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 8：Lead compensation

Handout 8: Lead compensation Eric Feron March 3. 2004 Lead Compensation goals: Raise phase(and gain) at high frequen- cies while not touching low-frequency systems characteristics: Can extend anonical lead element: s/a+1 ad(8)= 0<a<b. Typical lead Bode Plot

March 3, 2004

Bode Diagram 0 180 -225 270 Frequency(rad/sec)

Using Lead-Lag/PID compensation Plant under study (s+1)(s/10+ Requirements: Want to have good tracking (p(ju)), insensitivity to high frequency unmodelled dynamics(lGw), decent PM Compensation Scheme: We first adjust the gain K in the feedback Phase Margin is Gain Margin is BW

Lead compensation Lead(s) s/d+1 Lag compensation sa Klag(s)

Fir nal design: Bode plot 4

Final de ot

10×G() OX Bode Dia se·8 180 225 270

10x1(5从a(5)6(5 Frequency(rad/sec)

Step Re P+ leao e 0.5 0.5 15 Time(sec)

K:066 Step Response 0.8 Time(sec)