P4

First and Second Order Systems

Description of the experimental set-up:

The set up is designed to study the transient response of first-order and second-order
system.
First-order system:
1) Step response of thermometer
2) Step response of thermo well
Second-order system:
1) Step response of mercury manometer
2) Step response of water manometer
Setup consists of ‘U’ tube manometer, heating bath, thermometer, thermo-well and beeper for
recording observations and timer for heater on-off operation. The components are mounted on
base plate. The set up is tabletop mountable.

Theory
1st order system
A thermometer bulb is a first-order system, whose response can be described by first-order linear
differential equation. The model for the first order system is given by
dY
τ +Y = X
dt
Where
Y = change in the output variable (temperature in this process)
X= change in the input variable(temperature in this case)
t = time
τ = time constant
The system of the above equation for a step change A is given by the equation
t
−
Y (t ) = AK p (1 − e )τ
• K p , the gain of the process =1 for the given process (because input & output are same

variables).
• A, amplitude of the process = T∞ − To (final steady state temperature-initial temperature)
• Y (t)=change in the temperature at time ‘t’
• τ = estimated from a step response plot using the value of t at which the response is 63.2%.
The response of the thermometer with exponential response is given below

First order response Series1

1.2
1
0.8
Y(t)/AK

0.6
0.4
0.2
0
0 10 20 30 40
Time

Note: The graph was obtained by performing experiment on the instrument being used.

2nd order system

Theory:
The water manometer represents a second order system. The mathematical model for this is
given by the equation

d 2Y
+ Y = KX (t )
dY
τ2 2
+ 2ςτ
dt dt

Where
Y = change in the output variable
X= change in the input variable
t = time
τ = natural period of oscillations
Kp=Gain of the system (1 for this system)

The solutions to above equation involve three cases: an under damped condition [ζ < 1], critical
damped condition [ζ =1] and over damped condition [ζ > 1].
For a step change of amplitude A, the response equation for the above differential equation for an
under damped process ( ς <1) water thermometer is:
 e −ςt / τ 
y (t ) = AK p 1 − sin (ωt + φ )
 1−ς 2 

Where
1−ς 2
ω=
τ
1−ς 2
φ = tan −1
ξ
2π L
τ= =
ω 2g

Where
L=column length in meter (length of water between ‘0’ reading and highest peak in a limb)

The typical response of a second order process for a step change is shown below

Second order response of a Mercry Manometer

1.4
1.2
1
0.8
Y(t)/Ak

0.6 Series1
0.4
0.2
0
-0.2 0 10 20 30 40
Time

Note: The graph was obtained by performing experiment on the instrument being used.

The following are the characteristics f the second order under damped process:

1. Rise time (tr): Time the process output takes to first reach the new steady state value.
2. Time to first peak (tp): Time required for the output to reach its first maximum value
3. Settling time (ts): Time required for the process output to reach and remain inside a band
whose width is equal to ±5% of the total change in y for 95% response (99% response time is
also used for some application).
4. Overshoot (OS) : Is the measure of how much response exceeds the ultimate value for a step
change [OS=a/b (% overshoot is 100 a/b)]
5. Decay Ratio (DR): DR= c/a (where c is the height of the second peak).
6. Period of oscillation (P): P is the time between two successive peaks or two successive
valleys of the response.
πτ
tp =
1−ξ 2
−πζ
1−ζ 2
OS = e
−2πζ
1−ζ 2
DR = OS = e2

2πτ
P=
1−ζ 2

Experiment – A

Aim: To Study the response of thermometer for 1st order system.

Experimental procedure for Heating:
1.1.Fill the heating bath with clean water by opening the inlet valve of heating bath. (The valve is
below the table).
1.2. Switch ON the heater and set the beep interval to 3 seconds(Or use a stop watch)
1.3. Switch ON the mains to heat the water in heating bath to its boiling point.
1.4.After a few minutes (say 5-7 min) switch off the heater. The water in the heating bath is now
near its boiling point.
(Note that there are two holes provided to the bath, (one with a metal holding to hold the
thermometer, the other one directly exposed to the water))
1.5.Insert the thermometer in the holder and Note the initial reading on the thermometer. After
noting down the reading remove it out.
1.6. Insert the thermometer in heating bath after 2 -3 min
1.7. Note the thermometer reading at each beep interval (set to 3sec) till the temperature reaches
a steady state.
1.8. Switch off the beeper and fill up the readings observed in “Observations” table.
Experimental procedure for Cooling:
1.9.Fill the heating bath with clean water by opening the inlet valve of heating bath. (The valve is
below the table).
1.10. Switch ON the heater and set the beep interval to 3 seconds(Or even use a stop watch)
1.11. Switch ON the mains to heat the water in heating bath to its boiling point.
1.12. After a few minutes (say 5-7 min) switch off the heater. The water in the heating bath is
now near its boiling point.
(Note that there are two holes provided to the bath, (one with a metal holding to hold the
thermometer, the other one directly exposed to the water))
1.13. Insert the thermometer inside the water bath directly and note the initial temperature(the
temperature will be 100°C if placed immediately after boiling)
1.14. Remove the thermometer from the water bath and hold it in the air
1.15. Note the readings of temperature drop on the thermometer at each beep interval (set to
3sec) till a steady state value is reached.
1.16. Switch off the beeper and fill up the readings observed in “Observations” table.
Precaution:
Do not turn the heater on until the water is filled completely inside the tank
Observation
Table 1: Response of thermometer for heating and cooling:
Sr. No. Time (Sec) Actual T − To
temperature (T) A
1. T0 (0C) is the initial temperature.
2. T∞ (0C) is the final temperature.
3. T is the temperature at time t.
Table 2: Response of thermometer for cooling
1. T0 (0C) is the initial temperature
2. T∞ (0C) is the final temperature
3. T is the temperature at time t.

