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AUTOMATIC CONTROL
SYSTEMS
Lecture Note 6: Time Response Analysis
Instructor
Ahmed Al Otaibi, Ph.D.
Dept. of Mechanical Engineering
Taif University
Contents
⚫ Introduction
⚫ Influence of Poles on Time Response
⚫ Transient Response of First-Order System
⚫ Transient Response of Second-Order
System
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Time Response
where yt(t) denotes the transient response, and ys(t) denotes the steady-state response.
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0 t
At t0
r(t ) =
0 t0
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Introduction
⚫ The concept of poles and zeros, fundamental to the
analysis of and design of control system, simplifies
the evaluation of system response.
⚫ The poles of a transfer function are:
i. Values of the Laplace Transform variables s, that
cause the transfer function to become infinite.
⚫ The zeros of a transfer function are:
i. The values of the Laplace Transform variable s,
that cause the transfer function to become zero.
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Example 1
⚫ PROBLEM: Given the system of Figure 4.3, write the output,
c(t), in general terms. Specify the forced and natural parts of
the solution.
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a) First-order system
b) Pole plot of the system
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First-Order System
⚫ General form:
C (s) K
G( s) = = C ( s) = G ( s) R( s)
R( s) s + 1
⚫ Output response:
1 K
C ( s ) =
s s + 1
A B
= +
s s + 1
B
c(t ) = A + e −t
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First-Order System
⚫ Problem: Find the forced and natural responses for the
following systems
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Transient Response
Specifications
⚫ Time constant,
⚫ The time for e-at to decay 37% of its 1
=
initial value. a
⚫ Rise time, tr
⚫ The time for the waveform to go 2.2
tr =
from 0.1 to 0.9 of its final value. a
⚫ Settling time, ts
⚫ The time for the response to reach, 4
ts =
and stay within 2% of its final value. a
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Transient Response
Specifications
⚫ Problem: For a system with the transfer function shown
below, find the relevant response specifications
50
G( s) =
s + 50
i. Time constant,
ii. Settling time, ts
iii. Rise time, tr
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Second-Order System
⚫ Compared to the simplicity of a first-order
system, a second-order system exhibits a
wide range of responses that must be
analyzed and described.
⚫ Whereas varying a first-order system's
parameter simply changes the speed of the
response, changes in the parameters of a
second-order system can change the form of
the response.
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Second-Order System
⚫ Problem: Find the step response for the following transfer
function
225
𝐺 𝑠 =
𝑠 2 + 30𝑠 + 225
⚫ Answer:
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Second-Order System
Problem: For each of the transfer function, find the values of
ζ and n, as well as characterize the nature of the response.
G (s ) =
400
a)
s + 12s + 400
2
G (s ) = 2
900
b)
s + 90s + 900
G (s ) =
225
c)
s + 30s + 225
2
G (s ) =
625
d)
s + 625
2
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Second-Order System
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Second-Order System
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Second-Order System
⚫ Step responses for second-order system damping cases
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Second-Order System
⚫ Pole plot for the underdamped second-order system
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Second-Order System
⚫ Second-order response as a function of damping ratio
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Second-Order System
⚫ Second-order response as a function of damping ratio
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Second-Order System
⚫ Second-order underdamped responses for damping ratio
value
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Transient Response
Specifications
⚫ Second-order underdamped response specifications
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Transient Response
Specifications
⚫ Rise time, Tr
⚫ The time for the waveform to go from 0.1 to 0.9 of its
final value.
⚫ Peak time, Tp Tp = 2
⚫ The time required to reach the first n 1 −
or maximum peak.
⚫ Settling time, Ts 4
⚫ The time required for the transient’s Ts =
n
damped oscillation to reach and stay
within ±2% of the steady-state value.
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Transient Response
Specifications
⚫ Percent overshoot, %OS
⚫ The amount that the waveform overshoots the steady-state, or
final value at peak time, expressed as a percentage of the
steady-state value.
