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Control Systems Assignment

The document discusses key concepts related to data acquisition and control systems including: 1) The physical interpretation of s = σ + jω in the Laplace domain, where σ represents damping and ω represents angular frequency. 2) Relationships between damping ratio (ζ), maximum overshoot, peak time, and damped natural frequency for second order systems. 3) Relationships between damping ratio (ζ), resonance peak magnitude (G|(jω)|max), and resonance frequency (ωe). Increasing damping lowers overshoot, peak time, resonance peak, and resonance frequency.

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56 views

Control Systems Assignment

The document discusses key concepts related to data acquisition and control systems including: 1) The physical interpretation of s = σ + jω in the Laplace domain, where σ represents damping and ω represents angular frequency. 2) Relationships between damping ratio (ζ), maximum overshoot, peak time, and damped natural frequency for second order systems. 3) Relationships between damping ratio (ζ), resonance peak magnitude (G|(jω)|max), and resonance frequency (ωe). Increasing damping lowers overshoot, peak time, resonance peak, and resonance frequency.

Uploaded by

Bright
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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ASSIGNMEN

DATA ACQUISITION AND


CONTROL

1
DATA ACQUISITION AND CONTROL

Question # 1

What is the physical interpretation of s = +j ?

Answer
The Laplace transform have physical meaning. It analyzes the signal in terms of sinusoids and
exponentials.
Given a function f(t) in the time domain we define its Laplace transform F(s) as
0
st
F(s) = + f ( t) e dt

We say that F(s) is the frequency domain representation of f(t) and s is the frequency variable.
In order to develop the ideas relating the roots of the characteristic equation to the transient, a
graphical representation of the roots is appropriate. The roots of the characteristic equation will
either be real or complex and as such can be plotted on the complex plane. Such a representation
is called an s-plane diagram. The axes of the s-plane are the real and imaginary part of s i.e.
s = +j
where , are real numbers with units of frequency (i.e. sec1 = Hz)
gives the angular frequency, and the time constant, of a damped sinusoid.
s = +j gives the pole location of the system and the system poles contribute to a term to the
overall transient response. So we can say that this term is important in determining transient
response as it tells the relationship between the pole location and the transient shape.

Poles

Pole Location

Transient Term

Transient
Response

2
DATA ACQUISITION AND CONTROL

Distinct Real
Poles
Distinct Complex
Poles
Repeated Poles

s=

at
y(t) = C e

s = j

y(t) = R e

s = m

y(t) = (C1+C2t+Cmtm) e

Imaginary Poles

s = j

y(t) = Acos(t+)

at

Overdamped
Underdamped

cos(t+)
at

Critically damped
Undamped

Question # 2

Explain the relationship of the following equations

Maximum Overshoot = 1 + e
Peak Time = tp =

1 2

n 1 2

Damped Natural Frequency = d = n

1 2

Answer

Maximum Overshoot (Mp):


It is the difference between the magnitude of the highest peak of time response and magnitude of
its steady state. It is represented by Mp.
Maximum overshoot depends entirely on the damping ratio of the second order system.
Here's a plot of a system's response.

3
DATA ACQUISITION AND CONTROL

Graph shows that Mp is the maximum overshoot where,

Mp =

y p y ss
y ss

Where yp is the peak and yss is the steady state value in the graph.

The analytical expression for the overshoot is given by the expression:

1+ e

1 2

While it is not immediately apparent from this expression, the percent overshoot decreases as the
damping ratio increases. If we plot the percent overshoot using this function, we get the plot
shown below.

4
DATA ACQUISITION AND CONTROL

In a second order system, percent overshoot depends entirely upon damping ratio.
As the damping ratio increases, the percent overshoot decreases.
When the damping ratio reaches somewhere around 0.8 the overshoot becomes so small
that you will not be able to observe it. It's still there, but you just can't see it in typical lab
data. You probably can't see it for damping ratios larger than 0.7 for that matter.

The percent overshoot is measured for the first peak only.


The overshoot should be less for the system to attain its steady state value effectively.
For example if the shock absorbers exceed its steady state value than the ride will be much
bouncy. So increasing the damping ratio the overshoot can be lowered to achieve the steady state
as early as possible.

Peak Time (tp):


tp is the time required for the output to reach its first maximum value.

Peak Time = tp =

n 1 2

Peak time depends on damping ratio and natural frequency of the system. Peak time decreases as
the damping ratio increases.
For a physical system the peak time should be less so that the overshoot does not occur for a
longer time as we want the system to come to its steady state value as early as possible for the
system to work effectively.

5
DATA ACQUISITION AND CONTROL

For example if the shock absorbers will take a longer time beyond its steady state value than the
ride will not be much smooth or comfortable. So increasing the damping ratio the peak time can
be lowered to make our system stable as early as possible.

Damped Natural Frequency (d):


The behavior of the system depends on the relative values of the two fundamental parameters,
the natural frequency n and the damping ratio .
Damping has the effect of reducing the oscillations of the system by the processes that dissipate
the energy stored in oscillations e.g. viscous drag in mechanical systems and resistance in
electronic oscillators.
The size of the damping rate, determines how fast the system will return to its equilibrium
position. In the absence of damping, the system will oscillate with constant amplitude forever.
The undamped natural frequency n of a system is the frequency at which it will keep on
oscillating.
The underdamped system oscillates at reduced frequency compared to the undamped case with
the amplitude gradually decreasing to zero. This reduced frequency is called damped natural
frequency d and it decreases from its undamped value by a factor of
The figure below shows the undamped system.

1 2

6
DATA ACQUISITION AND CONTROL

The underdamped system response is shown below

Question # 3

Explain the relationship of the following equations

G|(j)|max =
e = n

1
2 1 2

12 2

7
DATA ACQUISITION AND CONTROL

Answer

Resonance Peak G|(j)|max:


The maximum value of G|(j)| is termed as the resonance peak. The relative stability of the
closed loop system is indicated by the resonance peak. If G|(j)| max is large, there will be a large
maximum overshoot.
Forced vibrations occur when the object is forced to vibrate at a particular frequency by a
periodic input of force.
If an object is being forced to vibrate at its natural frequency, resonance will occur and cause
large amplitude vibrations.
For example the truck moving on a bumpy road may become uncontrollable if the suspension
design is wrong. When the truck accelerates its vibration increases and the point at which this
system exhibits the maximum displacement when driven by an oscillating input signal is known
as resonance. Normally we describe the resonance by its frequency which in this example would
mean working out how many bumps per second were encountered by wheels for a given road
speed in mph.

Resonance is often undesirable. If the truck is to give a smoother ride the size of the resonant
peak needs to be reduced. To do this we make use of damping as the maximum resonance
depends on damping ratio. By increasing the damping ratio the rate of decay of vibrations also
increases and thus the resonance peak is lowered.
Effect of damping on resonance graph:

8
DATA ACQUISITION AND CONTROL

The amplitude of the resonance peak decreases and the peak occurs at a lower frequency.

Resonance Frequency (e):


The frequency at which the resonance peak occurs is the resonance frequency and is given by the
following relation:
e = n

12 2

The resonance frequency also depends on the value of damping ratio.

Relationship between Resonance Peak (G|(j)|max) and Damping Ratio ()

Resonance Peak G|(j)|max


1
2 1 2

Damping Ratio ()
0<
>

Unstable system

1
2

=0
<0

1
2

9
DATA ACQUISITION AND CONTROL

Relationship between Resonance frequency (e) and Damping Ratio ()

Resonance Frequency (e)


n

12

Damping Ratio ()
0<

1
2

>

=0

1
2

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