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Define the angle of the controller of interest Gc(s) at the desired gain crossover
frequency g,c as
(4)
= arg[Gc(jg,c)] = 180 + m arg[G(jg,c)H(jg,c)]
Then the design equations for
a lag or lead controller are
1 K c G ( jg ,c ) H ( jg ,c ) cos
T=
g ,c K c G ( jg ,c )H ( jg ,c ) sin
T =
cos K c G ( jg ,c ) H ( jg , c )
g , c sin
(5a)
(5b)
(6a)
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K d g ,c
Ki
sin
=
g ,c G ( jg ,c ) H ( jg ,c )
(6b)
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In case of a PD compensator,
the equation (6b) reduces to
sin
K d g ,c =
G ( jg ,c )H ( jg ,c )
(10)
therefore, in order to obtain a positive value for Kd, the desired gain crossover
frequency g,c has to be selected such that
> 0 or arg[G(jg,c)H(jg,c)] < 180 + m
(11)
In case of a PI compensator,
the equation (6b) reduces to
K
sin
i =
g ,c G ( jg ,c ) H ( jg ,c )
(12)
therefore, in order to obtain a positive value for Ki, the desired gain crossover
frequency g,c has to be selected such that
< 0 or arg[G(jg,c)H(jg,c)] > 180 + m
(13)
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