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3 - Time Response Analysis

This document discusses analyzing the time response of dynamic systems through numerical simulation. It describes using LabVIEW tools to obtain step responses, impulse responses, and responses to general inputs to analyze stability, controller performance, and other characteristics. Examples are given of simulating a spring-mass damper system's response to various inputs and obtaining metrics like rise time from the simulations.

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ahmed4665
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6K views

3 - Time Response Analysis

This document discusses analyzing the time response of dynamic systems through numerical simulation. It describes using LabVIEW tools to obtain step responses, impulse responses, and responses to general inputs to analyze stability, controller performance, and other characteristics. Examples are given of simulating a spring-mass damper system's response to various inputs and obtaining metrics like rise time from the simulations.

Uploaded by

ahmed4665
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Time Response Analysis

Outlines
1. Calculating the Time-Domain Solution
2. Spring-Mass Damper Example
3. Analyzing a Step Response
4. Analyzing an Impulse Response
5. Analyzing a General Time-Domain Simulation
6. Obtaining Time Response Data
7. 2nd Order System
Time Response Analysis
• The time response of a dynamic system provides
information about how the system responds to certain
inputs.

• You analyze the time response to determine the


stability of the system and the performance of the
controller.

• Obtaining the time response of a system involves


numerically integrating the system model in time.
Time Response Analysis
• The LabVIEW Control Design and Simulation
Module provides VIs to help you find these time-
domain solutions.

• You can use these Time Response VIs to analyze the


response of a system to step and impulse inputs.

• You can apply initial conditions to both of these


responses.

• You also can use the Time Response VIs to simulate


the response of the system to an arbitrary input.
Calculating the Time-Domain Solution

• The following equation represents the time-domain


solution for a continuous state-space model.

• Represents any initial conditions of the states in the


model.
• Represents the solution of the model at the initial
conditions. This solution is known as the free
response.
Calculating the Time-Domain Solution

• Represents the state response for


stable systems over time as the inputs
drive the dynamic system from time
• This solution is the forced response.
• The following equation represents the time-
domain solution for a discrete state-space
model.
Calculating the Time-Domain Solution

• In this equation, denotes the discrete free


response.
• denotes the discrete forced response.
Analyzing a Step Response
• The step response of a dynamic system measures how the
dynamic system responds to a step input signal. The following
equations define a unit step input signal.

• The Control Design and Simulation Module contains two VIs


to help you measure the step response of a system and then
analyze that response.
– The CD Step Response VI returns a graph of the step response.
– The CD Parametric Time Response VI returns the following response
data that helps you analyze the step response.
Step Response Definitions
• Rise time (tr)—The time required for the dynamic system response to rise from a lower
threshold to an upper threshold. The default values are 10% for the lower threshold and
90% for the upper threshold.

• Maximum overshoot (Mp)—The dynamic system response value that most exceeds
unity, expressed as a percent.

• Peak time (tp)—The time required for the dynamic system response to reach the peak
value of the first overshoot.

• Settling time (ts)—The time required for the dynamic system response to reach and
stay within a threshold of the final value. The default threshold is 1%.

• Steady state gain— The final value around which the dynamic system response settles
to a step input.

• Peak value (yp)—The value at which the maximum absolute value of the time response
occurs.
Step Response Graph and Associated
Parametric Response Data
Example
This spring-mass damper system described by the
following state-space model:

consider the following values:

The following equations define the state-space model.


spring-mass damper
Example
Example
• You can see that the step input causes this system to settle at a
steady-state value of 0.02 cm.

• When you use the CD Parametric Time Response VI to


analyze the step response of this system, you obtain the
following response data:

• Rise time (tr)— 1.42 seconds


• Maximum overshoot (Mp)— 79.90%
• Peak time (tp)— 4.54 seconds
• Settling time (ts)— 89.89 seconds
• Steady state gain— 0.02 cm
• Peak value (yp)— 0.04 cm
Analyzing an Impulse Response
• The impulse response of a dynamic system measures how
the system responds to an impulse input signal. You define
an impulse input signal in the following manner:

1. Continuous systems.Also known as the Dirac delta function

2. Discrete systems—Also known as the Kronecker delta


function

• Use the CD Impulse Response VI to calculate the impulse


response of a dynamic system to a standard impulse input.
Impulse Response Example
• Consider the system described in the Spring-
Mass Damper Example
Analyzing an Initial Response

• The initial response of a dynamic system


measures how the system responds to a set of
non-zero initial conditions.

• Use the CD Initial Response VI to determine


the initial response of a dynamic system.
Example
• Consider the system described in the Spring-
Mass Damper Example
Analyzing a General Time-Domain Simulation
• A general time-domain simulation of a system involves input signals that
are more general than step, impulse, or initial input signals.

• Use the CD Linear Simulation VI to solve these equations in response to an


arbitrary input signal u into a system.

• This VI determines the response by numerically integrating these equations


at the specified time steps. You can define the time steps with the Delta t
input

• The system model can be continuous or discrete, but the CD Linear


Simulation VI converts continuous models to discrete models using either
the exponential Zero-Order-Hold or the First-Order-Hold method.

• If this conversion is necessary, you must specify Delta t, which becomes


the sampling time. If no conversion is necessary, Delta t must be equal to
the sampling time of the output data u (t)
Example
• Consider the system described in the Spring-
Mass Damper Example. Figure below shows
how you simulate the response of this system
to a square wave input.
Example
• Notice that the CD Linear Simulation VI converts the
continuous state-space model to a discrete model using the
Zero-Order-Hold method. This conversion uses a Delta t input
of approximately 0.3. This block diagram bundles the state-
space model and the square wave as the input to the Linear
Simulation Graph.
Obtaining Time Response Data
• The Time Response VIs return time response
data that contains information about the time
response of all input-output pairs in the model.

• Use the CD Get Time Response Data VI to


access this information for a specified input-
output pair, a list of input-output pairs, or all
input-output pairs of the system.
2 nd Order System
Example Description:

This example demonstrates how to adjust the parameters and simulate the response of a
continuous second order system. The adjustable parameters are the damping ratio, natural
frequency (rad/s), gain, delay (s) and sampling time (s).

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