Analysis of the Dynamic Behaviour of Second Order Conirol Systems Second-Order control System : If the dynamics of the system are re ‘Second order differential equation is known as a Second order control system, Ree pter the transior Aunctton for the second order control system or TE Wstem will be developed by considering examples of manometer and damped The response of the second order system for different forcing functions will bea study the dynamic behaviour of the system 1 Transfer Function for Manometer : Consider a manometer as shown inf The manometer fluid is having der the pressure p is acting in the lef limb manometer tube. At time t is at steady state. The press | | Rion tim the left limb and if h is the height Eipo77~ tts manometer fluid above the resp Het Assuming that the gas density is vel 2h -~at t=0 t the fluid in the manometer is lamina these conditions the various forces af ar, he manometer fluid, The forces fat fre direction of the motion of the maf fluid are taken as positive and opposing the direction of the motiom| ‘manometer fluid are taken as neg The following forces are acting on the manometer liquid. Vorce due to pressure P in the left limb - PA ~ Force due to friction due to the motion of liquidand the friction f = z e for the laminar flow where Re = U2 ; ' i, Therefore, Sd by, es 16n 1) (uP) A adrag Force due to friction = ~4 (3% (3) a 54 Scillate : om S lyzed ‘On solving force due to fr ‘iction 63) ; The variables appearing in the above equations have the following meaning. ig. (3.1) &: cross-sectional area of the manometer tube in m2 f | id : diameter of the manometer tube in m o om /u velocity of the manometer fluid in m/s. plied t 1 length of the manometer tube containing manometer fluid ism, e ——— of th 'p : density of the manometer fluid in kg/m sit 1: viscosity of the manometer fluid in N-s/m2 y smal y flow ¢ ~ ath 1 (BA) an Rate of change of momentum =1Ap “a acting : e manometer : JAP oun Where ® @@ mass of the fluid in the manometer : IAp omelé 2 force and a acceleration of the fluid : =a of th acting is equal From New/on‘s law of motion which states that the sum ofall forces acting is eq) : can be written as, to the rate of change of momentum. The equations can bs Net force acting = Rate of change of momentum 4) saul dh _ jap an ea a PA-2hpAg-—qz_* at a tio! a Dividing eq. (3.5) by 2 A p 8 gives,where, [¢ is time const. FG. (3.6) can be written as, @h Clea ee 20 Ge THEX(t) Eq. (3.7) represents the dynamic behaviour of the manometer which is a order differential equation. Therefore manometer is a second order system, Where the input variable, ——_208 Taking the Laplace transform of Eq. (3.7) gives, © Fh (s) +2 tsh(s) +h(s) = X(s) or AGS) fe? 5? +2975 +1] = X(6) The transfer function of the manometer is given as, A se fhe tine constant for the manometer has unit of time and ‘9! is the dali coefficient for the manometer and itis dimensionle 'Ss quantity. It represents the charadlef of the second order control system, ge Damped Oscillator : Consider a damped oscillator having a box of m moving in a horizontal direction on a frictionless pl means of a spring in a dashpot, The syste nass M which is mounted on Wl latform. The box is attached toa m is shown in Fig, (3.2) Ye Fig. 3.2 Damped osciliator(3.2) iS secong 3.8) .