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Control System Labsheet Exp4

This laboratory experiment examines the behavior of second-order systems and distinguishes between underdamped, critically damped, and overdamped systems using a DC motor, measuring overshoot and damped frequency. It relates damping factor and natural frequency to system parameters like gain and time constant, and describes how to characterize the step response of second-order systems.

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REDWAN AHMED MIAZEE
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© © All Rights Reserved
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46 views

Control System Labsheet Exp4

This laboratory experiment examines the behavior of second-order systems and distinguishes between underdamped, critically damped, and overdamped systems using a DC motor, measuring overshoot and damped frequency. It relates damping factor and natural frequency to system parameters like gain and time constant, and describes how to characterize the step response of second-order systems.

Uploaded by

REDWAN AHMED MIAZEE
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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BRAC UNIVERSITY

EEE 306 – Control System Laboratory


Experiment No. 04
Behavior of Second Order Systems
Objectives:
 Distinguish between underdamped, critically damped and overdamped systems
 Relate the overshoot and damped frequency to damping factor and natural frequency
 Describe the form of the step response and the frequency response of a second order
system
Equipment:
 MS15 DC Motor Module
 AS3 Command Potentiometer
 CLIO Interface Module with PC Connection Lead
 System Power 90 Power Supply (or equivalent)
 4mm Connecting Leads
 PC running VCL Virtual Control Laboratory Software
Connection Diagram:

Fig-1: Wiring Diagram - Analog Control


Theory:
1. Second Order Systems
In the speed control system, the plant was characterized by its time constant, which is
determined by the inertia of the rotor and the viscous friction. This arrangement can be
described mathematically by a first order differential equation.

The position control system has an integration effect between velocity and
position. This makes the position control servomechanism into a second order
system.

As a first order system is characterized by its time constant, it could be expected


that a second order system would be characterized by two time constants.

Fig 2 shows how the step response changes as the proportional gain is increased in a
typical second order system.

Fig-2: Step Response of a Typical Second Order System

When the gain is low, the response is sluggish and is said to be Overdamped. An
overdamped response is characterized by two separate time constants.

Curve b shows the fastest response this system can have without any oscillation.
This response is said to be Critically Damped. A critically damped response is
characterized by two time constants both of the same value.

With higher gain, the response overshoots and oscillates. This type of response is
said to be Underdamped. An underdamped response cannot be characterized by
time constants. Mathematically it is described by a decaying sinusoid.
Examining Fig-2, the "best" response would appear to be somewhere between
curves b and c. Before we can predict the gain necessary to give a specified response,
we need to know how to describe the behaviour of a second order system.

Underdamped systems are often described by the amount the response overshoots
and by the frequency at which it oscillates.

There are two other parameters used to describe second order systems - Damping
Factor and Natural Frequency of Oscillation.

2. Overshoot and Damping Factor

Overshoot is the amount by which a response goes beyond the steady state value
before settling down. Fig-3 shows the response of a typical underdamped system.

Fig-3: Step Response of an Underdamped System

Overshoot can be measured from the step response. It is the ratio:

Overshoot is usually stated as a percentage, which is the above ratio multiplied by


100.

Another parameter called Damping Factor is used and this gives an


indication of the amount of overshoot in a system. Damping Factor has the symbol
(Zeta). has a value of 1 when the system is critically damped, less than 1 when
underdamped and greater than 1 when overdamped.
The amount of overshoot is wholly dependent on the Damping Factor. Measuring
overshoot allows the damping factor to be calculated and knowing allows the
overshoot to be calculated. They are linked by the equations:

...........………………………………….Eqn 1a

.. Eqn 1b

3. Damped and Natural Frequencies of Oscillation

Damped Frequency

The frequency at which an underdamped system oscillates is called the Damped


Frequency, ωd . This can be determined by measuring the time between successive
positive peaks if, as shown in Fig-3, there is more than one cycle.
The inverse of the period of a cycle is its frequency in Hertz:

The time to the first peak, Tp, is half the period. The damped frequency can then be found
by measuring the time to the first peak:

Natural Frequency

If there was no damping at all (= 0), the system would continuously oscillate at a
frequency which is called the Natural Frequency of the system. This is given the
symbol ωn. The relationship between Natural and Damped frequencies is:

It can be seen from Fig 7.1 that ωd increases as the gain increases, which means
that increasing the gain makes the system work faster but at the expense of
increasing the overshoot
4. Relating  and ωn to Open Loop Parameters
To be able to design a system, we need to know how, in a closed loop system, 
and ωn relate to the plant parameters Kp, Ki and which were measured in
Experiments 1 & 2.

The model shown in Fig-4 was developed.

Fig-4: Block Diagram of a Servo System

The two parameters describing the system are Gain (Kp x Ki) and Time Constant .
The time constant can also be stated as its inverse, the cut-off frequency ωc . The
proportional gain in the controller must also be considered so the forward loop
gain of the servo system is K = Kc x Kp x Ki.

Damping Factor

Analysis of the system equations show that:

Critical Damping is when  = 1, this occurs at


Natural Frequency

So, the Damped Frequency,

Or,

Since ωc is fixed by the motor and the other system mechanics, the gain Kc is the
only control variable in proportional control. Varying Kc affects both ωd and .

Using only proportional gain control, we can design for a particular overshoot or a
particular time to first peak but not both.

5. Second Order Step Response

Rise Time

Fig-3 shows the step response of a second order system with the time to first
peak and the overshoot marked.
So far the time response has been described by Tp, the time to first peak. With
small overshoots this time can be difficult to measure so Rise Time, Tr, is used
instead. In this context, Rise Time is the time it takes for the step response to reach its
final value for the first time. Obviously this only has meaning if there is an overshoot.
Rise time is dependent on both damped frequency and damping factor.
For a given damping factor, rise time is proportional to the inverse of damped
frequency, which gives:

Decay Time

Another characteristic of the response which has not been discussed is the time it
takes for the oscillation to die away. This is called the Decay Time. This is an
exponential with time constant dωn

Fig-5 shows a number of step responses with the same ωn and different values of
. These curves can be used to estimate a step response when the parameters are
known.
Fig-5: Second Order Step Response for Various Damping Factors

Procedure:
 Start VCL software and Load setup | CA06PE07.

 Set the gain Kc to 1.5. and Kv to 0 (VFB is not used in this exercise).
 Switch On and, when a complete graph has been drawn, freeze the traces and
enable the Time markers.
 Using the markers, measure the steady state output change and the peak output
change. This allows the overshoot to be calculated.
 Obtain the damping factor 
 Measure the time to first peak.
 Calculate the damped frequency ωd and then the natural frequency ωd
 Enter these values in Table-1 in your workbook.
 Using the model obtained in Experiments 1 and 2, calculate the expected values for
damping factor and natural frequency with Kc = 1.5. Enter the values into
Table-2.
Observation and Tabulation:

Table-1: Measurement of Damping Factor and Natural Frequency

Table-2: Calculated values for Damping Factor and Natural Frequency

Report:
 A plant has a gain Kp of 2 and an integrator gain Ki of 2. If the break frequency is
10 rad/sec, what gain is required to give a damped frequency of
13 rad/sec?
 What are the factors that contribute to errors between calculated and
measured values for damping factor and natural frequency?

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