Calculation
1. Amplitude of step change ‘A’ = Final temp( T∞ ) - Initial temp( To )
2. Value of 63.2% of Step = 0.632×(Final temp – Initial temp) + Initial temp
T − To
3. Plot the graph between and time.
A
T − To
4. Calculate the time at which is 0.632. This is the value of time constant ‘ τ ’
A
5. Plot the theoretical and experimental temperature Vs time on the same graph and comment
on the results obtained.
6. Repeat the procedure for both heating and cooling
Note: In cooling the initial temperature is greater than the final steady state and intermediate
temperatures. The difference between the temperatures is always negative but the ratio is similar
to that obtained in the process of heating.

Conclusions
 Experiment - B

Aim of the experiment: Step Response of 2nd order system (Mercury manometer and water
manometer)
Experimental procedure
2.1. Ensure that water level in the manometer is set at ‘0’ on the scale.(If less than 0 add some
water from the open end and if more than 0 then put your hand on the vent till the water spills
out from the open end and adjust to 0)
2.2. Lose vent connection by putting a finger on it (vent of the water manometer).
2.3. Adjust the needle valve attached to the vent to raise the water level to 300mm from ‘0’ level.
(Do not open the needle valve suddenly because it may cause the water to overflow from the
manometer).
2.4. For fine tuning of the water level adjust the needle present below, which is used for water
manometer.
2.5. Note the water level reading and quickly open the vent to apply step change.
2.6. Note the top peak and bottom peak readings. Also simultaneously note the period of
oscillation.(This can be noted by measuring time required for 4-5 oscillations and then
calculating for each oscillation) or can be done simply as:
• Firstly, apply your finger such as to object the air outlet from the vent and thus, level
of the water in the manometer rises, say 300 mm.
• Now remove your finger and note down the level and the time taken for the fluid to
drop down.
• Again raise the level of water to reach 300 and note down the level and the time taken
for the fluid to rise up (for the next consecutive rise after it drops down).
• Repeat this for every rise and drop of level, every time start with holding the air outlet
and leaving it at 300 mm till the oscillation in the liquid level completely disappears.
2.7. Repeat the process 2-3 times for different step changes.
Observations
Constants:
Manometer fluid =Water
Dynamic Viscosity = 0.001kg/m.s.
Mass density (ρ) =998kg/m3
Column length (L) = to be measured
Tube diameter (d) =0.022m
Step change (mm):
Period of oscillation (sec):

Sr. No. Actual response (mm) Period of oscillation (sec)

Example considering 300mm as step input:

 S.No Initial Height before Height after 1 Time period for 1 oscillation
step input(fixed) oscillation
1 300 200 1.04
2 300 150 3.00
3 300 110 4.5
4 300 90 5.69
5 300 70 7.4

 Note peak values observed during oscillations.

 Measure the period of 4-5 oscillations and note the average time required for each oscillation.

Graphs:

1. Plot the graph of values obtained in table 2 and compare it with the graph obtained from
the theoretical value of time period( τ )
2. Comment on the graphs obtained

Experimental Procedure for Mercury Manometer:

• Ensure that mercury level in the manometer is set at ‘0’ on the scale.
• Close vent connection by putting a finger on it (vent of the mercury manometer).
• Adjust the needle valve attached to the vent to raise the mercury level to 300mm from ‘0’
level. (Do not open the needle valve suddenly because it may cause the mercury to over
flow from the manometer).
• For fine tuning of the mercury level adjust the needle present below, which is used for
water manometer.
• Note the mercury level reading and quickly open the vent to apply step change.
• Firstly, apply your finger such as to object the air outlet from the vent and thus, level of
the water in the manometer rises, say 200 mm.
• Now remove your finger and note down the level and the time taken for the fluid to drop
down.
• Again raise the level of water to reach (say 200 mm) and note down the level and the
time taken for the fluid to rise up (for the next consecutive rise after it drops down).
• Repeat this for every rise and drop of level, every time start with holding the air outlet
and leaving it at 200 mm till the oscillation in the liquid level completely disappears
• Note the top peak and bottom peak readings. Also simultaneously note the period of
oscillation.(This can be noted by measuring time required for 4-5 oscillations and then
calculating for each oscillation)
• Repeat the process 2-3 times for different step changes.
 Observations
Constants:
Manometer fluid =Mercury
Dynamic Viscosity =0.0016 kg/m.s
Mass density (ρ) =13550 kg/m3
Column length (L) = to be measured
Tube diameter (d) =0.005m
Step change (mm):
Period of oscillation (sec):

Sr. No. Actual response (mm) Period of oscillation (sec)

Example considering the step input as 300 mm:

Sl. No. Initial Height Height after 1 Time period for 1 oscillation
before step input oscillation
1 300 60 2.59
2 300 40 3.88
3 300 30 5.00
4 300 20 6.43
 Note peak values observed during oscillations.
 Measure the period of 4-5 oscillations and note the average time required for each oscillation.
Graphs:

3. Plot the graph of values obtained in table 2 and compare it with the graph obtained from
the theoretical value of time period( τ )
4. Comment on the graphs obtained