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18 views73 pages

3and4 Lecture3and4

Uploaded by

Fabulous Flufferbum
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UCK303E Automatic Control

Lecture 3 and 4 : Time Domain


Analysis of Dynamic Systems
and Introduction to Laplace
Transformation
Previous Lecture

• Dynamic modeling of mechanical and electrical


(analog) devices
– based on basic physical principles (Newton’s law, Kirchhoff’s
current and voltage law…).
– using Mass/Inductance (Inertia), Spring/Capacitance
(Energy-storage), Damper/Resistance (Energy-dissipation)
elements.
– resulting in second order ODEs, higher order ODEs, system
of differential equations.
• Two interesting sub-topics:
– state-space representation of dynamic systems
– linearization of non-linear equations of motions
III. Suspension of a Car

Output of interest: Vertical position of chassis


Plant: Vehicle chassis (including tires), some actuators, and their dynamics
Inputs: Altitude of car chassis with bumps in the road
Suspension of a Car

Applying Newton’s Law to each mass

When we rearrange these formulas:

Free-body diagram for


suspension system 4
IV. Rotational Pendulum

Follow the same steps :

Small theta assumption :

: natural frequency…

5
In this lecture

• We explore the time-domain understanding of the


transformation by solving a second-order ODE
• Explicit time-domain solution by finding the homogenous and
forced response.
• Modes of the system and the homogenous and forced response
– Homogenous Solution => Basic Stability Understanding (complex plane
plots of the natural frequencies).
– Forced Solution => Frequency Response (gain and phase plots).

• We explore the both the stability notion and the forced


response characteristics via examples.
We will continue with…

• Laplace Transformation (Frequency Domain).

• Dirac Delta, Convolution

=> Inherit tie between time domain and frequency domain…

• Transfer Function representation of dynamic systems (will


continue in the next lecture)

• And we enter into automatic control systems via analyzing the


stability and the time-response of second order dynamic systems
(will continue in the next lecture)…
Lecture Outline
• Later we will look at linear time-invariant differential
equations.
– Higher-order ODEs and system of differential equations
• State-space representation : set of first order linear differential
equations
Textbook References and Reading Assignment

• In this lecture we will cover the topic mainly from Ogata and
FPE , and we will use some excerpts from Kuo, Nise, Goodwin,
Dorf, Oishi (UCB) – thank you!!!.

• Did you do your last week’s reading assignment?


– FPE : Chapter 2 or
– Kuo : Chapter 4– relevant portions

• Textbook follow-up (this week’s reading assignment) :


– Ogata : Chapter 2 main text + Example problem and solutions
– FPE : Chapter 2
– Kuo : Chapter 2
Solving an ODE
Trailer Example
The car comes to a stop : how is the behavior of the trailer?

Almost like a wall when it stops…

Let’s denote b= Bh+Bt and k=Kh and analyze the system…


Mass-spring-damper system

Step 1 : Mass-spring-damper (friction) system Step 2 : Free-body diagram

Step 3 : Equations of Motion Denote u(t):=f(t) as the


input to the system
Let’s look at the solution of this ODE
Complex Number

Real and Imaginary


Portion
Carry “Information”

real part Complex part


Recall Complex Numbers and Euler’s Theorem

Real and Imaginary Portion


Carry “Information”
Homogenous solution on the complex plane
Focusing on the complex root case
Homogenous solution on the complex plane

Initial State Response

displacement

Complex pair time

Real Pair
Response Types in Complex Plane
Stable and unstable regions in the complex plane

S domain
Forced Response

Uo=Fo (recall slide 12)


The solution
Generic Second Order System
Generic Input – Output Set
Assuming that the initial conditions are all zero

Roots of this are called “the poles”


of the system….

G(s) is called the “transfer function”


Generic Second Order System
Homogenous Response
Frequency Domain Time Domain
Ties to Future Lectures…
Forced Response in the frequency plane

Let’s just wait for another second on


What the wn and ksi means…

This is a very important characteristic


of linear systems.
Signals and Systems Point of View
Into the depths of Laplace
Transformation
Laplace Transformation Fundamentals
Laplace, himself…
Laplace Transformation
Laplace and Inverse Laplace Transformation

Inverse Laplace Transformation:


Note : Laplace Transformation Existence
Example I : Exponential
Example II : Step
Example III : Sinusoidal
Laplace Transform Properties
Laplace transform theorems
Important Laplace Transformation Pairs
Second Order Systems
Laplace transform table
From time domain
to frequency domain -
The convolution perspective...
State-Space Formulation
Two key properties of linear constant systems

• The response of a linear


constant (i. e. not time
varying system
parameters such as k, b,
m…) system
– Obeys the principle of
For the sake of this discussion
superposition Imagine this….
– Can be expressed as the
convolution of the input
with the unit impulse
response of the system
Superposition Principle

• General Signals –
decompose it into a sum
of elementary signals :
– Impulse, exponential, …

In Class Example :
Dirac Delta Function

Physical Understanding: Impulse

Norm bounded ~ “Finite Energy”

If a function f(x) is continuous at x :

Notice that the Dirac Delta is acting like a “sampling” operator at x=0 !
First step to convolution : Sampling
f(t)
• For an arbitrary T and
again assuming f(t) is
continuous at t=T :

Notice that the Dirac Delta is acting like a “time shift” sampling operator now!

How about making T not a constant, but the free time variable t?
Convolution

Representing f(t) as a sum of impulses :

Example : How about u(t)? (i.e. an input signal…)


H(t,tau) : Impulse Response of a Dynamic System

: identical

convolution

In Class Example : Use Dirac Delta


As u

Let’s find the impulse response…


Complex Numbers and Euler’s Theorem

Real and Imaginary Portion


Carry “Information”
Transfer Function

Notice how the analysis turned into a simple algebraic multiplication…


Time domain vs. Frequency domain
Laplace Transformation Fundamentals
Laplace Transformation
Forced Response Characteristics
Trailer Example

Almost like a wall when it stops…


Mass-spring-damper system
IF y2 –y1 = y

Mass-spring-damper (friction) system Free-body diagram

State diagram
Example to come…
Second-
order
systems’
step
responses
Second-
order
step
response
components
generated
by
complex
poles
Step
responses
for
second-
order
system
damping
cases
Second-
order
response
as a
function
of
damping
ratio
Second-order
underdamped
responses for
damping ratio
values
Second-order
underdamped
response
specifications
Percent
overshoot
vs.
damping
ratio
Normalized rise
time vs.
damping
ratio for a
second-order
underdamped
response
Into the depths of Laplace
Transformation
Example I : Mechanical Systems
Force-velocity, force-displacement, and impedance
translational relationships for springs, viscous dampers, and
mass
Example II : Mechanical Systems
Torque-angular velocity, torque-angular displacement,
and impedance rotational relationships for springs, viscous
dampers, and inertia
Example III : Electrical Systems
Voltage-current, voltage-charge, and impedance relationships
for capacitors, resistors, and inductors

V(s)/q(s) I(s)/V(s)
Basic time-domain test signals for control systems

Step function Ramp-function

Parabolic function

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