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ME-441: Instrumentation and Control (2+1)

Week 11 (After Mid Exam)

Time Domain Analysis of Control Systems

Dr. Naseer Ahmad

Department of Mechanical Engineering

University of Engineering and Technology (UET), Lahore

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Chronology

▪ Control Systems
▪ Introduction to control systems (Chapter 1,Dorf)
▪ Block diagrams and signal flow graphs (SFGs) (Chapter 3,Kuo)
▪ Modeling of dynamics systems (Chapter 4,Kuo) Quiz 1

Mid Exam

▪ Analysis of Control Systems

▪ Time domain analysis of control systems
▪ Design of control system
▪ Control system case studies
Quiz 2
▪ Instrumentation
▪ Sensors and transducers for temperature measurement,
▪ Pressure, flow and level measurements. 3 Final Exam
Text Books:

Automatic Control Systems by Farid Golnaraghi and B.C Kuo, 9th

edition, John Wiley & Sons.

Reference Books:
Modern Control Systems by Richard C. Dorf and Robert H. Bishop,
12th edition, Prentice Hall.

System Dynamics by Katsuhiko Ogata, 4th edition, Pearson Prentice

Hall

Mechanical measurement by Thomas G. Bechwith, Roy D.

Marangone and J.H.Linhard, 6th edition, Pearson.
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Course Learning Objectives

Domain, PLOs
CLOs Description
Level Level
Students will be able to understand the control system (open loop and
close loop) and instrumentation system for the measurement of Cognitive, PLO1,
CLO1
temperature, pressure, flow and level for engineering applications. C2 High

Students will be able to apply the knowledge of applied mathematics

(differential equations and Laplace transform), block diagrams and
signal flow graphs for the modelling of the dynamical systems Cognitive, PLO2,
CLO2
C3 High
(mechanical, fluid, thermal and multidisciplinary systems).

Students will be able to conduct time domain analysis of control

systems for stability, steady state error and control structure (using P, Cognitive, PLO4,
CLO3
PI, PD and PID control laws). C4 High
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 B.C.KUO

Time Response of a Control System. a(t),m/s2

Step input x(t)

t(s)
f(t),N v(t),m/s

20000 t(s)

x(t),m
t(s) M = 1000 kg

t(s)

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Time Domain Analysis of Control Systems
Transfer Function with Acceleration as Output
Traction Force Acceleration
x(t) F(s), N A(s), m/s2
𝟏
𝑴

Transfer Function with Velocity as Output

Traction Force Velocity
F(s), N 𝟏 V(s), m/s
M = 1000 kg 𝑴𝒔

Variable
Traction Force under analysis Transfer Function with Displacement as Output
f(t), N Plant

Automobile Traction Force Distance

F(s), N 𝟏 X(s), m
𝑴𝒔𝟐

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Time Domain Analysis of Control Systems
x(t)
Draw the acceleration response
Traction Force Acceleration
F(s), N 𝟏 A(s), m/s2 a(t),m/s2
𝑴

t(s)
M = 1000 kg
Draw the velocity response v(t),m/s

Traction Force Velocity

F(s), N V(s), m/s
𝟏 t(s)
Step input 𝑴𝒔
x(t),m
f(t),N
Draw the displacement response
t(s)
20000
Traction Force Distance
F(s), N 𝟏 X(s), m
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t(s) 𝑴𝒔𝟐
Time Domain Analysis of Control Systems
x(t)
Draw the acceleration response
Traction Force Acceleration
F(s), N 𝟏 A(s), m/s2 a(t),m/s2
𝑴

t(s)
M = 1000 kg
Draw the velocity response v(t),m/s

Traction Force Velocity

F(s), N V(s), m/s
𝟏 t(s)
Ramp input 𝑴𝒔
x(t),m

f(t),N Draw the displacement response

t(s)
10000
Traction Force Distance
F(s), N 𝟏 X(s), m
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𝑴𝒔𝟐
10 t(s)
2nd Lecture

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Time Domain Analysis of
Control Systems a(t),m/s2
Draw the acceleration response 𝒂(𝒕) =
𝟏 𝟐
𝒕
𝟏𝟎𝟎
x(t) Traction Force Acceleration 1
F(s), N 𝟏 A(s), m/s2
10 t(s)
𝑴

v(t),m/s
Draw the velocity response 𝒗(𝒕) =
𝟏 𝟑
𝒕
𝟑𝟎𝟎
M = 1000 kg Traction Force Velocity 3.3
F(s), N 𝟏 V(s), m/s
𝑴𝒔 10 t(s)
Parabolic input
f(t),N x(t),m 𝟏 𝟒
𝒙(𝒕) = 𝒕
𝟏𝟐𝟎𝟎
1000 Draw the displacement response 8.33

Traction Force Distance

F(s), N 𝟏 X(s), m
10 t(s) 𝑴𝒔𝟐

f(t) = 10 t2 us(t) 10 t(s)

