of Bros § hove an undarnped eT ety Wn = Urad)sec Sa kuns +O sea (o.(y)st le =O 3 S4USHE =O Saijg 2 any Gu€sa) = Hiro farts) C8) = 210 — +\30-C-at0) [oeGa) = Baro = 180 +210 SO) J = Mo-30 60 we * Log orepens ation: To tmnpatve the 5S: posformant: | GY) = TW (stx) ea smh Cry) ; coe Womans Kp ley | ke = SDE pS Ws =D 4 ee Bye Sya7- Gun £ jon yt =e whether Spa Oe SG om auncorepers sted ynt Locees then exh Corttants rr enamine sotirfaceg Given plant forworc path transfer funch™ Gy ts) Steady Stocte corn pensakin * Fa @ giver plant oof they arentGain ok desired Location —— is Llernputcted by a poo = gow tude 2 | K qe i eg crite | " | KT t= Gas a Ly | Gg) = GE O= 4 Si Tr CsatFy) er 4 ne Su ply (s ashi) oat pole hteoac 3 (oa a zi) en Gye KF G+s) | a | sw (+8) ot yo Kee Wie 6 sd oe Lim SOE) eesDir na tte tanpensated ond uncompenictey esrb Constants + Ke gain dt Atéixed Aocarh, * mm Qy= ke WCs4zi) —— | brempnt Ss TU (seh) syktony yun Gy © Ges) = ie W rw v=1 (+4) (s42) —— Compensated Sey SD | en re Uncorapens oded System. yt We ory ae ey kw ke= Ke p Kup b= Beta, G kes ‘ Ras f © of destred tort crmtant YO cet const Ca WHUrmP end ated System Steps PEG SemPRiate. cece 1) Daaw ; : the savy focus of lun corwpennated eystur Yansloto the Fransient Auponse Spe ficatiom alr ef crmpler clerrina nt Aarts ond fs on the uncornpencateda aovt Locus plot TA is assumed +h at aCeeep bablo dromient pufdmene can be obtained ey gain ecyutioorent And the elesine dominant Look will thuofre hie m UNnuompensated oD 3) Catetate the qatn of tun Compensated system Y Qoccus at the clominant aovt Sa and evaluate he Caetano erate comtant 4) Determine the focte by whitch the errd constant of uncompensated Sie Should be increased ty meek the specéfrect vatuc- Chroeo the beta Parameter of lag Compensatir to be Sormewhat Jrutes than This€ fact2 (since the log Commpensatit OMMibute a smate negative angle at st becarse oF this actual error constant will Patt short of Specified vatue beta’) Hence fn destan purpose Choose beta varue ge Barger than this equation) Select the pero of the Cormpensatsr nigel to the origin, oa — ee we) eerroking an Gnabe oF lo with Sine from ae The tntercecthion of I, rea ans givps He docation of6) The compensatt pote can thn bE Lecatus at S=p = kh S: “p= x iP The comperiatér pate 30r0 pak pr shoutd Cont sibute an angle Jambda ft delta bess than 5° ob cy So that the root rcu plot dibin the Aegon of Sa is not appreceatly changed Pe onto,» the stetesfactiy transient behaviour of the syctem ts presesvecl - Q. The uncompensated be open Loop Pransfer function te G@)= —K_ . The systerm is to be umpinsated S(S+2) to met thy Foltomng Sprcefications ' @ = oF +, & See ky 24 mf AES ye ee $n. a S$ WBwWrS+ wo ‘S*2losod Stas¢a Grrr Sa ROHS [On fae = DE Gap Ne git]. % as- the clesinect AooPs Lie Pry UNC pans ated word Arch « | “Therefore the systern is howng Sattsfacttiy sbransient | sapere Find a= ; | s(S+) ol | | mee | 2% Saz V4 jt- | Find the Goin x4 dusived Location. | k