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steady state
1 Transients
Basic reason for existence of transient arises from the fact that nothing can
happen instantaneous. Even the fastest thing, light takes certain amount
of time to travel a certain distance. Although some changes are so fast
that we will ignore its existence with respect to some other changes of our
concern. While reason for Oscillation is energy storing elements or simply
due to energy stored while reaching to equilibrium position.
For example consider the following examples
Kx = mg
1
In reality block will oscillate about the mean position given by x = mg/K.
Now the question arises is why the block will undergo oscillations. In this
lecture we will explain only by intuition and in lecture series of control system
we will explain mathematically as well.
Explanation :-
2
block starts accelerating upward and starts gaining velocity. Again the block
reaches mean position where it is in mechanical equilibrium but its velocity is
not zero at this position and the block further moves upward(due to kinetic
energy stored in it).
This oscillation continues to happen and we expect that the block will
never stop. Ideally block will continue to oscillate forever but practically it
will stop at the mean position.
Now we will try to answer how this damper damps out oscillations :-
• Approach 1 In this approach we will explain using conservation of energy.
Consider mean position as reference for potential energy calculations.
When block was initially placed at upper extreme position then its
potential energy was given by P.E. = mgA and finally the block has
reached and settled at mean position where its P.E. = 0. K.E. = 0 in
both the cases. Now at mean position energy in the system is less than
that at upper extreme position. i.e. to bring to block in equilibrium
at the mean position we have to decrease the energy in the system and
we need some energy dissipating element( damper) to stop the block
at equilibrium position or to bring the block in steady state position.
• Approach 2 In this approach we will explain by observing the motion of
block in every cycle of oscillation and see the effect of friction(damping)
3
on the motion of the block. The damping due to viscosity of air is
viscous damping in which viscous force is proportional to velocity of
block. For explanation we,ll consider frictional damping not viscous
damping where frictional force is constant and acts in the direction
opposite to the motion of the block.
Due to frictional force the block slows down in every cycle and finally
comes to steady state at mean position(Position where frictional force
is equal to gravitational force). Now if we increase the frictional force
we observe that block will slow down more and more rapidly and settles
at steady state position. This type of oscillatory motion where block
oscillates about mean position and finally settles at mean position is
known as underdamped oscillations and more we increase the frictional
coefficient more is the damping and block settles more rapidly.
If there were no frictional force then block would have remained os-
cillating forever. This continued oscillation is known as undamped
oscillation.
Z ∞
π
f (x) = √ g(x, y)dy. (1)
0 2
4
x9 ≤ x10 , but 610 > 69 .