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2nd Topic - Dynamic Characteristics

The document discusses dynamic characteristics of system elements, focusing on first and second order elements and their mathematical models. It includes equations for heat balance, transfer functions, and the application of LaPlace transforms to analyze system behavior. Additionally, it addresses dynamic errors in measurement systems and techniques for dynamic compensation.

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Daniel Borregaard
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7 views17 pages

2nd Topic - Dynamic Characteristics

The document discusses dynamic characteristics of system elements, focusing on first and second order elements and their mathematical models. It includes equations for heat balance, transfer functions, and the application of LaPlace transforms to analyze system behavior. Additionally, it addresses dynamic errors in measurement systems and techniques for dynamic compensation.

Uploaded by

Daniel Borregaard
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Topic 2

Dynamic
characteristics
Made by Milla Kølbæk Hansen
Generalized model of a system element

The steady-state output O of the element in general

𝑂 𝐼 = 𝐾 · 𝐼 + 𝑎 + 𝑁 𝐼 + 𝐾𝑀 · 𝐼𝑀 · 𝐼 + 𝐾𝐼 · 𝐼𝐼
First order element

Heat balance equation


Rate of heat inflow-rate of heat outflow
= Rate of change of sensor heat content

Heat flow rate


𝑊 = 𝑈 · 𝐴 · (𝑇𝐹 − 𝑇)

Rate of increase of sensors


heat content
𝑅𝑎𝑡𝑒 𝑜𝑓 ℎ𝑒𝑎𝑡 𝑐ℎ𝑎𝑛𝑔𝑒
𝑑
= 𝑀 · 𝐶 · (𝑇 − 𝑇(−0))
𝑑𝑡
First order element

First order element


𝑑
𝑀·𝐶· 𝑇 − 𝑇 0 = 𝑈 · 𝐴 · 𝑇𝐹 − 𝑇 ⇔
𝑑𝑡
If Δ𝑇 = 𝑇 − 𝑇 0 & Δ𝑇𝐹 = 𝑇𝐹 − 𝑇𝐹 (0)
𝑑
𝑀·𝐶· Δ𝑇 = 𝑈 · 𝐴 · Δ𝑇𝐹 − Δ𝑇 ⇔
𝑑𝑡

𝑀·𝐶 𝑑
· 𝛥𝑇 + 𝛥𝑇 = 𝛥𝑇𝐹
𝑈·𝐴 𝑑𝑡
𝑴·𝑪
Where is the time constant 𝜏
𝑼·𝑨

𝒅
𝝉· 𝜟𝑻 + 𝜟𝑻 = 𝜟𝑻𝑭
𝒅𝒕
Using LaPlace

First order element


𝑑
𝜏 · 𝑑𝑡 𝛥𝑇 + 𝛥𝑇 = 𝛥𝑇𝐹

Using LaPlace
ത ത
𝜏 · 𝑠 · Δ𝑇 𝑠 − 𝛥𝑇 0 + 𝛥𝑇(𝑠) = Δ𝑇ത𝐹 (𝑠)
By definition Δ𝑇(0) = 0
𝜏 · 𝑠 · Δ𝑇ത 𝑠 + 𝛥𝑇ത 𝑠 = Δ𝑇ത𝐹 𝑠 ⇔
ഥ 𝒔 = 𝜟𝑻
(𝝉 · 𝒔 + 𝟏) · 𝜟𝑻 ഥ𝑭 𝒔
Transfer functions

Transfer function
𝑓0ҧ (𝑠)
𝐺 𝑠 =
𝑓𝑖ҧ (𝑠)

Transfer funtion of first order element:


𝜏 · 𝑠 + 1 · 𝛥𝑇ത 𝑠 = 𝛥𝑇ത𝐹 𝑠 ⇔
𝑓0ҧ (𝑠) 𝛥𝑇ത 𝑠 1
𝐺 𝑠 = = = ⇔
𝑓𝑖ҧ (𝑠) 𝛥𝑇ത𝐹 𝑠 𝜏·𝑠+1
𝛥𝑂ത (𝑠) 𝛥𝑂 𝛥𝑇ത 𝑠
=
𝛥𝑇ത𝐹 (𝑠) 𝛥𝑇 𝛥𝑇ത𝐹 𝑠
Examples
Second order element