− ln(%OS / 100)
=
2 + ln 2 (%OS / 100)
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We have:
1) 𝑓𝑜𝑟 𝑡ℎ𝑒 𝑠𝑡𝑎𝑏𝑙𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 𝑚𝑢𝑠𝑡 𝑎𝑙𝑙 𝑝𝑜𝑙𝑒𝑠 𝑎𝑟𝑒 𝑖𝑛 𝑡ℎ𝑒 𝑙𝑒𝑓𝑡 𝑠 − 𝑝𝑙𝑎𝑛𝑒.
4 ) 𝑇ℎ𝑒 𝑓𝑎𝑟𝑡ℎ𝑒𝑟 𝑓𝑟𝑜𝑚 𝑡ℎ𝑒 𝑖𝑚𝑎𝑔𝑖𝑛𝑎𝑟𝑦 𝑎𝑥𝑖𝑠 𝑡ℎ𝑒 𝑝𝑜𝑙𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑒𝑓𝑡 𝑠 − 𝑝𝑙𝑎𝑛𝑒 𝑖𝑠,
𝑡ℎ𝑒 𝑓𝑎𝑠𝑡𝑒𝑟 𝑡ℎ𝑒 𝑟𝑒𝑙𝑒𝑣𝑎𝑛𝑡 𝑡𝑟𝑎𝑛𝑠𝑖𝑒𝑛𝑡 𝑝𝑜𝑟𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑠 𝑑𝑒𝑐𝑙𝑖𝑛𝑒𝑑.
𝑎𝑛𝑑 𝑡ℎ𝑒 𝑙𝑖𝑡𝑡𝑙𝑒𝑟 𝑡ℎ𝑒 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑠.
5) 𝑇ℎ𝑒 𝑓𝑎𝑟𝑡ℎ𝑒𝑟 𝑓𝑟𝑜𝑚 𝑡ℎ𝑒 𝑟𝑒𝑎𝑙 𝑎𝑥𝑖𝑠 𝑎𝑛𝑑 𝑡ℎ𝑒 𝑚𝑜𝑟𝑒 𝑐𝑙𝑜𝑠𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑖𝑚𝑎𝑔𝑖𝑛𝑎𝑟𝑦
𝑎𝑥𝑖𝑠 𝑡ℎ𝑒 𝑝𝑜𝑙𝑒𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑒𝑓𝑡 𝑠
− 𝑝𝑙𝑎𝑛𝑒 𝑎𝑟𝑒, 𝑡ℎ𝑒 𝑏𝑖𝑔𝑔𝑒𝑟 𝑡ℎ𝑒 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑠.
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7) 𝑇ℎ𝑒 𝑝𝑜𝑙𝑒𝑠, 𝑤ℎ𝑖𝑐ℎ 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑚𝑜𝑠𝑡 𝑐𝑙𝑜𝑠𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑖𝑚𝑎𝑔𝑖𝑛𝑎𝑟𝑦 𝑎𝑥𝑖𝑠 𝑖𝑛 𝑡ℎ𝑒
𝑙𝑒𝑓𝑡 𝑠 − 𝑝𝑙𝑎𝑛𝑒, 𝑎𝑟𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑠𝑡 𝑖𝑛𝑓𝑙𝑢𝑒𝑛𝑐𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑖𝑒𝑛𝑡 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒.
𝐷𝑜𝑚𝑖𝑛𝑎𝑛𝑡 𝑝𝑜𝑙𝑒𝑠:
𝑡ℎ𝑒 𝑝𝑜𝑙𝑒𝑠 → 𝑚𝑜𝑠𝑡 𝑐𝑙𝑜𝑠𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑖𝑚𝑎𝑔𝑖𝑛𝑎𝑟𝑦 𝑎𝑥𝑖𝑠 𝑖𝑛 𝑡ℎ𝑒 𝑙𝑒𝑓𝑡 𝑠 − 𝑝𝑙𝑎𝑛𝑒.
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System Performance
⚫ Percent overshoot versus damping ratio
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System Performance
⚫ Lines of constant peak time Tp, settling time Ts and percent
overshoot %OS
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System Performance
⚫ Step responses of second-order underdamped systems as
poles move
a) With constant
real part
b) With constant
imaginary part
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System Performance
⚫ Step responses of second-order underdamped systems as
poles move
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Questions?
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