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38 views65 pagesBasic of Control System
The document discusses time-domain analysis of dynamic systems, focusing on the response to various standard test signals such as impulse, step, ramp, and parabolic signals. It explains the concepts of transient and steady-state responses, the significance of system poles, and the classification of control systems based on their response to inputs. Additionally, it covers the characteristics of first and second-order systems, including their damping behavior and the importance of parameters like un-damped natural frequency and damping ratio.
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0% found this document useful (0 votes)
38 views65 pagesBasic of Control System
The document discusses time-domain analysis of dynamic systems, focusing on the response to various standard test signals such as impulse, step, ramp, and parabolic signals. It explains the concepts of transient and steady-state responses, the significance of system poles, and the classification of control systems based on their response to inputs. Additionally, it covers the characteristics of first and second-order systems, including their damping behavior and the importance of parameters like un-damped natural frequency and damping ratio.
Uploaded by
Aayush PatidarCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
/ 65
| Time Domain Analysis Introduction
In time-domain analysis the response of a dynamie system to an input is expressed as a
function of time.
It is possible to compute the time response of a system if the nature of input and the
mathematical model of the system are known,
Usually, the input signals to control systems are not known fully ahead of time.
It is therefore difficult to express the actual input signals mathematically by simple
equations. A
Standard Test Signals
* The characteristics of actual input signals are a sudden shock,
a sudden change, a constant velocity, and constant
acceleration.
+ The dynamic behavior of a system is therefore judged and
compared under application of standard test signals — an
impulse, a step, a constant velocity, and constant acceleration.
* The other standard signal of great importance is a sinusoidal
signal. Standard Test Signals
+ Impulse signal
— The impulse signal imitate the
sudden shock characteristic of
actual input signal. S(t)
A t=0 “
(rt) = —
\e t#0
—If A=1, the impulse signal is
called unit impulse signal. Standard Test Signals
* Step signal
—The step signal imitate
the sudden change u(t)
characteristic of actual
input signal.
A 120
u(r) = a
0 t<0
— If A=1, the step signal is
called unit step signal Standard Test Signals
« Ramp signal a
—The ramp signal imitate
the constant velocity
characteristic of actual
input signal.
At t>0 :
r= +
0 t<0 alse t
ramp signal with slope A i
a ar
—If A=/, the ramp signal
: : (t
is called unit ramp apes
‘. seas t
signal sr, |
unit ramp signal
ea Standard Test Signals A
. (t)
* Parabolic signal *
—The parabolic signal
imitate the constant
acceleration characteristic
of actual input signal.
0 t
At?
— >
plt)=4 9 120
0 1<0 parabolic signal with slope A as
—If A=/, the parabolic
signal is called unit
parabolic signal. Relation between standard Test Signals A
" A t=0
* Impulse i (0) = {i ai d
{ J dt
° Step ult) = { f20 & \
/ 0 <0 \a
(J / dt
Si _ At 130 ©
* Ramp . xo~{3 sel) \ a
j / dt
( At
* Parabolic ~, wre Laplace Transform of Test Signals &
* Impulse
” A t=0
a= {8 t#0
LIS} = Hs) = A
* Step
>
wo={4 bet
0 t<0
iuiti} wide?
S§ Laplace Transform of Test Signalst &
* Ramp py_fat £20
K={e 1<0
Lr} = RG) = 4
ra +20
0 1<0
Lptt)} = Po) =
* Parabolic AC
pli) = Time Response of Control Systems A
*Time response of a dynamic system response to an input
expressed as a function of time.
LL
* The time response of any system has two components
+ Transient response
* Steady-state response. Time Response of Control Systems A
* When the response of the system is changed from equilibrium it
takes some time to settle down.
* This is called transient response.
‘Step Input
*The response of the
system after the transient
response is called steady
state response.
Response
Transient Response
2 Steady State Response
Tere (sec) Time Response of Control Systems A
* Transient response depend upon the system poles only and not
on the type of input.
* It is therefore sufficient to analyze the transient response using a
step input.
* The steady-state response depends on system dynamics and the
input quantity.
«It is then examined using different test signals by final value
theorem. Introduction A
The first order system has only one pole.
Cs) OK
RG) Ts+l
Where K is the D.C gain and T is the time constant
of the system.
