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Session 7 Position Control Design Project (PD (会话7位置控制设计项目(PD)
EE-371 CONTROL SYSTEMS LABORATORY
Session 7
Position Control Design Project
(PD controller – Root-locus Design)
Purpose
In this project you design and implement a position control system with a cascade PD
controller using root-locus design. The objectives of this project are:
• To design a PD compensator using root-locus designs such that the output angle
tracks a commanded position.
• To build the compensated servo plant in SIMULINK and simulate offline to
obtain the response to a square wave input and verify the design.
• To build the WinCon application, and implement and test the system on the real-
time hardware
Introduction
A common compensation technique is placing a cascade controller in the forward path.
Typical compensators are phase-lead, phase-lag, and PID controller. In Lab 5 the
7.1
servomotor position control was achieved by means of position and rate feedback. In this
project a PD controller is designed using root-locus method.
The root-locus trajectories show the location of the roots of the characteristic equation as
one or more parameters are changed. If the root locations are not satisfactory, adding
additional poles and zeros via a cascade compensator reshapes the root locus. The
introduction of a compensator G (s) results in the characteristic equation
c
1+G (s)G (s )H (s) 0
c p
Writing ( ) ( ) ( ) as KG (s ) , we have
G s G s H s
c p
1+KG (s ) 0
If s1 is the desired location of a closed-loop pole, it must satisfy the above equation,
which results in the following angle and magnitude criteria:
θ − θ =−180
∑ ∑
zi pi
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