- (3.9) (3.10) damping cteristics 1 wheels wall by right direction. i me “hed force in the right applied force and acting in the Attime t direction a: re t left direction ane 88 Positive and ion are taken as negative 16 On the box can be written as, kY : The various forces act Force due to spring Force due to friction in the dash pot = ~¢ 2% dt Therefore, Net force acting on the box = F(t) ky Rate of change of momentum of the box = M2 di? Applying Newton’s law of motion, Net force acting on the box = Rate of change of momentum dy fo = dt F(t) — kY M dt The variables used in the above equations have the following meaning M: mass of the F(p) =f: viscous damping parameter in N-s/m k : spring’s constant in N/m Dividing Eq. (3.15) by k gives, 2 t ‘M d’y £ yy fl k df k dt - {ff Defining the terms, Fae £ i 9 time. damped oscillator and has the unit of time, Where ‘7’ is the time constant for the “is the damping parameter which is dimension -- 3.13) + G14) less Eq. (3.16) ean be written a5, + Ga) -- (3.12) (3.15) «: 3.16)Taking the Laplace transform of Eq: 3.17) gives, Bs (9) +2978 YS) + Y (8) = X(s) or Y(s) (2s? +2978 + 1] = XO) ‘The transfer function G(s) for the damped oscillator is given as, 5 ut G0) = 7 Fabre The above examples demonstrates that the standard form of the transfer fi for the second order control system is given as, 1 SO) = Fy 26z541 where ‘1’ is the time constant of the system. “@' is the damping parametel Characteristics of the second order control system is represented by the parameter. If 6<1 the system is under damped. 6 =1 the system is critically damped. $>1 the system is overdamped The response of the second order system depending on the values of the dal parameter and the time constant. The response equations for the above three cases for the different valu damping parameter can be evaluated. for each case separately 3.3 Step Response Equations : 1. Under damped system ¢ < 1 The transfer function for the second order system, 1 2 2bts41 Solving the quadratic equation (3.19) becomes, Y6) ye X(8) (8-51) (6=s2) Where s, and s, are the roots of the quadratic equation,> dampin dampis 1es of _ Gl oA v-(9) I and s2 = (- ‘) = If <1 for the underd, 1 7 StiPed Cortrol¢ysteny tte rogly g 1 % Let a== and t eqs. (3.23) and (3.24) can be written as, s;=-a+j> 2 -a-jb Therefore, if 9 < 1 the roots s, and s, are complex. Substituting Eq. (3.26) and Eq, (3.27) in Eq, (3.20) gives, G&@)= Y(s) Ye “X(s) @+a+jb)(+a-jb) If the system is subjected to unit step change the X(t) = 1 Laplace transform of X(t) gives, or X(s) = 1/s Eq. (3.28) becomes, yf 4 ee = S(@+arjbye+a-ib) tial fraction method Y(s) Solving Eq, (3.30) by pa ; 4 2 ja! 2 ¥6) = aay 3 ae) ©) = eran ibye-a-i : ) by s(6 +a +) (5 + a—jb) Bives, ) +C, 8648 +i) Multiplying Eq. (3.31 1c, (e+atsp) (+8— ib) +Casl6 8 i ie, and s, can be written as, sw (332) B21) +» (8.22) +» (3.23) (B24) + (8.25) += (3:26) G27) ~ 8.28) w+ (3.29) +» 330) w» G31)1 P(@eeb)) Since ats b?= 1/2 Gs Putting s = — a + jb in eq. (3.32) gives, = C5 (-a+ jb) (-a+jb+a+-jb) C, Ca + jb) (2 jb) or C, = 1/7? (2 jb) (-a + jb) Multiplying and dividing Eq. (3.36) by ( a + jb) gives, Since a? + b? = 1/72 Eq. (3.37) becomes, Putting 8 =~ a ~ jb in eg, (3.32) gives, or = GC a- jb) (-a-jb + a— jb) = C, (a — jb) (2 jb) 1 A 2 B)eB)33) 36) 37) Analysis of the Dynamic Behaviour of g, Multiplying and viding Es. Gane 0! Systems Soa “er C,== Gar ee) Qe (=i) 2jb Substituting values of constants C or 'y C, and C, in Eq. (3.31) gives, yo)=1+(2=2) 1_) (ate) (_4 Ss ( 2jb )(sta+jb) 2 ) (sta-yo Taking the inverse Laplace transform of Eq, (3.42) gives, ) ) | erie _(arjb) (opp 25> ) Using the trigonometric identity (cosbt + j sinbt) Eq. (3.42) and Eq. (3.43) gives, y()=14 8) fe (cos € bt)+ sin (-b8)] 2j ‘ (| [er (cos (oi) +jsin(bt))] OR ) ‘ P| s¥ (cos be+jsinbt] G48) b)) cat (cost - jsinbi)]-| serail Y(t) =1+ ral [er (cosbt— sin )} (s { eisvanging Eq (0746) pacOome ah j at+jo a-P aq jb _ ati -et ont ae oe y(t)=1te™ cosbt a 2 =) has Sees ~~ GAO) + G41) (3.42) (3.43) (3.44) . (345) = GADY(t)=1-e* comnt-(2)] e' jsinbt il Y()=1-e* [cosbe ie sin or] Using another trigonometric identity pcos A+qsin A=rsin(A +0) where, r= Rewriting Eq, (3.25), a= 2 and p = 1-9 + T From Eq, (3.52) and Eq, (3.53) gives,* 3.49) ) Rewriting Eq. (3.50) 8.5 YO = 1-60 [set an] b Eq. (350) can be written as 3.51) Y()=1-ees|_ 1 an So tant IE % ° Rearranging Eq. (3.57) gives, ¥(()= 1- = esi, Ane ty ant VIO) le y1-6? CS tn 3 7 ox Fq: (358) is the step response equation for the underdamped Second order contol system. 2. Step response equation for Critically damped system : (3.52) For critically damped system 6 = 1 The transfer function for the second order system is given as, Y(s) ce, a2) > aa sag 29) X(s) "157 +20t8 +1 Rewriting Eq. (3.20) 3.54) ss eve or X(s) © (@-8:)(6-82) Rewriting Eq. (3.21) and Eq, (3.22) fa Ga o_ yerat sot ee and akgere” “ie 7 ; eB, 5 5) Put putting @ = 1 the above equations becomSubstituting Eq. (3.59) in Eq. (3.20) gives, Y@ _ yc Xs) 6+ /t) (6+ 1/2) If unit step change is given in the input variable X(t) X(t) =1 Laplace transform of X(t) gives, X(g)=1/s Substituting Eq. (3.61) in Eq. (3.60) gives, yx? s+1/t) Solving Eq. (3.62) by partial fraction method af? ue s(s+1/x) 'Y(@)= Where C,, C, and C, are the constants Multiplying Eq. (3.63) by s (s+1/1)° gives, 1 a 1 Fae (o+2) oc 4[s+2) 05 Putting s = 0 in Eq, (3.64) gives, G or C=1 Putting s = -1/x in Eq, (3.64) gives, Differentiating Eq. (3.64) w.r-t. to s gives, 2¢, Sn, cae 2Cs+ a tat ComalSubstituting the values of (3.68) ‘and Cin Ba, (68) give, ' 1) or Substituting the values of c es of oF Cy Cand Cy in Eq, 6 63) gives, + (3.69) ie 2) For (8+ 1/r) = (3.70) aking the Inverse Laplace transform of Eq. (3.70) gives, Y¥(Qe1-eM tan t 3) u(y, t or | Y(t) = 1-e (a+) 2 oi (3.71) Eq. (3.71) is the step response equation for the critically damped second order control 3. Step Response Equation for Overdamped system: _ 4) For overdamped systerf'$ > 1 The transfer function for the second order system is gives as, ¥(6) ow lies G(s)= X(s) rs? +2019 4+1 Rewriting Eq. (3.20) 5) i esl Xs) (6-81) (6-82) _ Rewriting Eq. (3.21) and Eq, (3.22) )== ib ana aa ra ae a. CIPRO t —------- 24 ‘i Let m, = and 7a Eq, (3.21) and Eq. (3.22) becomes 8, =-m, +n, and s,=-m-n, Eq. (3.20) becomes, ye? S e Y@)_ (iu Baier of s+m,—n, $+m, +n X@) @+m,-n,)(s+m +n.) 8 If unit step change is given in the input variable X()=1 or X(s) = 1/s 2 Y() ee G cy s(6+m,-n,)(@+m,+n,) 8 's+m,—n, stm, Pay Multiplying Eq. (3.74) by s (5 + m, ~n,) (5 + m, +n,) gives, =G6+m,-n)) (+m, +n,)+Cs (6+ m, Fn.) + Cs (6+ m,-n), Putting s = 0 in Eq. (3.75) gives, = Cy (m, +n;) (m, C; (mj - n7) Since In} =n} = 4 7 Therefore, C= Putting s = ~m, + n, in Eq, (3.75) gives, Cy (=m, +,)(-m, +n; +m, +n,) 2 (-m, +n,) (2m)i i “Anaysis ofthe Dynamic Behaviour oy a SSE Steed Onder = 1 et Seton z Rada s F@n)@ =m) ni ie 2 Multiplying and divias ay 8 and dividing Fa. 6.78) b ) 7 (Og 678) oe 1) ives Oi = I) rR C,=—_(+m) -- 879) 20>. * Gn,)(n ma) ‘ + (3.80) c,=-/mtm, ale ( | 74 F 3.81 ) Putting s =m, ~ n, in Eq. (3.75) gives, fe- = eC —0,) Cm ey 3.75) =—Cs (m, +n,)(-2n,) c= (382) 7 (2n,)(m, +m) ‘ Multiplying and dividing Eq. (3.82) by (m, ~n,) gives, fee (m; =n) ‘ 3? (2n;)(m, +n;)(m; -m) (m G-_ e °° Pn) (mimi) % havent (3:83) ec nae i. é Eq, (3.74) gives: 7m Substituting the values of Cy, C,and Coin Pa E )o(2=2) (al 884) 1 m, +1 aot on, | (sem tM. Y@)=5 (a) (ast 1 a ives, Taking Inverse Laplace transform of Eq. (3.84) gi / sry (24225) j vo") orn! (4a ; : iM ww 8:85)Evaluation of Eq. (3.85) gives, 3 my g-fomem)t DL g-(monidt 1 g-(mirmi)t 4 PU omen Y(t) Ben, e 2 5 2n, Rearranging the Eq. (3.86) gives, elem) getovinyt] [gHlorrmt g lien Y(Qj=1-3t [ a 2 1 crn rit emt -me[e™+e™™ _ ( m,)e™-e or. Y(=1-e _ QS | Applying the trigonometric identify sinhx 2 and coshx= one Eg. (3.87) becomes Y()=1-e-™" [evs nytt = sin aut 1 Substituting the values of m, and n, Bet ini iP -1 1 t Eq. (3.88) becomes, ¥(t)=1-e™ | cosh fg? -1 4 4__® (t)=1-e [> ig’ ‘7s *poyeins ly? - Eq. (3.89) gives the step response equation for overdamped second system. The response of a unit step forcing function for second order control obtained by plotting Y(t) Vs t/+ for different values of damping parameter. Eq. (3.58) step response equation for underdamped system, note t aVvi-@ 0 lag"? Jeege a Se Ipc:SH {he Dynamic Behaviour of ! Analysis of the Dynamic Bep eS Eq. (3.71) step Tesponse equat he alae ee 63 es me = Mon for critically dam ? be ( ) 'Ped system, 4 Eq, (3.89) step respons P= ; e i equation for overdamped system, Y(t) | =e Ie + Saat if ep to} cosh Yee —y 3.87) Pl ‘quations for und Pe = 2 lotting above ¢, for d | sa i ation ed and a overdamped cna sorger control systems for ifferen value é 4s Patel : for different alues of dem a = lampin; ives th aAivaly 'B Parameter gives the y® 88) t/t Fig, 3.3. Unit step response of second order control system ond order control system is shown in Fig, (3); ‘The nature of the sponse is oscillatory for the underdamped control system. ‘The tem ig non oscillatory and the response of the ov “becomes sluggish, Therefore as the value of damping becomes less oscillatory and sluggish in nature for the Step response of sect Tesponse shows that the res] 9) response of critically damped sys system is also non oscillating an tf Parameter increases the response control system. Control System + ee Impulse Response of Second Order orem The differentiation the step response equation wrt, git equation. 2 (les. = 1)1. Under damped hecond order control system + a Eq. (3.58) for gives the step response for the underdamped control systen 1-9? i 21 gre oe 2 tan ee © log 1 Nan “| eat ee Differentiating Eq. (3.58) wart. time ‘t’ gives, vol el 1 | a” [e* sin (bx +c)] S ax where, r= va? +b? and a=tan(2) a =r" e® sin (bx +c +na) Comparing Eq. (3.91) with Eq.(3.92) gives, andn=1 & c=tan? a@=~tan? (a % Eq, (3.91) becomes,fem, 2. Critically dampeq contrat go Stan : The step response equation tem yl a ‘ON for the cri = ee Neally damped Control system ig Y(t) | =1-e¥ ae ve ssp 1+ 5) Differentiation of Eg, (3.71) ‘ 7 | a ) Wart, time ive KB ic a . We Gy (© Jepue = ate y (4) Cs en as, On solving equation (3.96) gives, 0m Yt ein i ~- (3.9) bape a ale : cout G97) On solving Eq. (3.97) gives, j wall Fe ( .98) gives the impulse response equation for the ‘titically damped second order trol system. 3. Overdamped control system : The step response equation for the overdamped control system is given by Eq, (389). t Y() |pep=1-e°#*| cosh yo? —1 + sinh Yo?