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20
F(s)=
𝑠3
 𝟏
𝑽 𝒔 = . 𝑭(𝒔)
Analyze the velocity of the system 𝑴𝒔 + 𝑩
when step input force is applied. 𝟏
𝑽 𝒔 =
𝒔(𝑴𝒔 + 𝑩)
x(t) 𝟏/𝑴
𝑽 𝒔 =
𝒔(𝒔 + 𝑩/𝑴)
𝟏 𝟏
𝑽 𝒔 = −
Step input f(t),N M = 10 kg 𝑩𝒔 𝑩(𝒔 + 𝑩/𝑴)
f(t),N Putting B = 1, M = 10
B = 1 N/m/s 𝟏 𝟏
1 𝑽 𝒔 = −
𝒔 (𝒔 + 𝟎. 𝟏)

𝒗 𝒕 = 𝒖𝒔 𝒕 − 𝒆−𝟎.𝟏𝒕
t, sec Force Velocity
F(s), N 𝟏 V(s), m/s
𝑴𝒔 + 𝑩

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 𝟏
𝑽 𝒔 = . 𝑭(𝒔)
Analyze the displacement of the system 𝑴𝒔𝟐 + 𝑩𝒔 + 𝒌
when step input force is applied. 𝟏
𝑽 𝒔 =
𝒔(𝑴𝒔𝟐 + 𝑩𝒔 + 𝒌)
x(t) Putting M = 1, B = 5 and k = 6
𝟏
K = 6 N/m 𝑽 𝒔 =
𝒔(𝒔𝟐 + 𝟓𝒔 + 𝟔)
Step input f(t),N M = 1 kg 𝟏
f(t),N 𝑽 𝒔 =
𝒔(𝒔 + 𝟐)(𝒔 + 𝟑)
B = 5 N/m/s
1 Make Partial Fraction

Force Displacement
t, sec F(s), N 𝟏 X(s), m
𝑴𝒔𝟐 + 𝑩𝒔 + 𝒌

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Analyze the displacement of the mass 𝟏𝟎𝒔
𝑿 𝒔 = . 𝑹(𝒔)
when step input displacement is applied 𝒔𝟐 + 𝟏𝟎𝒔 + 𝟓𝟎
at the damper. 𝟏𝟎𝒔
𝑿 𝒔 =
x(t) r(t)
𝒔(𝒔𝟐 + 𝟏𝟎𝒔 + 𝟓𝟎)
𝟏𝟎
Step input M = 1 kg 𝑿 𝒔 =
(𝒔 + 𝟓)𝟐 + 𝟓𝟐
r(t),m

1 K = 50 N/m B = 10 N/m/s

𝒙 𝒕 = 𝟐 𝒆−𝟓𝒕 𝐬𝐢𝐧 (𝟓𝐭)

𝑲 𝒙(𝒕) 𝐁(𝒓ሶ 𝒕 − 𝒙(𝒕))
ሶ
t, sec
𝐁 𝒓ሶ 𝒕 − 𝒙ሶ 𝒕 ሷ
− 𝑲 𝒙 𝒕 = 𝑴𝒙(𝒕)

Displacement Displacement
R(s), m 𝑩𝒔 X(s), m
𝑴𝒔𝟐 + 𝑩𝒔 + 𝒌
Displacement Displacement
R(s), m 𝟏𝟎𝒔 X(s), m
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𝒔𝟐 + 𝟏𝟎𝒔 + 𝟓𝟎
Analyze the displacement of the mass 𝟐𝒔
𝑿 𝒔 = . 𝑹(𝒔)
when step input displacement is applied 𝒔𝟐 + 𝟐𝒔 + 𝟏𝟎𝟏
at the damper. 𝟐𝒔
𝑿 𝒔 =
x(t) r(t)
𝒔(𝒔𝟐 + 𝟐𝒔 + 𝟏𝟎𝟏)
𝟐
Step input M = 1 kg 𝑿 𝒔 =
(𝒔 + 𝟏)𝟐 + 𝟏𝟎𝟐
r(t),m
𝟐 −𝒕
K = 101 N/m B = 2 N/m/s 𝒙 𝒕 = 𝒆 𝐬𝐢𝐧 (𝟏𝟎𝐭)
1 𝟏𝟎
𝑲 𝒙(𝒕) 𝐁(𝒓ሶ 𝒕 − 𝒙(𝒕))
ሶ
t, sec
𝐁 𝒓ሶ 𝒕 − 𝒙ሶ 𝒕 ሷ
− 𝑲 𝒙 𝒕 = 𝑴𝒙(𝒕)

Displacement Displacement
R(s), m 𝑩𝒔 X(s), m
𝑴𝒔𝟐 + 𝑩𝒔 + 𝒌
Displacement Displacement
R(s), m 𝟐𝒔 X(s), m
𝒔𝟐 + 𝟏𝟎𝒔 + 𝟏𝟎𝟏 16
 𝟐 −𝒕
𝒆 𝟐 −𝒕
𝟏𝟎 𝒙 𝒕 = 𝒆 𝐬𝐢𝐧 (𝟏𝟎𝐭)
𝟏𝟎

𝐬𝐢𝐧 (𝟏𝟎𝐭)

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End of Lecture

Jaza k Allah
Question and Answer
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