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CH 3 Part Two

Chapter Three, Part Two discusses the characteristics of second order time response in control systems, focusing on transient response to unit-step inputs. Key specifications include delay time, rise time, peak time, maximum overshoot, and settling time, each defined in detail. The chapter also explores the effect of different control actions (proportional, integral, and derivative) on the transient response and steady-state error for various input types.

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14 views57 pages

CH 3 Part Two

Chapter Three, Part Two discusses the characteristics of second order time response in control systems, focusing on transient response to unit-step inputs. Key specifications include delay time, rise time, peak time, maximum overshoot, and settling time, each defined in detail. The chapter also explores the effect of different control actions (proportional, integral, and derivative) on the transient response and steady-state error for various input types.

Uploaded by

keylamelat
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Chapter Three

Part Two
Second Order Time response

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Characteristics of the graphical representation of time response:

 Frequently, the performance characteristics of a control system are


specified in terms of the transient response to a unit-step input,
since it is easy to generate and is sufficiently drastic.
 In specifying the transient-response characteristics of a control
system to a unit-step input, it is common to specify the following:
 Delay time, td
 Rise time, tr
 Peak time, tp
 Maximum overshoot, Mp
Settling time, ts

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Cont’d…
 These specifications are defined as follows

1. Delay time, td: The delay time is the time required for the
response to reach half the final value the very first time.
2. Rise time, tr: 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 under damped second order
systems, the 0% to 100% rise time is normally used. For over
damped systems,
the 10% to 90% rise time is commonly used.
3. Peak time, tp: The peak time is the time required for the
response to reach the first peak of the overshoot.

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Cont’d…
4. Maximum (percent) overshoot, Mp:
 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

 The amount of the maximum (percent) overshoot directly


indicates the relative
stability of the system.
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Cont’d…
5. Settling time, ts:
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%).
The settling time is related to the
largest time constant of the control system.

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Cont’d…

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Cont’d…

1. delay time(Td) is
2. Rise time(tr) is
3. Peak Time (tp )

4. Peak Overshoot (Mp )

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Example 1

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Cont’d…

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Cont’d…

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Cont’d…

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Cont’d…

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Analysis of Steady- State Error

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Type of Input and Steady-State Error

 Control systems may be classified according


to their ability to follow step inputs, ramp inputs, parabolic
inputs, and so on.
 This is a reasonable classification scheme, because actual
inputs may frequently be considered combinations of such
inputs.
 Consider the unity-feedback control system with the
following open-loop transfer function G(s):

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Cont’d…
Consider the unity-feedback control system with the
following open-loop transfer
function G(s):

It involves the term in the𝑁denominator, representing a


𝑠
pole of multiplicity N at the
origin.
The present classification scheme is based on the number of
integrations indicated
by the open-loop transfer function.
A system is called type 0, type 1, type 2, p , if N=0, N=1,
N=2, p , respectively.
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Cont’d…
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.

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Cont’d…
a) Step Input (Position Error)
 The steady-state error of the system for a
unit-step input ( u(t)=1 ) is

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Cont’d…

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Cont’d…

b) Ramp Input (Velocity Error)


The steady-state error of the system with a
unit-ramp input is given by r(t)=t

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Cont’d…

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Cont’d…
c) Parabolic Input (Acceleration Error)

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Cont’d…

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Cont’d…

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Cont’d…

If H(s)≠1

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Effect of proportional, derivative and integral terms in the transient response

a) Proportional Control Action:


The proportional term produces an output
value that is proportional to the current error
value. The proportional response can be
adjusted by multiplying the error by a
constant , called the proportional gain
constant

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Cont’d…

Lag compensator

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Cont’d…

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Cont’d…
b) Integral Control Action:
 The contribution from the integral term is
proportional to both the magnitude of the error and
the duration of the error.
 The accumulated error is then multiplied by the
integral gain (ki ) and added to the controller output.
 The integral term accelerates the movement of the
process towards set point and eliminates the residual
steady-state error that occurs with a pure proportional

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Cont’d…

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Cont’d…

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Cont’d…

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Cont’d…

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Cont’d…

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Cont’d…

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Cont’d…

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Cont’d…

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Cont’d…

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