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CSP5

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5 views25 pages

CSP5

Uploaded by

burasuyash2803
Copyright
© © All Rights Reserved
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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Control System

Time Domain Analysis

Content
 Transient and Steady State Response.
 Significance of standard test inputs.
 Introduction to S-plane representation.
 First order control system.
 Second order control system.
 Effect of Damping.

1
Learning Objectives
 Understand the basics of transient and
steady state response.
 Importance of standard test signal.
 Differentiate between poles & zeros.
 Analyze first & second order control system
for step input.
 Understand the effect of damping.

Time Response

 In time domain analysis, time is independent


variable. When system is given an excitation
(input), there is a response(output).

 Response of system to an applied excitation is


called Time Response and it is a function of
time, denoted by c(t).

2
Time Response Example
 The response of motor speed when input(command) signal is
applied to increase speed of a motor is shown in figure.

 Speed of motor gradually picks up from 1000 rpm and move


towards 1500 rpm. It overshoots around that value and again
corrects itself and finally settles down at last value.

Transient Response
 Consider an example of a lift moving in upward
direction.

3
Transient Response
 The variation of output response during the time; it
takes to reach its final value is called transient
response.
 Also, part of time response which goes to zero as time
becomes very large is called as Transient Response.

 As name suggests transient response remains only for


some time from initial state to final state.

Transient Response
- From Transient response we can know;

 When the system begins to respond after input is


given.
 How much time it takes to reach output for first time.
 Whether output shoots beyond the desired value and
how much.
 Whether the output oscillates about its final value.
 When does it settle to final value.

4
Steady State Response
 Part of response that remains after transients have
died out is called “Steady State Response”.

-From the steady state we can know;

 How long it took before steady state was reached.


 Whether there is any error between desired and
actual values.
 Whether this error is constant , zero or infinite i.e.
unable too track input.

Total Response
 Total response of system is addition of transient response
and steady state response.

5
Steady state error
 Difference between desired output and actual output
of system is called as steady state error.

Need of Standard Test Signals


 It is very interesting to know that most control
systems do not know what their inputs are going to
be.
 System design cannot be done from input point of
view as we are unable to know in advance type of
input.
 For example:
1. When a radar tracks an enemy plane.
2. The terrain, curves on the road.
3. Loading on shearing machine.

6
Standard Test Signals
 Thus from such types of inputs we can expect a system in
general to get an input which may be:
1. A sudden change.
2. A momentary shock.
3. A constant velocity.
4. A constant acceleration.

 Hence these signals form standard test signals. Response to


these signals is analyzed. Above inputs are called:
1. Step input :- Signifies sudden change.
2. Impulse input :- Signifies momentary shock.
3. Ramp input :- Signifies constant velocity.
4. Parabolic input :- Signifies constant acceleration.

Step Input
 Unit step input:-

7
Ramp Input
 Unit ramp input:-

Parabolic Input

8
Impulse Input

Poles & Zeros of Transfer Function

9
Poles of Transfer Function

Example

10
Zeros of Transfer Function

Example

11
Characteristics Equation

Example 1:

12
Example 1:

Example 1:

13
Example 1:

Example 2:

14
Example 2:

Example 2:

15
Example 2:

Analysis of First Order System for Step input

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Analysis of First Order System for Step input

Analysis of First Order System for Step input

17
Analysis of First Order System for Step input

Analysis of First Order System for Step input

18
Time Constant

Damping & Damping Factor ( )


 Every system has a tendency to oppose the
oscillatory behavior of the system which is
known as “Damping”

 The damping in any system is measured by a


factor or ratio which is known as damping ratio.

 It is denoted by (Zeta).

19
Analysis of Second Order System for Step input

Analysis of Second Order System for Step input

20
Analysis of Second Order System for Step input

Relation between and pole locations

Pole Location Step Response c(t)

21
Relation between and pole locations

Pole Location Step Response c(t)

Relation between and pole locations

Pole Location Step Response c(t)

22
Relation between and pole locations

Pole Location Step Response c(t)

Relation between and pole locations

Pole Location Step Response c(t)

23
Relation between and pole locations

Pole Location Step Response c(t)

Relation between and pole locations

Pole Location Step Response c(t)

24
Summary
 Significance of standard test inputs in control
system.

 Significance of poles and zeros in system.

 Analysis of first and second order system

 Effect of damping on system response.

25

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