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Phase-Lead Compensation of a Rotational Rigid-Body System
Summary: The objective of this lab is to use frequency domain techniques to design a phase-lead compensator for a rigid, rotational disk. The controller will be designed and implemented in LabVIEW using the Simulation Module and Control Design Toolkit.
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Phase-Lead Compensation of a Rotational Rigid-Body System
Objectives
- Use frequency domain techniques to design a phase-lead compensator for a rigid, rotational disk.
Pre-Lab
- Derive the equations of motion for the 1DOF rotational system that you will control in this lab. The plant configuration is shown below. The disk will be loaded with four
 Figure 1: Rotational Rigid Body Plant Configuration |
- Design and simulate a phase-lead compensator that satisfies
the following performance specifications:
- Zero steady-state error to a step input.
- Gain margin
- Phase Margin
Lab Procedure
- Configure the plant for this experiment.
- Code your phase-lead compensator into the control loop VI.
- Perform a 3000 count step input, and save the plot.
- Perform a ramp input with a velocity of 1000 counts/second and a dwell time of 3 seconds. Save the plot.
Post-Lab
- What was the system's steady-state error to the ramp input? What would you expect it to be for a parabolic input?
- Explain how gain margin and phase margin relate to a system's stability.
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This work is licensed by Robert Bishop. See the Creative Commons License about permission to reuse this material.
Last edited by Erik Luther on Oct 17, 2005 2:17 pm GMT-5.
"This course, ASE 170P at the Univ. of Texas at Austin, introduces students to fundamental control systems theory with emphasis on design and implementation. These labs focus on technical […]"