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ControI System Design by Root-Locus Method

Introduction
Performunce Specificutions
Design by Root-Locus Method
System Compensution
Series Compensution und PuruIIeI {or Feedbuck} Compensution
Compensutors
Design Procedures
PreIiminury Design Considerutions
Root-Locus Approuch to ControI System Design
Effects of the Addition of PoIes
Effects of Addition of Zeros
Leud Compensution
Lug Compensution
Lug-Leud Compensution
PuruIIeI Compensution
INTRODUCTION
Object|ve:
Study procedures |or the des|gn ond compensot|on o|
s|ng|e-|nput-s|ng|e-output [SISO} ||neor-t|me-|nvor|ont
[LII} contro| systems.
Compensot|on: |s the mod|||cot|on o| the system
dynom|cs to sot|s|y the g|ven spec|||cot|ons.
Des|gn ond compensot|on opprooches v|o
root-|ocus opprooch
|requency-response opprooch
stote-spoce opprooch
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INTRODUCTION
Fer|ormonce Spec|||cot|ons:
Contro| systems ore des|gned to per|orm spec|||c tosks,
w|th certo|n requ|rements thot ore usuo||y re|erred to os
per|ormonce spec|||cot|ons.
Ihe spec|||cot|ons moy be g|ven |n terms o|
trons|ent response requ|rements [|.e. mox|mum
overshoot, sett||ng t|me |n step response}, ond
steody-stote requ|rements [|.e. steody-stote error |n
|o||ow|ng romp |nput}
Ihe spec|||cot|ons o| o contro| system must be g|ven
be|ore the des|gn process.
INTRODUCTION
Des|gn by koot-Locus Method
Ihe des|gn by the root-|ocus method |s bosed on
reshop|ng the root-|ocus o| the system by odd|ng po|es
ond zeros to the system's open-|oop trons|er |unct|on
ond |orc|ng the root |oc| to poss through des|red c|osed-
|oop po|es |n the s-p|one.
Ihe chorocter|st|c o| the root-|ocus des|gn |s |ts be|ng
bosed on the ossumpt|on thot the c|osed-|oop system
hos o po|r o| dom|nont c|osed-|oop po|es. [Ieros ond
odd|t|ono| po|es o||ect the response chorocter|st|cs}
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INTRODUCTION
System Compensot|on:
As o ||rst step, odjust the go|n to meet the g|ven
per|ormonce spec|||cot|ons.
In genero|, |ncreos|ng the go|n vo|ue w||| |mprove the
steody-stote behov|or but w||| resu|t |n poor stob|||ty or
even |nstob|||ty.
I| odjustment o| the go|n o|one |s not su|||c|ent to meet
the g|ven spec|||cot|ons, then |t |s necessory to redes|gn
the system by mod||y|ng the structure or by us|ng
odd|t|ono| dev|ces or components to o|ter the overo||
behov|or to meet the spec|||cot|ons or so thot the system
w||| behove os des|red.
INTRODUCTION
System Compensot|on:
A redes|gn or odd|t|on o| o su|tob|e dev|ce |s co||ed
compensot|on.
A dev|ce |nserted |nto the system |or the purpose o|
sot|s|y|ng the spec|||cot|ons |s co||ed o compensotor.
Common|y used compensotors ond contro||ers ore:
|eod, |og, |og-|eod compensotors ond,
FID contro||ers
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INTRODUCTION
Ser|es Compensot|on:
Ser|es compensot|on scheme common|y used |or
|eedbock contro| systems |s |||ustroted be|ow, where the
compensotor G
c
|s p|oced |n ser|es w|th the p|ont.
INTRODUCTION
Foro||e| [or Feedbock} Compensot|on:
An o|ternot|ve to ser|es compensot|on scheme |s to |eed
bock the s|gno|[s} |rom some e|ement[s} ond p|oce o
compensotor |n the resu|t|ng |nner |eedbock poth os
shown be|ow.
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Compensotors: I| o compensotor |s needed to meet the per|ormonce
spec|||cot|ons, the des|gner must reo||ze o phys|co| dev|ce thot hos
the prescr|bed trons|er |unct|on o| the compensotor.
I| o s|nuso|do| |nput |s opp||ed to the |nput o| o network, ond the
s|nuso|do| steody-stote output hos:
phose |eod, then the network |s co||ed o |eod-network. [the
omount o| phose |eod ong|e |s o |unct|on o| the |nput |requency}
phose |og, then the network |s o |og-network
both phose |og ond phose |eod [phose |og ond phose |eod occur
