and K = 25.
(Hint: At the resonant frequency to ωr a maximum value Mpw of the frequency response is attained.
The bandwidth is the frequency to ωB at which the frequency response has declined 3dB from its low-
frequency value. This corresponds to approximately half an octave, or about √12 of the low-frequency
value.)
(d) Select the best gain of the two specified in part(c) when it is desired that the overshoot of the system
to a step input r(t) be less than 5% and the settling time be as short as possible.

(Food for thought: The resonant frequency ωr and the −3dB bandwidth can be related to the speed
of the transient response. Thus, as the bandwidth ωB increases, the rise time of the step response of
the system will decrease. Furthermore, the overshoot to a step input can be related to Mpw through the
damping ratio ζ.)
4. Consider a unity feedback system with

K(s + 7)
G(s) = .
s(s + 5)(s + 15)

Design the gain K and a passive lag-lead compensator of the form

(s + 1/T1 )(s + 1/T2 )


Gc (s) =
(s + γ/T1 )(s + 1/γT2 )

(γ > 1) so that the compensated system has Kv = 1000, percent overshoot of 15 and a settling time of
0.1 sec.

On the lighter side...

1
Source: [Link]

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