Time constant is a measure of how quickly a 1%
order system responds to a unit step input.
D.C Gain of the system is ratio between the input
signal and the steady state value of output. Introduction A
* The first order system given below.
GAs) = 2
3s+1
* D.C gain is 10 and time constant is 3 seconds.
* For the following system
Gls) = 3 _ 3/5
s+5 /S5s+1
* D.C Gain of the system is 3/5 and time constant is 1/5
seconds. Impulse Response of 1** Order System A
* Consider the following 1° order system
R(s) = 5(s) =1
610)
‘
R(s)
fd =
Ts +1 Impulse Response of 1%* Order System A
K
Ts +1
C(s) =
* Re-arrange following equation as
KIT
C(s) =
s+l/T
* In order to compute the response of the system in time domain
we need to compute inverse Laplace transform of the above
equation.
xf c sce oer Impulse Response of 1%* Order System A
+ IfK=3 and T=2s then c(s) = feu
K/T*exp(-t/T)
1.6
c(t)
05° Step Response of 1°t Order System A
* Consider the following 1° order system
ac
R(s) =U(s) = Z
5
K
Oa
«In order to find out the inverse Laplace of the above equation, we
need to break it into partial fraction expansion (page 867 in the
Textbook) KT Step Response of 1°t Order System A
cts)= K(4- T }
s Ts+1
* Taking Inverse Laplace of above equation
et) = K(ut)-e"')
* Where u(t)=1
cl) = K(l-e"/")
* When t=T (time constant)
et) = K(l-e")=0.632K Step Response of 1% Order System A
* IfK=10andT=15sthen c(s)= Kl |
K*(1-exp(4/7))
Wee +
2 erp aaa
9- Step Response
. ds 10”
% Steady state output
Tt DE Gain = K = = :
sr 777 263% put
2 1
5 }
1
4) I
1
é 1
2 1
| Unit Step Input
ui 1
ot 1 A
Step Response of 1°t order System
* System takes five time constants to reach its
final value.
g |
ey Slope=+
0.632 Step Response of 1% Order System A
* IfK=10and T=1, 3, 5,7 et) = K(l-e*'")
Ke(1-exp(-/T)
cit) Step Response of 1% Order System A
* IfK=1,3,5, 10 and T=1 et) = K(l-e')
K(1-exptT)
ett) Relation Between Step and impulse A
response
* The step response of the first order system is
ct) = K(l-e"'" )= K Ke“!
* Differentiating c(t) with respect to t yields
det) = 4 (k_ Ke'7)
dt dt
dc(t) _ K ur
dt T Second Order System A
We have already discussed the affect of location of poles and zeros on
the transient response of 1* order systems.
Compared to the simplicity of a first-order system, a second-order system
exhibits a wide range of responses that must be analyzed and described.
Varying a first-order system's parameter (T, K) simply changes the speed
and offset of the response
Whereas, changes in the parameters of a second-order system can
change the form of the response.
A second-order system can display characteristics much like a first-order
system or, depending on component values, display damped or pure
oscillations for its transient response. Introduction A
* A general second-order system
is characterized by the
following transfer function.
Ris) som Co)
C(s) _ a,
Rls) ! ;
5
+ 20,8 + O,
@,, ——> un-damped natural frequency of the second order system,
which is the frequency of oscillation of the system without
damping.
¢
—— damping ratio of the second order system, which is a measure
of the degree of resistance to change in the system output. Example 2 A
* Determine the un-damped natural frequency and damping ratio
of the following second order system.
Cs) _ 4
Rls) 5? +2844
* Compare the numerator and denominator of the given transfer
function with the general 2™ order transfer function.
Cls) _ o,
Rls) gs? + 2¢@,,8+ o;
2
2 = 4 es
id 34,52 => 2¢w,s = 2s
2 2 2 = 6a, =1
s +2¢0,s+@, =s° +25+4 =f=05 Introduction
Cs) _ ao;
Rs) 5? +2¢@,5 +?
