MECH 466 - Lecture21-LeadLagDesigninFrequencyDomain-2009W

1 cs0286 cs0286 0 pm50deg g05 csclags

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Unformatted text preview: design procedure After lead C(s) design 50 1. Select z near uncompensated ωg. In the example, ωg=1.14. So, select, for example, z=1. 2. Select p>z by trial-and-error. trial- and- error. 3. Check PM and settling time. If not satisfactory, move the pole p. If moving pole does not give the desired results, try to move the zero z. 0 -50 -100 10 -2 10 -1 10 0 10 1 10 2 -100 PM=50 -150 -200 -250 10 2008/09 MECH466 : Automatic Control 25 C(s)=1 C(s)=1 10 0 10 1 10 2 MECH466 : Automatic Control 26 (PM=50deg, ωg=0.5) 70 C(s)=CLag(s) (PM=52.3deg, ωg=0.4) C(s)=C (s) C(s)=CLead(s) (PM=50deg, ωg=1.6) C(s)=C (s) 1.5 -1 Ramp responses (PM=12deg, ωg=1.1) C(s)=0.286 C(s)=0.286 10 2008/09 Step responses 2 -2 69.5 69 Ramp reference C(s)=1 (Kv=2) C(s)=1 Kv=2) 68.5 C(s)=0.286 C(s)=0.286 1 (Kv=0.572) (Kv=0.572) C(s)=CLag(s) (Kv=2) C(s)=C (s) (Kv=2) 68 C(s)=CLead(s) (Kv=2) C(s)=C (s) (Kv=2) 0.5 67.5 Faster response is due to larger wg. (Compa...
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