lec21 - Freq Domain Compensator Design Controller R(s Gc...

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Freq. Domain Compensator Design Controller Plant R(s) Y(s) + - G c G p D(s) + + Slide 1 ME 475 Session 21: Lead Design Galen King Purdue University N(s) + + ( 29 ( 29 ( 29 ( 29 c p p c p c p c p c p G G G G G Y s R s D s N s 1 G G 1 G G 1 G G = + - + + +
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Freq. Domain Compensator Design Requirements: Y R R ( 29 ( 29 R L Y s R s 1 L = + Slide 2 ME 475 Session 21: Lead Design Galen King Purdue University Y D 0 Y N 0 Good transient response ( 29 ( 29 p D G Y s D s 1 L = + ( 29 ( 29 N L Y s N s 1 L = - +
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Freq. Domain Performance Constraints nitude (dB) -100 -50 0 50 Slide 3 ME 475 Session 21: Lead Design Galen King Purdue University Frequency (rad/sec) Phase (deg); Magn -150 10 -2 10 -1 10 0 10 1 10 2 -270 -225 -180 -135 -90
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Compensator Design Example p 1 G (s) s(s 1) = + Slide 4 ME 475 Session 21: Lead Design Galen King Purdue University Specifications: 1) e ss | step 0.01% 2) e ss | ramp 0.5% 3) PM = 30 °
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Compensator Design Example First, determine compensator gain K: Slide 5 ME 475 Session 21: Lead Design Galen King Purdue University
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lec21 - Freq Domain Compensator Design Controller R(s Gc...

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