|n output ot d|||erent |requenc|es}, then then network |s co||ed |og-
|eod network.
A compensotor hov|ng o chorocter|st|cs o| o |eod-network , |og-
network or |og-|eod network |s co||ed o |eod compensotor, |og
compensotor, or |og-|eod compensotor, respect|ve|y.
INTRODUCTION
We'|| ossume thot p|ont |n o g|ven contro| system |s
uno|terob|e.
Ihot |s, to meet per|ormonce spec|||cot|ons we must
odjust porometers other thon those |n the ||xed-p|ont,
wh|ch |eods us to |mprov|ng the system per|ormonce by
meons o| |nsert|on o| o compensotor.
PreIiminury Design Considerutions
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Ihe root-|ocus method |s o groph|co| method |or
determ|n|ng the |ocot|ons o| o|| c|osed-|oop po|es |rom
know|edge o| the |ocot|ons o| the open-|oop po|es ond
zeros os some porometer [usuo||y the go|n} |s vor|ed |rom
zero to |n||n|ty.
koot-|ocus o| o system moy |nd|cote thot the des|red
per|ormonce con not be och|eved just by the odjustment
o| go|n.
Ihen |t |s necessory to reshope the root |oc| by |nsert|ng o
su|tob|e compensotor so thot o po|r o| dom|nont c|osed-
|oop po|es con be p|oced ot the des|red |ocot|on. [O|ten,
the domp|ng rot|o ond undomped noturo| |requency o| o
po|r o| dom|nont c|osed-|oop po|es ore spec|||ed}.
Mo|n|y, we'|| ||nd the po|e[s} ond zero[s} o| the compensotor to o|ter
the root |oc| so thot the per|ormonce spec|||cot|ons w||| be met.
Root-Locus Approuch to ControI System Design
Ihe odd|t|on o| o po|e to the open-|oop trons|er |unct|on hos the
e||ect o| pu|||ng the root-|ocus to the r|ght.
It tends to |ower the system's re|ot|ve stob|||ty ond to s|ow down the
sett||ng o| the response.
keco|| odd|t|on o| on |ntegro| contro| odds o po|e ot the or|g|n, thus
mok|ng the system |ess stob|e.
Effects of the Addition of PoIes
Affect of addition of a pole (a) and addition of two-poles (b)
to the single pole svstem
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Ihe odd|t|on o| o zero to the open-|oop trons|er |unct|on hos the
e||ect o| pu|||ng the root-|ocus to the |e|t.
It tends to moke the system more stob|e ond to speed up the sett||ng
o| the response.
Fhys|co||y, the odd|t|on o| o zero |n the |eed|orword trons|er |unct|on
meons the odd|t|on o| der|vot|ve contro| to the system.
Effects of the Addition of Zeros
Root-loci for a svstem that is stable for small gain but
unstable for large gain
When a :ero is added to the open-loop transfer function of the
svstem in (a), svstem becomes stable for all values of gain
Leod compensot|on bos|co||y speeds up the response
ond |ncreoses the stob|||ty o| the system.
Log compensot|on |mproves the steody-stote occurocy
o| the system, but reduces the speed o| the response.
I| |mprovements |n both trons|ent response ond steody-
stote response ore des|red, then both o |eod
compensotor ond o |og compensotor moy be used
s|mu|toneous|y. kother thon |ntroduc|ng both o| these
compensotors os seporote e|ements, use o| o s|ng|e |og-
|eod compensotor |s usuo||y pre|erred.
Log-|eod compensot|on comb|nes the odvontoges o|
|og ond |eod compensot|ons.
Leud Lug Lug-Leud Compensution Techniques
used on the Root-Locus Approuch
See Chapter-3 (4
th
& 5
th
Ed.) and Chapter-7 (4
th
Ed.) Chapter-6 (5
th
Ed.) for
phvsical reali:ation/implementation of lag, lead and lag-lead compensators using
operational amplifiers, RC networks.
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Design Procedures for Leud Compensution by the Root-Locus Method
Ihe procedure |or des|gn|ng |eod compensotors |or the
system shown obove by the root-|ocus method ore:
Design Procedures for Leud Compensution by the Root-Locus Method
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Example: Consider the svstem
Feeedforward transfer function is,
Closed-loop transfer function is,
Closed-loop poles are located at.
0 2
2 2
= + +
n n
s s
d n
n n
f
s