* Two poles of the system are
0,6 40,0? =1
=a, -0,1C>-1 Introduction A
ae
~ 0,5 + 0,5" 1
2
— 0,5 —@,Vo~ —|
* According the value of g » a second-order system can be set into
one of the four categories (page 169 in the textbook):
1. Qverdamped - when the system has two real distinct poles ( C >1).
jo Introduction A
a
~ 0,5 +O, VS 1
— 0,6 -@, YS? -1
* According the value of g » a second-order system can be set into
one of the four categories (page 169 in the textbook):
2. Underdamped - when the system has two complex conjugate poles (0<¢ <1)
jo Introduction A
a
~ 0,5 +O, VS 1
— 0,6 - YS? -1
* According the value of g » a second-order system can be set into
one of the four categories (page 169 in the textbook):
3. Undamped - when the system has two imaginary poles ( C =0).
jo Introduction A
a
0,5 +O, NS> —1
-0,6-@,\o? -1
* According the value of g » a second-order system can be set into
one of the four categories (page 169 in the textbook):
4. Critically damped - when the system has two real but equal poles (¢ = 1).
jo Underdamped System
For 0<¢ <1 and w, > 0, the 2"? order system's response due toa
unit step input is as follows.
Important timing characteristics: delay time, rise time, peak
time, maximum overshoot, and settling time.
to
Allowable tolerance
A Delay Time
* The delay (¢,) time is the time required for the response to
reach half the final value the very first time.
ef)
A Rise Time
* The rise time is the time required for the response to rise from 10%
to 90%, 5% to 95%, or 0% to 100% of its final value.
* For underdamped second order systems, the 0% to 100% rise time is
normally used. For overdamped systems, the 10% to 90% rise time is
commonly used.
et)
0,5 Peak Time A
* The peak time is the time required for the response to reach
the first peak of the overshoot.
elt) Maximum Overshoot
The maximum overshoot is the maximum peak value of the
response curve measured from unity. If the final steady-state
value of the response differs from unity, then it is common to
use the maximum percent overshoot. It is defined by
c(t,) — ¢(co) ,
Maximum percent overshoot = ————_— x 100%
e(o0)
The amount of the maximum (percent) overshoot directly
indicates the relative stability of the system. Settling Time
The settling time is the time required for the response curve
to reach and stay within a range about the final value of size
specified by absolute percentage of the final value (usually 2%
or 5%).
ef)
Allowable tolerance Step Response of underdamped System A
Cs) = o. Step Response ao,
== 2, Se, )-__*
RG) 5? 42¢0,5+@
2 2 )
s\s° +2¢0,,8 + @,
* The partial fraction expansion of above equation is given as
1 s+2¢0
C(s)=—- __ Ste
Ss" +2¢a,s+ a;
a, ( = ¢?)
(s) 1 s+20, /
2 Tey > 2-4 3 Dat /
(s+ 2d, } S°+260,5+6°@, +a, —C°O,
cls) = de =i -
8 (s+¢@,) +a, 6° A
Step Response of underdamped System
§+2
fig=4- * a 5
8 (s+d0,) tail
* Above equation can be written as
Aish. —_ ee
8 (s+éo,) +e;
* Where ,=@,/1-¢ , is the frequency of transient oscillations
and is called damped natural frequency.
* The inverse Laplace transform of above equation can be obtained
easily if C(s) is written in the following form:
Sn
8 (stu, P +05 (s+do,) +05 A
Step Response of underdamped System
Cs) = 1 _ S+6O, 6a,
8 (s+Go,) +07 (s+60,) +05
¢ ah
_! s+&o, fi-¢? aes
8 (sto,Fra; (s+g0,P +0}
1 sto, é 4
elt) =1-e*"" coscoyt — eo" sin yt
2 A
Step Response of underdamped System
Sant
c(t) = 1-6*"' cosa, g = sin @,f
yl- oe
( y= Sea, t ge “
cli) =1l-e cos@yi + =sin yt
yl-¢°
«When ¢=0
2
Og = O,NI-E
=0,
a
c(t) =1-cosa,t Step Response of underdamped System A
S sin at
i-¢?
e(t) =1 -o on +
if ¢=0.1 and w,=3
1.8
1.6 -
14
2
il
0.8 -
0.6 -
04 -
0.2 Step Response of underdamped System A
S sin @,t
1-¢?
c(t) =1 -o% om +
if ¢=0.5 and w,=3
tide z Step Response of underdamped System A
gS sin at
i-¢?
e(t) =1 -o on +
if ¢=0.9 and w, =3
We
42+
ae
08+ S-Plane (Underdamped System) A
i Since w*@? — w*(Z? — 1) = w?, the distance
-@,F+0,V¥5° —1 fromthe pole to the origin is w and ¢ = cos
-,¢6 —O, a ail A
Classification of Control Systems
* Control systems may be classified according to
their ability to follow step inputs, ramp inputs,
parabolic inputs, and so on.
