Second order systems

By
Dr. M.S.Rao
 Outline of the presentation
• Representative second order systems
– Control valve
– Manometer system
• Transportation lag and its approximations
– The concept
– Approximations
• Summary till now
• What is the way forward ?
Control valve
 Control valve system
• The most commonly used final control
element.
• Exhibits second order dynamics
• Stem position determines plug opening
• Plug opening determines the flow rate
• Position of stem depends on balance of
forces
 Control valve system (force balance)
• Force exerted by the compressed air
– Pressure on diaphragm * Area of diaphragm
– P *A
• Force exerted by spring attached
– Spring constant* displacement
– K*x
• Frictional force exerted upward
– Friction coefficient *velocity
– C* dx/dt
• Effective force
– Mass of the stem * acceleration
– M* d2x/dt2
 Control valve system (force balance)

• Application of Newtons law gives

– P *A - K*x- C* dx/dt= M* d2x/dt2
• Divide both sides with K
• Simplify by substituting time constant and gita
• This gives second order transfer function
– X(s)/p(s)= (A/K)/((M/K)s2+(c/k)s+1
• Pseudo first order
– M<< k hence s2 terms loose their significance
– It works like first order system
Manometer system
Manometer system model
Manometer system (TF)
 Transportation lag
• Transportation lag is also known as
– Dead time
– Transport delay
– Distance velocity lag
• As an example look at the system below
Transportation lag approximations
Transportation lag approximations
Thank you