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DYNA 1001 Engineering Systems Dynamics Lecture 8 Transfer Function

This document summarizes key concepts from an engineering dynamics lecture on transfer functions and time response. It defines transfer functions as the ratio of the Laplace transforms of the output and input of a linear, time-invariant system. Examples are provided to demonstrate deriving transfer functions from differential equations. The time response is divided into transient response, which decays over time, and steady-state response. A first-order system's response to a step input is analyzed. Time constants, rise time, settling time, and steady-state error are defined. Worked examples demonstrate applying these concepts.

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64 views27 pages

DYNA 1001 Engineering Systems Dynamics Lecture 8 Transfer Function

This document summarizes key concepts from an engineering dynamics lecture on transfer functions and time response. It defines transfer functions as the ratio of the Laplace transforms of the output and input of a linear, time-invariant system. Examples are provided to demonstrate deriving transfer functions from differential equations. The time response is divided into transient response, which decays over time, and steady-state response. A first-order system's response to a step input is analyzed. Time constants, rise time, settling time, and steady-state error are defined. Worked examples demonstrate applying these concepts.

Uploaded by

Machel Gift
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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DYNA 1001

Engineering Systems Dynamics

LECTURE 8: The Transfer


Function and Time Response
Dr Nadine Sangster
Lecture Outline
Transfer function
◦ Definition
◦ Examples
Time Response
◦ Transient response
◦ Time constant
◦ Examples
Transfer functions: WHY?
If the transfer function of a system is
known then the output of the system
can be found for varying inputs and this
can help in understanding the nature of
the system
Transfer function definition
The transfer function of a linear , time
invariant differential equation is defined
as the ratio of the Laplace transform of
the output to the Laplace transform of
the input under the assumption that all
initial conditions are zero.

TF = Output (s) / Input (s)


Steps to deriving the transfer function

Write the differential equation for the


system
Take the Laplace transform of the
differential equation assuming all
initial conditions to be zero.
Take the ratio of the output Y(s) to
the input X(s). This ratio is the
transfer function
TF Example 1
Determine the transfer function for the
mechanical system, having mass, stiffness
and damping, and input F and output y and
described by the differential equation:
Soln to TF example 1
TFs: Example 2
TF Example 2 Solution
The model:
L di/dt + Ri + 1/C∫i dt = ei
1/C∫i dt = eo
Taking Laplace transforms:

C s

Thus the transfer


function is:
TFs: Example 3
TFs : Example 3 cont’d
Time response
Since time is used as an independent variable in most
control systems; it is usually of interest to evaluate the state
and output responses with respect to time or simply the
time response.
In most control systems, the final evaluation of the
performance of the system is based on the time responses.
The time response is divided into two parts: the transient
response and the steady state response

y(t) = yt(t) + yss(t)


where yt(t) denotes the transient response
yss(t) denotes the steady state response
Transient Response
Transient response is defined as the part of the time response
that goes to zero as time becomes very large. Thus yt(t) has the
property
lim yt(t) = 0
t ∞

Transient response of a
first order system
Steady state response
The steady state response is simply the part of the total
response that remains after the transient has died out. The
steady state response can still vary in a fixed pattern such
as a sine wave or a ramp function that increases with time.

If the steady state response of


the output does not agree with
the desired reference exactly,
the system is said to have a
steady state error.
Test Functions
Control systems designers use test inputs to
evaluate the performance of the system. Here
we will consider the step input.

STEP
Step Function
Step Function Input
This input represents an instantaneous change in the
reference input. The mathematical representation
or magnitude R is
r(t) = R t≥ 0
= 0 t≤ 0
where R is a real constant.
OR
r(t) = Rus(t) where us(t) is the unit step function.

The Laplace transform of the unit step is 1/s


First Order Response to a unit step input
Many systems have input output relationships which can be described by a
first order differential equation and have an output y relationship to an input x
by an equation of the form

τ dy/dt + y = kx
where τ and k are constants, tau being known as the time constant.

After a time 1 τ the output


has reached 0.63k, after 2 τ
It is 0.86k, after 3 τ , it is
0.95k and after 4 τ it is
0.98k and it eventually
becomes 1k.

y = steady state value x (1- e -t/ τ )


Time Response : Example 1
A system is defined by the following differential
equation:
2dy/dt + y = 3x
What are the values of the time constant and the
system gain?
Time Response: Example 2
Determine the time constant for a circuit having
a capacitance of 8 μF in series with a resistance
of 1 MΩ if the differential equation
relating the input K and the output voltage
across the capacitor vc is:
Soln to Time Response Example 2
Some Definitions
The time constant τ is the time taken for the step
response to reach 63.2% of the final value

Delay time: This is the time for the step response to


reach 50% of its final value.

Rise time: This is the time req’d for the step response
to rise from 10% to 90% of its final value.

Settling time: The time required to reach and stay


within 2% of the final value,
Final value theorem to get the steady
state error

Steady state error ess = lim s E(s)


s 0

We can get the steady state error by applying th


final value theorem.
Time Response: Example 3
If a system model is given by the following
differential equation

Find the :
(a) Time constant
(b) The rise time
(c) The settling time
Solution to Example 3
Solution to Example 3 Cont’d
Solution to Example 3 Cont’d
Solution to Example 3 Cont’d

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