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TimeResp PDF
TimeResp PDF
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Example: System Response Time Response & Poles/Zeros
• The poles of the input give the forced response.
• The poles of the transfer function give the natural
response.
• Real-axis poles: Exponential decay (LHP) or
increase (RHP).
• Complex conjugate poles: oscillatory response.
ି௧ ିଶ௧ ିଷ௧
• Zeros: Affect amplitudes of the different
components and therefore affect the overall
௧௨ ௗ
௦௦ ௦௦
shape of the response.
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Differential Equation
Unit Step Response
ି௧
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Time Constant s Initial Slope
de t / e t / 1
a) Time after which the decaying exponential e t/
dt
reaches 37% of its initial value ( e 1 = 0.37) t0 t0
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ଶ ଶ
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ଶ
cos(AB)=cos(A)cos(B)+sin(A)sin(B) e nt
c(t ) 1 cos(d t ), sin 1
sin(A+B)=sin(A)cos(B)+cos(A)sin(B) 1 2
c (t ) 1
e nt
1 2
1 2
cos( d t ) sin( d t )
e nt
1 cos( d t ), sin 1
1 2
e nt
1 sin( d t ), cos 1 2
1 2
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Time to First Peak Tp Rise Time Tr
Derivative of step response Tr (1.76ζ 3 0.417ζ 2 + 1.039ζ + 1)/ n
1
_ c sC ( s ) s G ( s ) c g (t ) impulse response
s
n2 n2 -1 d
c _ -1 2 2
_ 2
s 2 n s n d s n d
2
n
e t sin d t 0 at max or min
n
1 2
d t l , l 0,1,2, Tp
d n 1 2
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Evaluation of % OS
Effect of Changing
c(t ) 1 e nt cos(d t ) sin(d t )
1 2
n
cos
n 1 2
cmax c(t ) t T 1 e sin
p
d 1 2
c 1
1 2
%OS max 100% e 100 %
1
lnx %OS
x 1
2 ln 2 x 100
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Ex. Mass-Spring-Damper
Evaluation of Ts Y ( s) 1
G( s) 2 b
• Difficult since sinusoid not always at peak F ( s ) ms bs k
1m
• Obtain a rough estimate based on the exponential 2
s b m s k m m
decay
n2 k k
• Time constant of exponential decay = 1/n G( s) 2
s 2 n s n2 y
3
5% Equate Coefficients
n n2 k m n k m
4
Ts 2%
n 2 n b m b 2m k m
5
n
1% b 2 k m
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Example
Pole Location & Time Response ଶ
ଶ ଶ ଶ
Constant real part n :
d changing, ܶ௦ fixed. • For any gain
rad/s for any choice of gain
ସ
– Settling time: ௦ s
ఠ
Constant imaginary part d :
n changing, ܶ fixed. ௗ ଶ
• For ௦ ఠ
• Increasing
Constant damping ratio : (i) decreases (increases OS%)
d is changing & n changing.
(ii) increases and ௗ (decreases ) :
37
faster response 38
1.2
• Slower response. Pole at -20
1
• Decrease overshoot.
0.8
Amplitude
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Time Response: 1st,2nd, 3rd Order Time Response: 3rd Order System
Step Response
0.8 G(s)=2/(s2+2s+2)
ିఠ ௧
ௗ
Amplitude
0.6
G1(s)=G(s)/(10 s+1)
0.4
0.2
G2(s)=1/(10 s+1)
0
0 10 20 30 40 50
Time (seconds)
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• Increased overshoot.
1
0.6
pole. Zero at -20
0.2
Zero at -5
0
43 0 0.5 1 1.5 2 2.5 44
Time (sec)
Almost Canceling Pole and Zero Nonminimum-phase Systems
n2 s a Undershoot in the time response.
G( s)
s 2 2n s n2 s a , 1 1.2
Step Response
1 n2 s a 1
G(s) 2
s s s 2 n s n2 s a 0.8
1 a n2 a 1 As B 0.6
>> s=tf(‘s’)
Amplitude
2
2
2
s a 2 n a n s a s 2 n s n
2 0.4 >> g=2.6*(-s+5)/(s^2+4*s+13)
a 2 n 2 n a 4 2n2 n2
0.2 >> step(g)
A 1 2 , B 2 0
a 2 n a n2 a 2 2 n a n2
n
-0.2
0 0.5 1 1.5 2 2.5 3 3.5
Time (seconds)
Reduced effect if zero
almost cancels a pole. 45 46
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Saturation
Nonlinearities & the Time Response 0.9
1
No saturation
0.8
0.7
value.
0.4
With saturation
1. Saturation 0.3
0.1
3. Backlash 0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time s
2
s+2
Step Saturation Transfer Fcn
Scope
2
s+2
Transfer Fcn1
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1.6
input exceeds a 1
exceeds a 0.4
0.8
threshold value.
threshold value. 0.3 0.6
0 1 2 3 4 5 6 7 8 9 10
Time s
Time s 2 1
2 1
s+2 s
s+2 s
Sine Wave Dead Zone Integrator Sine Wave Transfer Fcn2 Integrator Backlash
Transfer Fcn2
2 sin(4 t) -0.5 to 0.5 2 sin(2 t)
Scope Scope
2 1 2 1
s+2 s
s+2 s
Transfer Fcn1 Integrator1
Transfer Fcn1 Integrator1
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