* The magnitudes of the steady-state errors due
to these individual inputs are indicative of the
goodness of the system. Classification of Control Systems A
* Consider the unity-feedback control system
with the following open-loop transfer function
K(T,5 + 1)(Tps + 1)++(Tys + 1)
Ol) = SNCs + 1(Tas + 1) (Ts + 1)
* It involves the term s” in the denominator,
representing N poles at the origin.
* A system is called type 0, type 1, type 2, ... , if
N=0, N=1, N=2, ..., respectively. Classification of Control Systems A
* As the type number is increased, accuracy is
improved.
* However, increasing the type number
aggravates the stability problem.
+ A compromise between steady-state accuracy
and relative stability is always necessary. A
Steady State Error of Unity Feedback Systems
* Consider the system shown in following figure.
Ris) &) Els)
* The closed-loop transfer function is
R(s) 1+ G(s)
K(Tys + 1)(Tys + 1)--(Ts +1)
Gs) = s\(Ts + 1)(Trs + 1)-°(Tps + 1) Steady State Error of Unity Feedback system
Steady state error is defined as the error between the
input signal and the output signal when t > ©,
The transfer function between the error signal E(s) and the
input signal R(s)is £(s)
Rls) 1+G(s)
The final-value theorem provides a convenient way to find
the steady-state performance of a stable system.
Since E(s) is E(s) = 1+ G(s) R(s)
The steady state error is
. . . _ sR(s)
e,, = lim e(r) = lim sE(s) = i Ts G(s)
teens — = Gls Static Error Constants A
The static error constants are figures of merit of
control systems. The higher the constants, the
smaller the steady-state error.
In a given system, the output may be the position,
velocity, pressure, temperature, or the like.
Therefore, in what follows, we shall call the output
“position,” the rate of change of the output
“velocity,” and so on.
This means that in a temperature control system
“position” represents the output temperature,
“velocity” represents the rate of change of the
output temperature, and so on. Static Position Error Constant (K,) A
* The steady-state error of the system for a unit-step input is
C6 = iie¢ — 4
S01 + G(s) 8
_ 1
~ 1+ G(0)
* The static position error constant K, is defined by
Ko lim G(s) = G(0)
ss
* Thus, the steady-state error in terms of the static position
error constant K, is given by
1
1+:K
p
2 =
&s Static Position Error Constant (K,) A
* Fora Type 0 system
K(T,s + 1)(T)s + 1) ++
ie = tg KUO + Hts +
80 (Tis + 1)(Ths + I)
* For Type 1 or higher order systems
K(Tis + 1)(%s + 1)--
K, = lim == ~, forN=1
Po s90 s\(Tis + 1)(Ts + 1)-
* Fora unit step input the steady state error e., is
— i.
1+ K’
ti, = 9, for type | or higher systems
ey for type 0 systems Static Velocity Error Constant (K,) A
* The steady-state error of the system for a unit-ramp input is
te —#. <1
~ ol + G(s) &
* The static velocity error constant K, is defined by
K, = lim sG(s)
&-—>
* Thus, the steady-state error in terms of the static velocity
error constant K, is given by Static Velocity Error Constant (K.) A
* Fora Type 0 system
sK(Z,8 + 1s +1
= tn RTE # WMT + YY
s+0 (Ts + 1)(Tys + 1)-
* For Type 1 systems
_ 8K(Tys + (Ths + 1) +
K, = lim ————_ =
0 s(T,s + 1)(Ths + 1)-
* For type 2 or higher order systems
_ $K(T,s + 1)(Ths + 1)-
K, = lim" = 00, for N = 2
50 s§(Tis + 1)(Ths + 1)-° Static Velocity Error Constant (K,) A
* For aramp input the steady state error e., is
1
@, = K = 00, for type 0 systems
: : for type 1 systems
eé. = — = Ts,
SK K yP' ¥
1 :
bs = = 0, for type 2 or higher systems Static Acceleration Error Constant (K,) A
The steady-state error of the system for parabolic input is
|
