Lab Handout #6: Time-domain Analysis of a First Order System

Instructor: Dr. Abdul Baseer

Name: Muhammad Ibrahim
CMS ID: 031-17-0031

Department of Electrical Engineering

ELE-321: Linear Control Systems for Fall 2020
Rubrics for Marks Breakdown
Report Structure and
Results & Discussion Formatting, Figures and Total (Out of 10)
Captioning
50 % 50 % 100 %
 Rubrics for Lab Reports BE-VI Fall 2020
S. Criteria Beginning Developing Competent Outstanding
No. (40%) (60%) (80%) (100%)

1. Results and The student has Partial/incomplete The major portion All-important trends
Discussion provided incorrect results, their of the results, and data comparisons
results, their interpretation, or interpretations, or have been interpreted
(50%) interpretation, or comments/discussi comments/discussi correctly and
comments/discussi ons have been on has been discussed, a good
on. This indicates a provided by the provided. However, understanding of
lack of student. the section can results is conveyed
understanding. steady-state by along with good
putting more discussion.
information.
2. Report Figures, tables, Figures, graphs, The figure, tables, Figures, tables, and/or
Structure and/or graphs were and/or tables were and/or graphs were graphs were nicely
(50%) poorly (i.e., blurry, fine but contained good looking and presented with
no captions, no errors. The overall the overall report complete captions and
figure number) format was broken format was good the format was
constructed and and contained but still need some amazing.
contained errors. grammatical and improvements.
The overall format contextual errors.
was out of order,
contained many
grammatical and
contextual errors.
Lab Learning Outcomes
After completing this session, you should be able to (a) understand, simulate, and analyze the
time response characteristics of a physical first order control system.
In addition to LabVIEW, you should have rapid control prototyping (RCP) toolkit, Quanser
QUBE-servo system, and myRIO–1900 to complete this lab session.

Introduction
The response of a control system against a time-domain signal is its time-domain response. The
time response of a dynamic system provides information about system response against certain
inputs (i.e., impulse, step). Total time response c(t) of a control system consists of transient
response and steady-state response. In the first instant, the system exhibits some transients and
after some time it comes to a steady-state.
To compute the time response of a system, the nature of the input and the mathematical model of
the system should be known. Obtaining the time response of a system involves numerically
integrating the system model in time. The LabVIEW Control Design and Simulation Module
provides VIs to help you find these time-domain solutions. You can use these Time Response
VIs to analyze the response of a system to step and impulse inputs.
In LabVIEW, the Control Design function of Control and Simulation Module contains two VIs
(in Time Response Palette) to measure and analyze the response of a system.
The CD Parametric Time Response VI calculates the parametric information, such as rise time,
peak time, settling time, steady-state gain, overshoot, and the peak value of an input model based
on time response data. If you use the Internal, this VI internally calculates the time response data
for which it calculates the parametric information. If you use the External, you must specify the
time response data for which this VI calculates the parametric information.
Note: In this Lab, Internal Instance will be used.
In LabVIEW, CD Impulse Response VI is used to measure and analyze the impulse response of a
system and then to analyze it.
The first-order system has only one pole or degree of the denominator is one. The general form
K
of the first-order system is , where K is the D.C gain and T is the time constant of the
Ts+1
system. The time constant is a measure of how quickly a 1st order system responds to a unit step
input. It can be defined as the time it takes for the step response to rise to 63% or 0.63 of its final
value.
The D.C Gain of the system is the ratio between the input signal and the steady-state value of
output.
 Figure 1 Block diagram of first order system.

The equivalent electric circuit diagram of the armature and rotor of the QUBE-Servo motor is
shown in Error: Reference source not found. The applied motor voltage ( v m (t)¿ as per
d i (t )
Kirchhoff’s law is v m ( t )=Rm i m ( t ) + Lm m +e b. The produced torque (force) as per Newton’s
dt

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‫ݒ‬௠ ‫ݐ‬ ݁௕

Figure 2 Equivalent electric circuit of a dc motor.

second law of motion is T ( t )=k t i m ( t ).

The overall transfer function (ratio of angular speed ω m to applied voltage V m) is
ω m (s) K
= , where J , b , L m, and Rm represent the moment of inertia, friction
V m (s) ( Js+ b ) ( Lm s+ R m ) + K 2
constant, armature inductance, and armature resistance respectively. Both magnetic field strength
and back emf constants in SI units are the same and are represented by K . Generally, Rm ≫ Lm
and Lm can, therefore, be ignored. Similarly, assuming b=0, the system will be a first-order

Figure 3 Block diagram to analyze the time-domain step response of a first order system, i.e., motor.
ω m (s) K
system with the transfer function = .
V m (s) J Rm s + K 2
The block diagram shown in Error: Reference source not found can be used to observe/analyze
the step response of the QUBE-Servo system considering it as a first-order system.

Tasks

1. Make a table to show the effect of the time constant (T) on the settling time, pole location,
and the gain. Take T = 1.5, 3, 5, 7, 10, and 15 s.

Time Constant (T) Gain (K) Pole Location

1.5 2 -0.67 +0.00 i

3 2 -0.33 +0.00 i

5 2 -0.20 +0.00 i

7 2 -0.14 +0.00 i

10 2 -0.10 +0.00 i
 15 2 -0.07 +0.00 i

2. Modify the given VI or create a new one to show the effect of the location of a zero on step
response of a first-order system.
3. Determine the DC gain and time constant of the QUBE-Servo system.
4. Write your observation about the effect of the filter pole on the step response of the QUBE-
Servo system.

+5
+15