Chapter 6-1课件.ppt

Chapter 6 The Design of Feedback Control Systems Introduction Performance specifications Typical frequency domain indices Typical complex domain indices Example Example Introduction Introduction Introduction Compensation Compensator Compensation Compensator Compensation Compensator Compound compensation Approaches to Compensation Approaches to Compensation Quite often, in practice, the best and easiest way to improve the performance of a control system is to alter, if possible, the process itself. However, the process is often unalterable or has been altered as much as possible and still results in unsatisfactory performance. Then the addition of compensation networks become useful for improving the performance of the system. Approaches to compensation Phase-lead Compensation Network The phase-lead compensator Phase-lead design using the Bode diagram The Bode diagram is used to design a suitable phase-lead network in preference to other frequency response. The frequency response of the cascade compensation network is added to the frequency response of the uncompensated system. We will first plot the Bode diagram of the uncompensated system. Then determine the suitable parameters for the compensator in order to satisfactorily reshape the frequency response. The design procedure for a phase-lead compensator Phase-lag Compensation Network The phase-lag compensator Example: Design of a phase-lag  compensator The design procedure for a phase-lag compensator The design procedure for a phase-lag compensator The phase lag-lead compensator The lead compensator improves settling time and phase margin, but increase the bandwidth. However, phase-lag compensator when applied properly improves phase margin but usually results in a longer settling time. It is natural, therefore, whenever necessary, to consider using a combination of the lead-lag compensator, so that the advantages of both schemes are