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634 Lecture 3

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6 views18 pages

634 Lecture 3

Uploaded by

kishna009
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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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AOSC 634

Air Sampling and Analysis

Lecture 3
Measurement Theory
Performance Characteristics of Instruments
Dynamic Performance of Sensor Systems
Response of a second order system to
A step change
A ramp change

Copyright Brock et al. 1984; Dickerson 2015 1


Dynamic Response
Sensor output in response to changing input.

Dynamic Characteristics of
Second Order Systems

Eq. I

• Where X is the output and XI is the input, both a


function of time.
• wn is the undamped natural frequency, a constant (s-1).
• z is the damping ratio, a unitless constant.
• We must solve an initial value problem.
2
Solving the differential equation

We will use the technique of variation of parameters to find


complementary solutions.

We must assume a time dependence of the form ert and substitute this
into Eq I.
The characteristic equation is:

Each root gives rise to a solution; there are four. XC(t) is the
complementary solution. Remember wn is the undamped natural
natural frequency.
3
Four roots of the characteristic equation
1. z = 0 leads to free oscillations L
Xc(t) = C sin(wnt + q) where q is the
phase angle.
2. 0 < z < 1 leads to damped oscillations*
Xc(t) = C exp (−wnzn t) sin(wmt + q)
Where wm = wn(1 – z2)½ {= wn within 5%
for z < 0.3}
3. z = 1 leads to critically damped. J
Xc(t) = exp (−wn t) (At + B)
Where A and B are constants.
4. z > 1 leads to an overdamped solution.
4
*wm is the modified (damped) natural frequency; C is the amplitude constant.
4. z > 1 leads to an overdamped solution.

Where tm = 1/wm
And the characteristic time is 1/wm
In dimensionless units time wnt = t”

Critically damped systems are an ideal; in the real world only


overdamped and underdamped systems exist. We will focus
on underdamped systems such as the dew pointer (or a car
with bad shocks). Overdamped systems lead to a “double
first order”.
5
Time Response of second order systems.

• Start with a system at rest where both the input and


output are zero. X(0) = XI(0) = X0
Their first derivatives are likewise zero at time zero.

We will proceed as with the first order system assuming


a step change. Using the dimensionless form.
1. z = 0, no damping. X’(t”) = 1 – cos (t”)

6
Time Response of second order systems.

2. 0 < z < 1.0, underdamped.

X ' (t" )  1 
e  t "
1    2 1/ 2

 cos 1   
2 1/ 2
t" 
where   cos 1   
1 2 1/ 2

3. z = 0, critically damped.
X’(t”) = 1 – e-t”(t” + 1)

7
Time Response of second order systems.

4. z > 1.0, overdamped.

1  1 / 2t "   1 / 2t "
X ' (t" )  1  (  1) e  e
 1
1  (1    2 )1/ 2
where v 
1  (1    2 )1/ 2

The damping number is n.


With z = see Figure 2-11 of Brock et al.

8
Response of a second order system to an a
step increase of input.

Undamped
Output 

cal d
ti mp e
Cri Overda Underdamped

Dimensionless time t” = wnt


9
An example with doubly normalized time

10
Notes on Figure 2-11.

• For all z > 0 the final state is XI(t”) for t” > 0


– The slope is real, continuous, and near zero where t” << 1.0.
Contrast with first order.
• For z = 0, undamped systems, there is free oscillation at
wn.
• For 0 < z < 1, there is damping at a frequency of:

The modified (damped) natural freq in Hz.


• For z << 1, there is large overshoot and a long time lag.
L
11
Notes on Figure 2-11, continued.

• For z << 1, there is large overshoot and a long time lag. L


– The amplitude of the oscillations decreases exponentially with a
time constant of z-1.
The extrema can be found:
Where the sub e represents
extrema.
The extrema come on time at pt”.

Where n is a positive integer.


12
Practical application
• From the amplitude of the first extreme
(assume here a maximum) we can calculate
the damping ratio z:

13
• From the time (in units of t” of the first
extreme (assume here a maximum) we can
calculate the natural undamped frequency wn:

14
• Note, the closer to z is to unity, and the smaller wn, the faster X’(t”)
approaches XI.
• Example using Figure 2-11. Try this yourself with a mm ruler.
Let’s check the curve with z = 0.10 for the first maximum.
Looking at a paper copy,
X’(t”)max = 60 mm
X’(t)final = XI = 35 mm

Close to the 0.100 value in the book.


If the max amplitude is twice the input then
(2/1 – 1) is 1 and z =0.
15
• Example using Figure 2-11, continued.

Let’s look for the natural frequency, wn. Let the time of
the first max be 30 s, an arbitrary value.

To get within e-1 of the final value requires:


t” = 1/z
= 10 = wnt = 0.1t and t = 100 s!
In general, the time to e-1 is (wnz)-1 for z < 0.3.
For z > 0.3, use wm.
16
Summary
• Although less intuitive than first order
systems, second order systems lend
themselves to analysis of performance
characteristics.
• A step change is in some ways a worst case
scenario for overshoot. Any second order
systems provide perfectly adequate temporal
response in the real world where geophysical
variables tend to show wave structure.
17
References
• MacCready and Henry, J. Appl Meteor., 1964.
• Determination of the Dynamic Response of a
Nitric Oxide Detector, K. L. Civerolo, J. W.
Stehr, and R. R. Dickerson, Rev. Sci. Instrum.,
70(10), 4078-4080, 1999.

18

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