Newtons second law


𝐹 =𝑚·𝑎 ⇔
𝐹 − 𝑘 · 𝑥 − 𝜆 · 𝑥ሶ = 𝑚 · 𝑥ሷ ⇔
𝑚 · 𝑥ሷ + 𝜆 · 𝑥ሶ + 𝑘 · 𝑥 = 𝐹

Second order element


𝑚 · 𝑥ሷ + 𝜆 · 𝑥ሶ + 𝑘 · 𝑥 = 𝐹 ⇔ 𝑚 · Δ𝑥ሷ + 𝜆 · Δ𝑥ሶ + 𝑘 · Δ𝑥 = Δ𝐹 ⇔
𝑚 𝑑 2 𝛥𝑥 𝜆 𝑑𝛥𝑥 1
· + · + 𝛥𝑥 = · 𝛥𝐹
𝑘 𝑑𝑡 2 𝑘 𝑑𝑡 𝑘
𝑘 𝜆
Where 𝜔𝑛 = is the undamped natural frequency and 𝜁 = is the damping ratio
𝑚 2· 𝑘·𝑚

𝟏 𝒅𝟐 𝜟𝒙 𝟐𝝃 𝒅𝜟𝒙 𝟏
· + · + 𝜟𝒙 = · 𝜟𝑭
𝝎𝟐𝒏 𝒅𝒕𝟐 𝝎𝒏 𝒅𝒕 𝒌
LaPlace and Transfer function

LaPlace function
1 2 2𝜉 1
ത
2 𝑠 Δ𝑥ҧ 𝑠 − 𝑠Δ𝑥 0 − Δ𝑥ሶ 0 + 𝜔 𝑠Δ𝑥ҧ 𝑠 − Δ𝑥 0 + 𝛥𝑥ҧ 𝑠 = 𝑘 · 𝛥𝐹 𝑠 ⇔
𝜔𝑛 𝑛

𝟏 𝟐𝝃 𝟏
𝒔𝟐 + 𝒔 + 𝟏 · 𝜟ഥ ഥ 𝒔
𝒙 𝒔 = · 𝜟𝑭
𝟐 𝝎𝒏 𝒌
𝝎𝒏

Transfer funtion of second order element:


1 2 2𝜉 1 𝑓 ҧ (𝑠) 𝛥𝑥ҧ 𝑠 1
𝑠 + 𝑠 + 1 · 𝛥 𝑥ҧ 𝑠 = · 𝛥 ത 𝑠 ⇔𝐺 𝑠 = 0
𝐹 = = · 𝐺(𝑠) ⇔
𝜔𝑛2 𝜔𝑛 𝑘 𝑓𝑖ҧ (𝑠) 𝛥𝐹ത 𝑠 𝑘
𝑓0ҧ (𝑠) 𝛥𝑥ҧ 𝑠 1
𝐺 𝑠 = = =
𝑓𝑖ҧ (𝑠) 𝛥𝐹ത 𝑠 1 2 2𝜉
𝑠 +𝜔 𝑠+1
𝜔𝑛2 𝑛
Step function- 1st order
LaPlace of unit step u(t)
1
𝐹ത 𝑠 =
𝑠
Function of first order element
with unit step function as input
1
𝑓𝑜ҧ 𝑠 = 𝐺 𝑠 𝑓𝑖ҧ 𝑠 =
1 + 𝜏𝑠 𝑠

Function of first order element with unit step


function as input (Simplified)
𝑡 𝑡
1 1
𝑓𝑜ҧ 𝑠 = − 1 ⇔ 𝑓𝑜ҧ 𝑠 = 𝑢(𝑡) − 𝑒 −𝜏 ⇔ 𝑓𝑜ҧ 𝑠 = 1 − 𝑒 −𝜏
𝑠 𝑠+𝜏
Example from lab
Step function- 2nd order
Sinusoidal reponse- 1st order
LaPlace of sine wave (𝒇 𝒕 = 𝒔𝒊𝒏(𝝎𝒕))
𝜔
𝐹ത 𝑠 = 2
𝑠 + 𝜔2
Sinusoidal reponse- 2nd order
Dynamic error

Dynamic error of periodic function


Dynamic errors in measurement systems
Techniques for dynamic compensation

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