Vibration and Control ( ME F319)

Control system

(Lecture 7)

Mechanical Engineering Dept.

 Topic covered : Last Class

• Transient and Steady state response analysis

– First Order system

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 Second order systems

Ex. Servo system

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 Second order systems

Case 1: Underdamped system 0 < ζ < 1 for unit step input

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 Second order systems

Case 2: Critically Damped system ζ = 1 for unit step input

Case 3: Over Damped system ζ > 1 for unit step input

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 Second order systems: Under unit step
response

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 Transient-response characteristics:
unit-step input
The transient response of a practical control system often
exhibits damped oscillations before reaching steady state. In
specifying the transient-response characteristics of a control
system to a unit-step input, specify the following:
1. Delay time, td
2. Rise time, tr
3. Peak time, tp
4. Maximum overshoot, Mp
5. Settling time, ts

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 Transient-response characteristics:
unit-step input
Delay time, td : The delay time is the time required for the
response to reach half the final value the very first time

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 Transient-response characteristics:
unit-step input
Rise time, tr : time required for the response to rise from 10% to 90%,
5% to 95%, or 0% to 100% of its final value. For underdamped systems:
0%to 100% and for overdamped systems: 10% to 90%.

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 Transient-response characteristics:
unit-step input
Peak time, tp : time required to reach the first peak
Maximum overshoot, Mp

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 Transient-response characteristics:
unit-step input
Settling time, ts : time required for the response curve to reach and stay
within a range about the final value of size specified by absolute
percentage of the final value (usually 2% or, 5%)

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 Transient-response characteristics:
unit-step input

Rise time, tr:

Peak time, tp

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 Transient-response characteristics:
unit-step input

Maximum overshoot, Mp

Settling time, ts

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 Example 1

Consider the system shown in Figure

where ζ=0.6 and ωn=5 rad/sec. Let us
obtain the rise time , peak time, maximum
overshoot, and settling time when the
system is subjected to a unit-step input.

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 Second order systems

Servo system with Velocity Feedback

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 Example 2

For the system shown in Figure determine the values of gain K and
velocity-feedback Constant Kh so that the maximum overshoot in the
unit-step response is 0.2 and the peak time is 1 sec.
With these values of K and Kh, obtain the rise time and settling time.
Assume that J=1kg-m2 and B=1 N-m/rad/sec.

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 Second order systems:
Under unit impulse response

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 Second order systems:
Under unit impulse response

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 Second order systems:
Under unit impulse response
Maximum overshoot

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