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Fifth Lecture
vin - vf
vin Ta T
vf
Input, v + Output, T
K
dq t
a bq t f t
dt
o = i (1- e-t/T)
i
0(T)~0.632i
0(t)
o (t) = b sin ( t - )
d o t
2
d o t
n o t i t
2
2
2 n
dt dt
where and n are constants.
For a damped spring-mass system,
Natural frequency
k
n
m
(in rad/s)
1 k
fn
2 m
(in Hz)
Damping ratio
x1 = x0 sin t
(input)
k
x (output)
c
It may be represented by a differential equation
d 2 x t dx t
m 2
c kx t x1 t
dt dt
x(t) = X sin ( t - )
Frequency response of a second order system
Phase shift characteristics of a second order system
Remarks:
(i) Resonance (maximum amplitude of response)
is greatest when the damping in the system is
low. The effect of increasing damping is to
reduce the amplitude at resonance.
(ii) The resonant frequency coincides with the
natural frequency for an undamped system but
as the damping is increased the resonant
frequency becomes lower.
(iii) When the damping ratio is greater than 0.707
there is no resonant peak but for values of
damping ratio below 0.707 a resonant peak
occurs.
(iv) For low values of damping ratio the output
amplitude is very nearly constant up to a
frequency of approximately = 0.3n