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First Order Systems
Systems
A system where energy is stored (or dissipated)
A change at the input is NOT seen immediately at
the output.
the output
This parameter let us know if the instrument will
respond quick enough to capture changes in the
system.
y
dy
a 1 a 0 y bx
d
dt
3
First‐Order Systems: Step Input
Conservation of Energy
Rate of energy added Rate of energy removed = Rate of energy change within
Eo
Es As E t h T
system (CV)
u
t
y
s
t
eT
m
T = T(t)
Eo ES
h dd
T Tt
︵ ︶
u
t
dd
As
c
v
y
s
t
e
m
T
dd dd
Tt
c ch
V V As d d
As T
T
T
︵ ︶
T
E cvT
t
T(0) = To >T
ch
v
Tt
T
T
As
•1st order ODE
4
t
1
T To
TT
•R = Thermal resistance R
e
hA s
• C = Thermal capacity C c v
cv
RC
hAs
1
0.8
0.7
0.6 Tau = 1
T T
0.5 Tau = 0.5
To T Tau = 0.2
0.4
0.3
0.2
0.1
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Time K. Altaii 5
D
y
n
a
m
i
c
E
r
r
o
r
i
n
,
1
0
t
T
M
a
g
n
i
t
u
d
e
R
a
t
i
o
,
0
1
T To
TT
M
t
︵ ︶ T To
M
T To
M 1
0.632
or
63.2%
0.368
t
5
90% of the final value Rise Time
6
Time Constant
Time Constant
Is the time it takes a first order system to reach
y
63.2% (0.632) of its final value in response to a step
change in the system
1.0
0 632
0.632
Ti
Time
K. Altaii 7
Example
p
A balloon is equipped with temperature and altitude
measuring instruments. The balloon is initially
measuring instruments The balloon is initially
anchored to the ground with the instrument output
readings in steady state The altitude‐measuring
readings in steady state. The altitude measuring
instrument is approximately zero order and the
temperature transducer first order with a time
p
constant of 15 seconds.
The temperature on the ground, T0, is 10
, is 10°C and the
C and the
temperature Tx at an altitude of x meters is given by
the relation: Tx = T0‐0.01x
Example
p
a) If the balloon is released at time zero, and thereafter
rises upwards at a velocity of 5 m/sec, draw a table
rises upwards at a velocity of 5 m/sec draw a table
showing the temperature and altitude measurements
at intervals of 10 seconds over the first 50 seconds of
travel. Show also in the table the error in each
temperature reading.
p g
b) What temperature does the balloon report at an
altitude of 5000 meters?
Solution of part a)
p )
Tx T0 0.01x 10 0.01x
Tr
1 D 1 D 1 15 D
t /15
Tr C e 10 0.05(
0 05(t 15)
@ t 0., Tr 10 C 0.75
Solution of Part b))
@ 5000m, t 1000sec
05 1000 15
75 e 1000/15 00.05
Tr 10 00.75
Tr 10 0.05 985 39.25o C
For large values of t, the transducer reading lags the true temperature value
by a period of time equal to the time constant of 15 seconds.