—1 s 7 7 2 ee gai ale ait & Kena? ,p-49 2 57a, dl (3.93) c & Eq. (3.89) can be written as, -at & bt G99) Y(t) lwp =1-€ [eosnes sinh | (98) lop 6 Differentiating Eq. (3.99) w.r-t. time ‘t’ gives, i sw» (3.100) a Dap vi) es ~2eM sin x] =f fice SP aE impulse dt ) ce bt}. (3.101) 399) gin hte" acosh I iG S ann oft Drnanic Behaviour oy 2 a Yo) | = [newtesanbte™ bsinhbt +>-€ ImpulseOn solving Eq, (3.101) gives, 2 4 [acm hbt-b sin hbt + 5 sinhbt-a cone] Yo)| impulse or 0] a 'sintr( $b) In Eq, (3.102) putting values of a, b and t eet “sinh Jo? —1 t 2] 10 lpg Eq. (3.103) gives the impulse response equation for the overdamped control system. The response of the second order control system for the impulse forcing Be obiained by plotting tY(t) Vs t/« for the undlerdamped, critically damped and ove pntrol system. 10 08 o<1 06 04 tT 95 0 -02 -04 3.5 Sinusoidal Response of Second Order Control System : The transfer function of second order control system is given as, ¥() 4 YG) _ aj? Ss) Xs) 7s? +2ots+1 OF X()Ys) Aw/? cond Pape or, @aw)e-ayeoay inction, erdany Beyer AW /T ne, : (?+w*)@-8,) 6-5) A A meres Bere | 0 = ans 22h 1- (wey Eq. (3.108) is the steady state sinusoidal response equation for ‘underdamped, critically damped and for overdamped control system. Comparing Eq. (3.108) with Eq, (3.104) X(t) = A sin wt A is 0) YQ¢-——* (wet aa fi-(w sf} + Gow? oi yjato” The input amplitude = A A and Output amplitude = (-w Hy+eowy ‘Output amplitude of variation Amplitude Ratio = “Tpput amplitude of variation Remarks: 1, The amplitude ratio for the second order control system is depend values of time constant t and the damping parameter 4. f The amplitude ratio for the second order system may be greater op one whereas the amplitude ratio for the first order control sy ‘ess than one. The phase lag for the second order system is given as 0 =~ tan-l \-S6 etharacteristies of an Underdamped Second Order Control System Forcing Function The second order control system are often characterized in the control t the following terms for the step forcing function. Rewriting the underdamped step response equation for the second ord Eq, (3.58). i a et sin| J1— 9? phan 7 1-9? YW) leg =1- __ Plotting Y(t) Vs time for any particular value of the damping parameter ‘one gives the response of Eq, (3.58) which shown in Fig, 35._Aoaysl ofthe DynarieBeraveu Fig. @.5) shows the charscy.., een 4 ; : cteris ise unit step forcing function in jen SeCond onde eiitngi oe an terms are defined to describe the un jatable for the und ped yin pubjected be ‘rdamped step repchaene Fesponse, The ~ Bagg 4 1. Overshoot : itis the Fatig ot GQ Pending o where, Cy isthe difference be n, eae “ween the maximum and the . us ‘ultimate values of the Gy is the ulti itor ae 2 imate value of the respon a oa The Overshoot is depending on the values ofthe hoot 3 : ‘ameter is mathematically 2owr Overshoot = Si 1- (wap SG Brom the above Eq. (3.110) can be abeerieq gm the overshoot decreases wit tem for Ste increase in value of damping parameter. oe oe c 31 theory usir 2. Decay Ratio : It is the ratio a Or it s the ratio of the values C, and C, ofthe two successive peaks. Mathematically it is expressed as, | order syste Decay Ratio = (Overshoot)?_) -2n0 Decay Ratio = Jicg?