3.
Dynamic Responses of Systems
What is Dynamic response
Natural and forced responses
Transient and steady state responses
Forms of Inputs
First order systems
Natural Response
First order systems
Natural Response
First order systems
Response with forcing input
Let x = u + v
First order systems
Response with forcing input
Let v = A for y = k
First order systems - example
Electrical system – Capacitance C in series with a Resistance
R, output taken across Capacitance
First order systems - example
Electrical system – Capacitance C in series with a Resistance
R, output taken across Capacitance
If R = 2 M ohm, C = 1 micro F, RC =2
vf = A + Bt
Let v = vn + vf
Time Constant (1st order system)
At time t = a1/a0,
i.e. output has risen to 0.63 or 63% of its SSV. This time is called the time constant τ-
Time Constant (1st order system)
Equation in terms of important properties
Where Gss is steady state gain
Example
A system is subjected to a step input of 5 V. Determine the equation for
the system for which response is shown in the figure below:
Example
A system is subjected to a step input of 5 V. Determine the equation for
the system for which response is shown in the figure below:
Second order system -
Many 2nd order systems analogous to spring-mass-damper system:
Second order system -
Response of 2nd order system depends on the amount of damping:
Second order system – Natural response
1. In absence of damping:
Here F = 0 & c = 0, so
Second order system – damped natural response
…. Auxiliary Equation
Let
Thus
Thus
ζ = damping factor
Second order system – damped natural response
1. ζ > 1 - overdamped 2. ζ = 1 – critically damped
Hence the general solution - Hence the general solution -
Second order system – damped natural response
3. ζ < 1 - underdamped
…. Damped frequency
…. General solution
Second order system – forced response
For overdamped system -
For general Second order system
Second order system – Example (RLC circuit)
Determine: 1. natural angular frequency
2. State of damping
3. Damped oscillation frequency
4. Response of system / Solution of the
system model
R = 100 Ω, L = 2 H, C = 20 µF
Second order system – Example (Solution)
ω = ωn sqrt( 1 – ζ2 ) = 156 rad/s
For underdamped system,
R = 100 Ω, L = 2 H, C = 20 µF
ωn = sqrt(a0 / a2) = 158 rad/s
At t=0, i=0 : P = -V & At t=0, di/dt=0: Q=-0.16V
ζ = sqrt(a12 / 4.a0a2) = 0.16 Thus final solution is:
… underdamped system
Performance measures for 2nd order system
1. Rise time tr = π / 2ω
2. Peak time tp = π / ω
3. Overshoot
4. Subsidence ratio
5. Settling time (ts)2% = 4 / ζ ωn
Settling time (ts)5% = 3 / ζ ωn
2. Method of transfer functions
Transfer function
2. Method of transfer functions
Steps:
1. L.T. of O/P = G(s) * L.T. of I/P
2. Match expression with standard inverse L.T. table
3. Take Inverse L.T. to get O/P as expression of time x=f(t)
... required solution
L.T. of
standard
Inputs
2. Method of transfer functions
2. Method of transfer functions
2. Method of transfer functions
Transfer function for 1st order systems:
2. Method of transfer functions
1st order systems with step input:
For unit step input, Y(s) = 1/s
This is 2nd form from the inverse L.T. table
2. Method of transfer functions
1st order systems – Example 1
2. Method of transfer functions
1st order systems – Example 1 - Solution
For unit step input of 100 0C , Y(s) = 100/s
2. Method of transfer functions
1st order systems – Example 1- Solution
Time taken to reach 95 % of S.S.V.
t = 30 s …. Ans
2. Method of transfer functions
1st order systems – Example 2
If the above thermocouple is subjected to input of 5t 0C/s, find how
voltage will vary and hence voltage after 12 s.
2. Method of transfer functions
1st order systems – Example 2 - Solution
If the above thermocouple is subjected to input of 5t 0C/s, find how
voltage will vary and hence voltage after 12 s.
After 12 s, V = 7.5 * 10-4 V
2. Method of transfer functions
1st order systems – Example 3 (HW)
If the above thermocouple is subjected to impulse input of 100 0C,
find how voltage will vary and hence voltage after 2 s.
2. Method of transfer functions
1st order systems – Example 3 (HW)
If the above thermocouple is subjected to impulse input of 100 0C,
find how voltage will vary and hence voltage after 2 s.
After 2 s, V = 1.8 * 10-4 V
2. Method of transfer functions
Transfer function for 2nd order systems:
2. Method of transfer functions
2nd order systems – Example 1
Determine state of damping for a system having transfer function:
2. Method of transfer functions
2nd order systems – Example 1 - Solution
Determine state of damping for a system having transfer function:
Comparing with standard form,
ωn = 4 , and ζ = 1.
Hence, it is critically damped system.
2. Method of transfer functions
2nd order systems – Example 2
A robot arm having following transfer function is subject to unit ramp input.
What will be the output?
2. Method of transfer functions
2nd order systems – Example 2 - Solution
A robot arm having following transfer function is subject to unit ramp input.
What will be the output?
Transfer function of system in series
Transfer function of system in series – Example
Field controlled DC Motor – 3 subsystems
Transfer function of system with feedback loop
3. Method of frequency transfer functions
Frequency Transfer function
G(jw) = output phasor / input phasor
Phasor – Quantity having magnitude, frequency & phase
3. Method of frequency transfer functions
Frequency Transfer function
G(jw) = output phasor / input phasor
Phasor – Quantity having magnitude, frequency & phase
Bode plots
* The frequency response of a system is the set of values of the magnitude G( j) and phase angle that occur
when a sinusoidal input signal is varied over a range of frequencies.
* This can be expressed as two graphs, one of the magnitude G( j) plotted against the angular frequency and
the other of the phase plotted against .
* The magnitude and angular frequency are plotted using logarithmic scales. Such a pair of graphs is referred to
as a Bode plot.
The magnitude is expressed in decibel units (dB),
Thus, for example, a magnitude of 20 dB means,
Thus magnitude of 20 dB means that the magnitude is 10, and therefore the amplitude of output is 10 times
that of the input. A magnitude of 40 dB would mean a magnitude of 100 and so the amplitude of the output is
100 times that of the input.
Bode plot for 1st order system: G(s) = 1/(τs +1)
Break point frequency = 1/τ
Bode plot for 1st order system: G(s) = 1/(τs +1)
Bode plot for 2nd order system
w=0.2wn w=5wn
Break point frequency, w = wn
Closed loop controllers
Open-loop system – input signal does not automatically
depend on the actual process output
Closed-loop system – feedback from the output modifies
the input so that the system maintains required output
Disturbance – unwanted signal which affects output signal
of system; effect reduced because of feedback
Closed loop controllers – control modes
1. Two step control / ON/OFF control mode – ON/OFF switch
operated by error signal
2. Proportional mode (P) – correcting signal proportional to error
3. Derivative mode (D) – correcting signal proportional to rate of
change of error (Anticipatory control)
4. Integral mode (I) – correcting signal proportional to integral of
error with time (looking back control)
5. Combinations of modes – proportional plus derivative (PD)
modes, proportional plus integral (PI) modes, proportional plus
integral plus derivative (PID) modes
1. Two step control
2. Proportional mode
3. Derivative control
4. Proportional plus Derivative control (PD)
5. Integral control
6. Proportional plus Integral control (PI)
7. PID controller
