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Linear Control System (Week-5)

This document discusses second order systems and their time response characteristics. It covers two important quantities for second order systems: natural frequency and damping ratio. These parameters determine the type of response, whether it is underdamped, critically damped, or overdamped. For underdamped systems, the rise time, peak time, settling time, and percentage overshoot are defined. Relationships between these response specifications and the location of system poles in the s-plane are presented. The effects of moving poles on the frequency, damping, peak time and other response characteristics are also summarized. MATLAB commands for analyzing second order system responses using pole-zero maps and step responses are provided.

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فیضان حنیف
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51 views

Linear Control System (Week-5)

This document discusses second order systems and their time response characteristics. It covers two important quantities for second order systems: natural frequency and damping ratio. These parameters determine the type of response, whether it is underdamped, critically damped, or overdamped. For underdamped systems, the rise time, peak time, settling time, and percentage overshoot are defined. Relationships between these response specifications and the location of system poles in the s-plane are presented. The effects of moving poles on the frequency, damping, peak time and other response characteristics are also summarized. MATLAB commands for analyzing second order system responses using pole-zero maps and step responses are provided.

Uploaded by

فیضان حنیف
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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Chapter-4 HW Exercises at the End

General 2nd Oder Systems EL322

L C S

i inear ontrol

Two Important quantities for 2nd order systems

Natural Frequency n

ystems

The frequency q y of the oscillations of the system y without damping. Ratio of exponential p decay y frequency q y to natural frequency q y = exponential decay freq / natural freq (rad/sec)

Week-05 12th Mar 17th Mar 2012 Time Response (Contd. ) Chapter#04 p
Instructor: Engr. Shiraz Latif/ Engr. Atif Fareed/ Engr Areeb Ahmed

Damping Ratio

&
Compare both these TF and get the formula for & n

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

Response as a function of

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

4 6 Underdamped Second Order Systems 4.6

To analyze the step response of underdamped 2nd order systems. Objectives:

To define the transient specifications p associated with underdamped responses. Relate these specifications p to pole p location, , drawing an association between pole location and response form. Tie the pole location to system parameters.
Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

General 2nd order sys: For underdamped response, = ? ? Predict the root nature . ? ? With step input,

Applying Partial fraction

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

Rise Time: Tr: Time required for the wave form to go from 10% of the final value to 90% of the final value. Peak time: Tp : Time required to reach the first, or maximum, peak Tp = n 1 2 Percentage Overshoot: %OS: The amount that the waveform overshoots the steady state, or final value at the peak time, expressed as a percentage of the steady-state value.

Relationship l h between b value l of f and d type of f response

oscillations

Natural frequency dont cause any affect on the nature of the response b is but i only l the h time i scale l factor f

Second order underdamped response for varying values

Settling time: Ts: Time required for the transients damped oscillations to reach and stay within 2% of the steady state value

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Tr, Tp and Ts yields information about the speed of transient response. Ts, Tr have h same definitions d f as in first f order d systems. Same definition for order >2 as well. These specifications (Tp, Tr, Ts) are also related to the location of poles. poles No precise expression exists for Tr but can be obtained from plot & table

= n . Tr

Normalized rise time = n . Tr

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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If location of pole is s;

S can be represented as s = d + j d

Tp is inversely proportion to the imaginary part of the pole


Consider the s-plane Horizontal lines constant imaginary part (same y-value) constant Tp called lines of constant peak time

d is the real part of s exponential damping freq. d is the imaginary part damped freq of oscillation

Tp, Ts and %OS can be related to the location of poles with d & d

Ts is inversely proportion to the real part of the pole


Consider the s-plane Vertical lines constant real part (same xvalue) constant Ts called lines of constant settling time

Radial lines are lines of constant called lines of constant %OS


Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Effect of movement of poles

Poles moves vertically up Real part same Pole f but envelop same Ts remains same OS Tr Poles moves horizontally left Imaginary part same Pole f same , damp rapidly Tp remains same

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Poles moves at constant angle (radial lines) %OS remains same Speed variation variation. Pole away from origin have fast response.

Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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MATLAB .. Try following


G(s) =

Num = [1 2]; Den = [ [1 5 3]; ]; T = tf(num,den) Poles(T) Implement same Zeros(T) with Simulink Pzmap(T) Step p (T) ( ) Grid
Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

s+2 s 2 + 5s + 3

omework xercises
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Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Al plot Also l t the th step t response using i SIMULINK


Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Transfer function shown above


Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed

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