™ = G11) 3. Response time : It is time needed for the response to reach within 25% ofits final steady state value. ee ti For the practical purposes the response timecanbe! a pylon teste espe ter $1259 oa. (358) for the underdamped contol eystert a ‘Therefore the response time can be obtained from the response curve. ices aam Theoretically the response time can be aay by ung te vai within 5% of its ultimate steady state value an Higkhapirse constant and the damping parameter and solving renee Eq, (3.58) for # yalue ‘ e to reach its steady state Ve 4. Rise time : Jt is the time needed a ae fot he fet time, It is related with damping PN” aa na a f sah La Ee sO hae |e Rise time = trie = qo" Pro ig: 0312 Sam - “e of speed of the res api SE The rise time is a mee ‘damping paramel 3 that for the smaller value-of eo a underdamped control system5. Period of oscillation ; a oscillation is given by te following expression. 2nt Fine time/eycle Itis related with the cyclical frequency ‘f’ as, ae eee f t cycle/time The cyclical frequency in related with the radian frequ ae * . w=2nf radian/time i illation : id order control system eg 6. Natural period of ascillation : The secon oscillates and it is free for any damping if the damping Parameter becomes zero, The natural period of oscillation T,, is obtained by putting @ = 0 in Eq. Ga given as, ’ ency w as, T, =207 The natural cyclical frequency f, is given as, 1 te The natural radian frequency is given as, W,=2nf, N Rist be emphasized that the dynamic behaviour of the second order conti will help in the design of controller used in the chemicur plants in which the inter controllers with process elements resulting an underdamped response of the % Example 3, filled with water. The Determine the followin, ign of the manometer: ImN-s/m? and the density Solution ; enertube filled with water = Therefore the len; igth of the manomet 15 cm in both limbs. Rest position is taken at init + G16) {ube available above the rst postion i Bret ailabic trtgsh oF a eee eet +++ (3.117) 15 cm or 0.15 m. in each limb above the rest postion is The required length of the manometer tube in each i aig j state is 18 cm or/0.18 m. Therefore for the ivan paaee Fe cous = ~» A) manometer fluid ill pverfiow. The manometer is not slab for meanings ves trol syst Pressure differentiakThere are two options either toch fdor to ction oft increase the manometer tube. _ Tetus Find out the required length of the manometer tube using the same manometer pul fluid as water for the given pressure difference. = 1000 kg/m?, fy = 10° N-s/m?, 1= 0:30 m stem. tube is yi 500 N/a Given Pyrater The time constant of the manometer « is given as, onsiderit of wate! , 4 9 3) x 100% 9.8%! 4 (63x10 3 1000 ft tote is Ps 6 = 0.05 <1 i 3 , ! Since $< 1 the system is ne ee ——time(t) —— Response of second order underdamped system The overshoot is given by the expression, x0 Overshoot = & Jee 3.140105, roar Therefore the overshoot is 85 percentage. The maximum value of response is Y,.,, given as, Gq ee ape Youax = Cy [1 + 0.85] : The iultimate value of the response Ys jimaye Ynax = 0.18 [1 + 0.85] Therefore the theoretical length of the manometer tube above the re 0.333 m in each limb. ez Total theoretical length of the manometer tube for both limbs, (0.30)+ (2 x 0.333)] = 0.966 m = 96.6 cm = = The actual length of the manometer tube require for the design pul = 0.966 x 1.15 = 1.111 m Actual length of manometer:tube 111.1 cm.SSO ore gs Gilsliypen as hows ts ne ee of me. otis 8 ibn saat of proportional on Tema order eqn ote into X@) +> Fig. 38 Block diagram of ‘control system ven control syst cloning : Si a4 Sino fin and om fe Rise time Solution : The overall transfer function for the system is given as, response sketch deter SO 1. Response time MGs 10/(1.253?-+25+5)_ S@)= X(s) (1+ 10/1355? 