美国麻省理工大学：《航空系统的估计与控制》教学资源（讲义）Handout 7：Lag and PI compensation.pdf_大学文库

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Handout 7: Lag and PI compensation Eric Feron Lag Compensation goals: Raise gain at low frequencies while leaving rossover &z higher frequencies untouched b≥0. When b=0: Add an integrator in the loop Typical lag Bode Plot

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Handout 7: Lag and PI compensation Eric Feron Lag Compensation goals: Raise gain at low frequencies while leaving rossover &z higher frequencies untouched b≥0. When b=0: Add an integrator in the loop Typical lag Bode Plot

Feb 27, 2004

PI Compensation Kpr(s)=K,+K Plant under study (s) (s+1)(s8/10+1)2 Requirements: Keep phase margin at 45 degrees, BW >4rad /sec, must beat p(w) Compensation Scheme: We first adjust the gain K in the feedback to60. n Margin

180 70 Frequency(rad/sec)

g compensation 8+a K(s)= ain and phase for different values of a: a=0.5, 2.5, 5

ode Diagram 135 Frequency(rad/sec)

Final design: Bode plot

Final design: Root locus 5

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