=
= 1
2
2 , 1
Damping ratio of closed-loop poles . 0.5
Undamped natural frequencv
n
of closed-loop poles . 2 rad/sec
Static velocitv error constant 2 sec
-1
) 2 (
'
+ s s
K
Used to draw
Root-locus
Design Problem. Modifv the closed-loop
poles of the svstem so that, without
changing the damping ratio 0.5,
undamped natural frequencv
n
4
rad/sec is obtained.
Aote: damping ratio determines the angular location of the poles in s-plane,
while the distance of the pole from the origin is determined by the undamped
natural frequency

.
In view of design specifications, desired locations of the closed-loop poles are.
For this svstem, dominant closed-loop poles can
not be moved to the desired location bv simple gain
adfustment.
Therefore, a lead compensator will be inserted in
the feedforward path.
Desired poles
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Genero| procedure |or determ|n|ng the |eod compensotor
F|nd the sum o| the ong|es ot the des|red |ocot|on o| one o| the
dom|nont c|osed-|oop po|es w|th the open-|oop po|es ond zeros o|
the or|g|no| system, ond determ|ne the necessory ong|e to be
odded so thot the toto| sum o| the ong|es |s equo| to 180
o
[2k+1}.
Ihe |eod-compensotor must contr|bute th|s ong|e .
1
2

Original svstem open-loop transfer function is

Compensated svstem open-loop transfer function is
3 2 2 at 30 contribute
must r compensato - lead then,
210 ) (
2 1
3 2 2
f s
s G
f s
+ = =
= =

+ =

where
Original system open-loop transfer function is:
Compensated system open-loop transfer function is:
and compensator transfer function is
Desired locations of the closed-loop poles are.
Original system Compensated system
3 2 2 at 30 contribute
must r compensato - lead then,
210 ) (
2 1
3 2 2
f s
s G
f s
+ = =
= =

+ =

There are manv possible values for
T and that will vield the
necessarv angle contribution at
the desired closed-loop poles.
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Determination of the locations of the zero and pole of the compensator
Draw a hori:ontal line passing through point P
(desired location for one of the dominant closed
loop pole), shown as PA in illustration.
Draw a line connecting point P and origin
Bisect the angle between lines the PA and PO,
shown as PB
Draw two lines PC and PD that make angles
/2 with the bisector PB.
The intersections of PC and PD with negative
real axis give the location for the pole and :ero of
the lead compensator
Following above procedure, lead compensator pole and :ero are found as,
The open-loop transfer function of the
compensated svstem become,
Root-locus of compensated svstem
The gain K is evaluated from the magnitude condition as,
Transfer function of the compensator
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The static velocitv error constant K
v
is .
Third closed-loop pole of the designed svstem is found bv dividing the
characteristic equation bv the known factors as follows,
9 . 2
4 . 3 , 3 2 2
3 2 , 1
=
= =
s
s f s m
Closed-loop poles and :ero are.
Design Procedures for Lug Compensution by the Root-Locus Method
Ihe procedure |or des|gn|ng |og compensotors |or the system
shown obove by the root-|ocus method ore:
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Design Procedures for Lug Compensution by the Root-Locus Method
) 1 ( , >
Example: Consider the svstem
Feeedforward transfer function is,
Closed-loop transfer function is,
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ASSISNMENT
Study Log-Leod ond Foro||e| compensot|on |rom
your textbook, ond
Study worked out end-o| chopter prob|ems