2545) = @.119) Solving Eq. (3.119) gives, 240) 2 s- (3.120) Oe x) asa ¥(s) ofa) = (121) BO 2 aay 15 15 Y(s) k ww (3122) X() © (Fs? +2975+1) ives, Comparing Eq. (3.121) with Eq. (3.122) gi a“ 20135 15 ~ 012) 0.2887 (unit of time) or Time constant * = eee‘or damping coefficient ? = (2) scam )* Patt ‘Therefore ¢ = 0.2309 < 1 system is underdamped. The Rise time can be given by expression, ¥(0.2309) “2 fi @2309% [1 = (0.2309 0.4658 + 0.2967 sin“ (0.2309) thee = 0.4658 + (0.2967 x 0.233) .5349 unit of time Therefore the rise time = 0.535 unit of time. The overall transfer function the given system is, YG) _ (0/15) X(s)_(0.2887)'s? + (20.2309 0.2887) s+1 ts? 426c50 Hstep change of magnitude 5 is given in the input variable X() i é or X() = 2 10> )= 5 [0.2887)5? + x0: (10/3) _ slo2sa7p5? +(2x0.2309x0.2887)s4] i] The inverse Laplace transform of.the Eq. (3, Y(t) = oh. ett 02887) 51] 127) gives, ole : At steady state t co Y= Oot Vung soayy Analyst tthe Dynamic Behaviour oy ay A028 ote fe Solving Eq. (3.128) gives = 21 Systeme Y(t)-3.39 1270230 /0.2867 oT en et 1-0, in 1 0.2: ‘y Vi-o2ap9peSvi OF ag on LRBOF ™ or Y(t)=3.33 [te 097 . = (129) k Sin (972t+ 139) From Eq. (3.130) y(t) vs tne-p ~~ 8.139) i can be plott Pdines ) Fort =7 ort = 0.2897 Pinte’ suming diferent Values of ime ss Eq. (3.130) becomes, Y()=3: = () = 3.33 [1 — e-oms , 1027 sin (1 + 139) Y(t) = 1.306 ii) Fort =053 Y(®) = 3.33 [1 — ¢-04266 1 go7 sin (1.81 + 1.33)] Y() = 3.33 Yutimate = 3.33 for time t = 0.53. Therefore t,,. = 0.53 (unit of time). The rise time can be calculated by substituting the value of, ina. in the response equation and knowing the value of the damping parameter 6 the required time to first attain the value of Y,jyinaye Can be determined the system. iii) Fort=1 Y (t) = 3.33 [1 - e7? x 1.027 sin (3.97 + 1.33)] w@ Y(t) ='4.882 iv) Fort=15 @ Y(t) = 3.33 [1 - e™"8 x 1.027 sin (6.08 + 1.33)] 4 Y(t) = 3.221 v) Fort=2 Y(t) = 3.33 [1 -e7 158 x 1,027 sin (6.74 + 1.33)] Y(t) = 2.643Therefore, The Rise time = 0.53 (unit of time) Response time = 6 (unit of time) Example 3.3: The overall transfer function of the control system is gi Bi) ee 6 158" +24546 A step change of magnitude 6 is introduc 1. Overshoot es: 3. Natural period of oscillation 5. Ultimate value of Tesponse Solution : The given transfer functio Sos) ed into the system, 2. Period of oscillation 4, Rise time 6 Maximum value of respo n is, ¥(s) 16 = as ae X(s) 15s?+24s46N ‘Analysis of the Dynamic Behaviou : Rearranging Eq, Cis} eae sande ee BL) vets “em aa ; ser 4 second order fons ‘ ee 7 Y@) 16 or X(s' > 60s oe a X() © 6(0.25 2 +04841) .. 25 ; ++ (3.132) = ee X(s) #3? + 2otsa1 Comparing Eq. (3.132) wi iM ae (3.133), P2025 ort 051 8) Bre, and 26t =04o0rg=04 <1 system is underdamped, 1. Overshoot: Ci _ .-ne/ Jie Yoox Yuttimote wot eal vm io Fig, 3.10 7 6 etree Therefore, Overshoot = Ci Ci 0,253 or 25:3% or Overshoot = ©, 2. Period of oscillation : T is given 48, 2nt 2x314x05 _ 3,49 time/cycle : yi-(04y 7Natural period of oscillation : T,, is given as, Ta2ne Tye 2x 314% 05 T, = 3.14 time/cycle Rise time : oF typ is given as, se a nth Recimes ty = fice /i-o° 3.14x0.5 05: sin(0.4) eine: e a 2 hi -(04F '1-(0.4P Rise time = 1.09 unit of time Ultimate value of response is Y,jyimye at t > <0 Rewriting Eq. (3.133) pte yeeees 16 ) 6(0255? 