module20.pptVIP

（3） Bode diagrams SP20.6 P453 Desire any kind of cascade compensation filter that ensures that the closed-loop system meets the following performance measures,listed in order of priority: The velocity error constant Kv=40; The closed-loop damping ratio ζ ≥0.35; The compensated open-loop bandwidth is not to exceed the uncompensated open-loop bandwidth; The 2% setting time for a step inpur is to be less than 2s. K=40 System is unstable. ωb=15 Phase lag compensation. Can not meet (4). Phase lead-lag compensation. PM≈0 20.5 PID Control Rules (module 21) (1) Proportional Compensation(P) ? Steady-state error ? ? PM ? (稳定性变差) Kp R(s) - C(s) Kp↑ (2) Integral Compensation(I) ? system type ?? Steady-state error ? ? -90? phase angle ? PM ?? ( ??? or unstable) — 积分校正不单独使用！ R(s) - C(s) MODULE 20 Phase Lag and Lead-Lag Compensation MODULE 20 Phase Lag and Lead-Lag Compensation (3 hours) What is the Phase lag and the lead-lag compensator What is the characteristics of the phase lag and the lead-lag How to use the Phase lag and lead-lag compensation 20.1 Transfer Function of Phase Lag Element (1) Phase lag network (2) Transfer function -20lgβ -20db/dec (3) Bode diagrams (4) Function of the Phase Lag Compensation —Relying on the decrease Mdb in the high frequency region,increases PM (利用幅值高频衰减的特性, 增加PM) Generally, for a closed-loop system, the gain of open-loop K? ? ess? , but PM? Desired: K? for low frequency; K? for middle and high frequency; Phase Lag Compensator: Mdb=0,for low frequency; Mdb? for middle and high frequency; SP20.1 (P433) The steady state error ess0.32% for the unit ramp input. The percent overshoot ?%20%. ?K=316 PM=45° Low frequency is unchanged?? 稳态性能不变 The overshoot decrease. (?c? ? PM↑→ζ↑→PO↓）, Gain crossover frequency ?c decrease.( ?c ↓ →?n ↓ → ts ?) High-frequency noise decrease. K=316 K=6.3 -20db/dec -40db/dec provide a decrease of Mdb to ensure -20de/dec pass through 0db line 要尽量减小相角滞后对PM的影响 20.2 Phase La