xe lealserd) >. [gel L-rgerel ey la 4g] \ 4p) . LR gan ae ; ava =a : 4ew : log Load compensation Let bes comaictrr the oyster k St " s@inrw) Fe oe Wa © @ ky25 (csv’ SAD) SH act a 34 RY LHS Wy =O ye gq 14 pr38 ay oe \ ue 6 4e \80-60-60 _ 30° a (-9- ¢) Ailes uy RACY Catia ampensation in Frequency clom ain. Frequency domain specifications (ou 100) 4. Phase. margin Dyn)o aumant peak My — indicative of yelative Stablli by 2 Bandwicth Ly,(h) Resmant Frequency wor = tndicative- of *Isetime and setting ik % Ev wmstant indicative of SSE — ln case specifications are Gover in time —demet translate? thus into sass Es Prepueney domain My = Wye wf toaye 2B fi-“e“f dl te wat eo Web lh [Vero ~28 Be aos a lead compe nsatlon eb L io) + eee: Gel) = ca Me io) et YP ——_o ae =7 . a4 Lead compenzaticn = “*: Paoercural Steps! ; © x t 4 Determine, the open bp yaisstens satisfy the Specefied ard constant Gp (s) a). oom Sst) ky = S Gy (5) Lim Sp. a: Using this volow of K dutermine the PM of Ha dincompensated syste me 3-Determine the phase dead Sequived wing the eee i, A= bbs 4 Py = Specified phase moaxgun: Pr = phase margin of the fixed part of thu sysberw (re. uncompensated sytem) of the Soe safety Aoguestd by The fack that cross over, frequency uncarale es Masgen duc to compensation -| @ Let P= P.& cletermmne the « parameter of the nets - ern. Ising, Ty the equi eh Pron iS move than 60° sib is | | secmmended Fo use the Hw» ickntical njvoc each contributing a marimum phase Lead of Pep. $ Cabeulate the deable gasn te 2040) provced by the netudie at Wn locate the frequency oF which luncomponsated System Aas gun of ~roteg (4) “This vs tho cross over frequency Wey = Lom of the | tomperuated systenr: | @ Gormpute the tue tdner frequuncess of the nchodk Ne Wie aaa 1 w, = = Wm 7 eee Ta bo atecl system and check the Aes lt ont hase matger - Tf the phase margin is Still ro | the yatue ie € and ste yepeat the Steps - ; pent £y) Bandwidth. fe another thorse of CRSKOV OL IL thes Specefication is Met ~Considers 2 type-t tunity fecdback System woyy an OFF Gy (5S)= ky SO) Tt ts specefrect tet ky =lasec! and Bop ~yps Ky = lb ykv = $0 Ss41) kis Fone Corner: Asymptotic Log-mag Raulant Prequaney. charactnstic Slope ae none 2b IS a stratght sire je ie passing thrngh, aologla ab when Wt \ 7 wei ab] decade —20 jer py Oe Wana feecade |<" ~a0-00 th. wri = -40 Ne S ie yo ey 20 Log |——)_ W=0-or Lio . : eeinaa ot tS ea ° ea Pe ee sr eave... 3% . when WHb Fe Hig gen= \4juo | “Tovar phaser 1 Oe WK< LO"B hp= ps- Ate) ~ ™ | = Yo-IT+8 = QS}5 = B | Pm = pix 3 | yee vs Sing mn = Oo) | 14 WlEsn Ww | | Ss jotog Ids)= 5-228 ab. Be ot | Pe Wc, 10, Docate — Seebb ea qr we sg + ol & wwe nhs 2 bueNt EF Polk | Wa= Wm = 8-258 “aD | Va Soe Cem Spe G | — wauaeies SHU, Shay s+ + Wa. +821 | at Us cdesign Lead uompensathe fie Ty ped | system wrth OLTE | | ‘ kk | Gp G)= | Or GOO jo00) | Assume Hat the System, is Fegursed to be coripenual to meet tho Foblewion Speceficatimns : (Acceleration wvistanp Ka = (0¢h) Pr=ar