4045+ 1) Ifa step change of magnitude 6 is introduce into the system. X)=6 or X(s) =6/s Therefore, Eq. (3.133) becomes, 65(025 404541) Y()= =e 8(0.25s? +0.4554 ) ——————_ 16_ roeee 5((05)'s? +(2x0.4x05)5+ 1) 10 s(0’s? +26t841) Taking inverse Laplace transform of Eq, (3.135) gives,“Analysis ofthe Dynamic Tesponse is 16, *°SPONSe is given ag . S Wltran = © = 16 and Overshoot = £1 =025 = Gt x0. Therefore, 8 Yax = 16 (1 + 0.25) , oa = 20 The maximum value of the respon: se is 20, Solution : ——— = ' Ymox | =~ ‘Minimum value of the response = 10 y(t) f Ultimate value of the response = 16 Therefore, \o ee | C1 Yat Yate i « oa / { Co Youn — tnt Yin 210 Tee 4 time 1.134) Fig. 3.11 The overshoot is given as, 1. Ford =0.6 4.199 1. ic. Overshoot = ©, g = 0.0948 IWe a6 #06 x overshoot) A BY = 16 + 0.0948 (6) Yonay = 16.568 For ¢ = 0.4 C Overshoot = G smo OF _ ets = 0.2538 G Overshoot = G Ymnax = 16 + 0.2538 (6) 3. Ford =02 = 0.2538 Yonax = 175 tear Q Overshoot = e051 Overshoot = 0.526 @ e G = 0526 Ymax = 16 + (6 x 0.526) Ynax = 19.15 a oe of g ~3.140,1/ 01)" Overshoot = GL=e>" alo} Yynax = 16 + 6 (0.729) Ywnax = 20.37stihe Dera Behevous of 5. Fores 007 SSC Ontr coy Overshoot = ot = oo 00 ae Overshoot = ¢-o22 Overshoot = 0.99 Pe Se + max 80) Yinax = 20.8 ) (6) 6. For} = 0.06 Overshoot = = tee eS texaay/ J Overshoot = e018 Overshoot = 0.835 Vax = 16 + 6 (0.835) Yimax = 21 9 0.6 0.4 0.2 01 0.07 | 0.06 Overshoot | 0.0948 0.2538} 0.526 0.729 | 0.80 | 0.835 ymax 16.568 | 17.5 19.15 | 20.37 20.8 | 21 The variation of 6 Vs overshoot shows that as damping coefficient decreases the overshoot increases for the second order control system PROBLEMS 31 A manometer 70 cm long and 6 mm inside diameter glass tube is half filled with water. The manometer is given a step change of pressure differential 5000 N/m? Determine the following i) Time constant ii) Damping parameter c ty 4 t , Pee of the manometer considering the initial transient st uggest suital , Take density of water = 1000 kg/m iscosit; = 1mN-s/m? Vi of water = 1 ml The trai fer of the second order control system is given a8 5 ns! X(s 5 C05) * ars in the input variable of the system: tude 5 is given in the inp eon) Mas A step change of magni Determine i) Overshoot value of the response. ii) Rise time, ii) Perio : ‘ee dbs Th step change of magnitude 10s introduced into the unity feed-back conte is shown in Fig. X(s) + Fig. P31 Sketch the response of the given system and determine the following sj response sketch. 1) Rise time 2) Response time 1 Control A What characteristics are affecting the second order control system on the d Conside response of the system. bnsider the pre Discuss how the damping parameter affects an underdamped second order subjected to a unit step change in the input variable of the system, ‘Obtain the transfer function of pendulum and show that it is a second orde system ‘Twocontinuous stirred tank reactors in series are maintained at differentter resulting different values of velocity constant. If the first order chemical carried out in a series of two reactors. The reaction A — B proceeds ata fal where r is moles of A decomposing/(Vol.) (time) and C is the concentill A moles/m? and k is the velocity constant. Obtain the transfer function relating the outlet concentration of the second the inlet concentration of the first tank. Show that itis a second order conta Show that two non-interacting multicapacity control system exhibit the Chae of a second order control system, Discuss the dynamic behaviour of an overdamped second order control sjat Discuss the effect of the damping paramet control ipygtesh ing Parameter on the amplitude ratio of a $6