Dc motor speed control with lag compensator and pid matlabcentralfileexchange. To linearize the simulink model and set the control architecture, click ok by default, control system designer linearizes the plant model at the model initial conditions. The leadlag discrete or continuous block implements a leadlag compensator in conformance with ieee 421. Designs are based on a target gain cross over frequency and a target phase margin. For more details on pi compensation schemes, please see this article. Mathworks is the leading developer of mathematical computing. The compensator improves the transient performance of the. For this reason, the pole and zero of a lag compensator are often. This is intended primarily for btech electrical and electronics students.
The model sample time is parameterized with variable ts default value ts 50e6. Computer aided design of lead compensator using root locus. Compensator design for a set of plant models matlab. The simulation study is based on the model developed by myers et al.
This leads to a phaselead compensator design of the following. Achieve your design goals by manually editing compensator poles, zeros, and gains. Equation12 10 8 6 4 2 0 2 415105 0 5 10 15 i m a g a x i s real axis j2 j2bca draw the root locus. Use writeblockvalue to apply the tuned values to the. The procedure for designing the laglead compensator is presented in section ii.
Obviously, tracking performance is vastly improved, since now the step response settles within 0. Run the command by entering it in the matlab command window. Control systems in python phase lag compensator design. The main types of compensators are the lag, lead and lag lead. Laglead compensator design using bode plots the gmu ece.
The tuned response has significantly less overshoot and satisfies the response time requirement. You can switch between continuous and discrete implementations of the block using the sample time parameter. With this design tool, control engineers would be able to rapidly design lead andor lag compensators. Getting started with the control system designer matlab. In the previous post an introduction to compensator design with matlab we saw an introduction to compensators. Calculate the parameters of the phaselead compensator based on the values obtained in steps i. In this post we will deal with lag compensator design with frequency domain specifications. The app also computes the openloop transfer function at the output of the pid controller block, and adds this response to the. Margins 14 leadlag compensation with matlab youtube. However these simulations are obtained using a continuoustime leadlag compensator looptune operates in continuous time so we need to further validate the design in simulink using a digital implementation of the leadlag compensator. A comparative analysis of pid, lead, lag, leadlag, and.
In frequency response design, the phaselead compensator adds positive phase. Discretetime or continuoustime leadlag compensator simulink. The design process of phaselead, lag, leadlag, and cascaded lead controllers is performed by applying the principles of the root locus technique 2628, using matlab sisotool 2931. To configure a lead or lag network for your compensator, use one of the. A bode plot of a phaselead compensator looks like the following 24. This will be a series of posts where i will be dealing with control system compensator design using matlab. The app adds the pid controller to the data browser, in the controllers and fixed blocks area. A lead compensator in frequency response form is given by the following. Bode plots after the design of the lead part of the laglead compensator. The reader is referred to those notes for details on the individual design procedures.
Using these editors, you can interactively tune the gain, poles, and zeros of the compensator, while simultaneously visualizing the effect on the set of plants. The instantaneous gain of the compensator is 1, and the dc gain is equal to 1z1p, where z is the zero and p is the pole of the compensator the block implements a lead compensator when 0 me451. In this section we introduce their structures and indicate their main properties. Start with the design of the lead compensator neglect the lag compensator part for now lead compensator ch. The transfer fcn lead or lag block implements a discretetime lead or lag compensator of the input.
The bode plot shows that the pm for the open loop system is 64. The transfer function of a phaselead compensator is given as. A special case of the lag compensator is the pi controller when the pole is place at the zero i. Designing lag or lead compensators with 3rd order systems. A number of matlab functions are developed that automate the compensator design procedure. Dc motor speed control with lag compensator and pid file. In this lecture we would revisit the continuous time design techniques using frequency domain since these can be directly applied to design for digital control system by transferring the loop transfer function in z plane to wplane.
Design lag, lead, leadlag compensators and verify experimental results using matlab. To design a phase lead lag compensator for the unity feedback transfer. Shows how matlab tools can be used quickly and efficiently to implement, and illustrate, the mechanistic design procedure for a leadlag compensator. Analyze and interpret stability of the system through root locus, bode plot and nyquist plot.
The instantaneous gain of the compensator is 1, and the dc gain is equal to 1z1p, where z is the zero and p is the pole of the compensator the block implements a lead compensator when 0 discrete or continuous block implements a leadlag compensator in conformance with ieee 421. Introduce a lead compensator characteristic equation with the lead is and, at phase cond. Design of a leadlag compensator for position loop control of a gimballed payload conference paper pdf available april 2015 with 3,859 reads how we measure reads. Analyze toque speed characteristics of dc and ac servomotors.
However i have heard about the laglead compensator and then after all this i became confused. Lead compensator design contd evaluate gs at the desired pole. Pdf design of a leadlag compensator for position loop. The case study examples have been taken from norman. Analytical and graphical design of leadlag compensators. The compensator can be defined as a lag compensator if p a. Then, in the edit selected dynamics section, in the text boxes, specify the pole and zero locations to delete poles and zeros, in the dynamics table, click on the polezero type you want to delete. They are known as pd, pi, pid, phaselag,phaselead,and phaselagleadcontrollers.
Some case studies on compensator design through the created gui have been discussed below. Jongeun choi department of mechanical engineering michigan state university lecture 21 root locus. This example shows how to design and analyze a controller for multiple plant models using control system designer. Depending on the effect desired, one or more lead and lag compensators may be used in various combinations. Pdf root locus, lead, lag, lag lead commentator using matlab with. Pid controller, leadlag, type 2 and type 3 controller pid controller, leadlag, type 2 and type 3 controller. In this page, you will learn how to design digital lead and lag compensators using the rootlocus design method.
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