ANKARA YILDIRIM BEYAZIT

UNIVERSITY

Energy System Engineering

Department

Course ESE 307-Control systems

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 Time Response Analysis

We can analyze the response of the control systems in both the

time domain and the frequency domain. In this part we focus on
the time domain analysis

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What is Time Response?
If the output of control system for an input varies with respect
to time, then it is called the time response of the control system.
The time response consists of two parts:
•Transient response
•Steady state response
The responses corresponding to these states are known as transient
and steady state responses.

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Transient Response

After applying input to the control system, output takes certain time to
reach steady state. So, the output will be in transient state till it goes to
a steady state. Therefore, the response of the control system during the
transient state is known as transient response. The transient response
will be zero for large values of ‘t’.

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Steady state Response

The part of the time response that remains even after the transient
response has zero value for large values of ‘t’ is known as steady state
response. This means, the transient response will be zero even during
the steady state.

Example

Let us find the transient and steady state terms of the time response of
the control system c(t)=10+5e−t
Here, the second term 5e−t will be zero as t denotes infinity. So, this is
the transient term. And the first term 10 remains even as t approaches
infinity. So, this is the steady state term.

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Time Domain Behavior of
First Order Systems

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 Consider the following block diagram of the closed loop control
system

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The power of (s) is one in the denominator term. Hence, the
above transfer function is of the first order and the system is said
to be the first order system.

We can seen the standard test signals like impulse, step, ramp and
parabolic. Let us now find out the responses of the first order
system for each input, one by one.
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The value of the unit
step response, c(t) is
zero at t = 0 and for all
negative values of t. It is
gradually increasing
from zero value and
finally reaches to one in
steady state. So, the
steady state value
depends on the
magnitude of the input.

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Electrical Circuit Modeling

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The control systems can be represented with a set of mathematical
equations known as mathematical model. These models are useful for
analysis and design of control systems. Analysis of control system
means finding the output when we know the input and mathematical
model. Design of control system means finding the mathematical
model when we know the input and the output. The following
mathematical models are mostly used:
•Differential equation model
•Transfer function model
•State space model

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1. Differential Equation Model
Differential equation model is a time domain mathematical model of
control systems. Follow these steps:
•Apply basic laws to the given control system.
•Get the differential equation in terms of input and output by
eliminating the intermediate variable(s).
•Resolve the Differential Equation

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Example
Consider the following electrical system. This circuit
consists of resistor, inductor and capacitor. All these
electrical elements are connected in series. The input
voltage applied to this circuit is 𝑉𝑖 and the voltage across
the capacitor is the output voltage 𝑉𝑜 .

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 Useful Formulas
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Electrical networks

 ipdjvaj
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2. Transfer Function Model

Transfer function model is an s-domain mathematical model of

control systems. The Transfer function of a Linear Time Invariant
(LTI) system is defined as the ratio of Laplace transform of output
and Laplace transform of input by assuming all the initial conditions
are zero.

If x(t) and y(t) are the input and output of an LTI system, then the
corresponding Laplace transforms are X(s) and Y(s). Therefore, the
transfer function of LTI system is equal to the ratio of Y(s) and X(s).

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 Mechanical System modeling

let us discuss the differential equation modeling of mechanical

systems. There are two types of mechanical systems based on
the type of motion:

1- Translational mechanical systems

2- Rotational mechanical systems

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Translational Mechanical Systems

Translational mechanical systems move along a straight line.

These systems mainly consist of three basic elements. Those
are mass, spring and dashpot or damper (resists motion via
viscous friction with a force proportional to the velocity, but
acts in the opposite direction, slowing the motion and
absorbing energy).

If a force is applied to a translational mechanical system,

then it is opposed by opposing forces due to mass, elasticity
and friction of the system. Since the applied force and the
opposing forces are in opposite directions, the algebraic sum
of the forces acting on the system is zero.

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Mass
If a force is applied on a body having mass M, then it is
opposed by an opposing force due to mass. This opposing
force is proportional to the acceleration of the body. Assume
elasticity and friction are negligible.

Where,
F= Applied force
Fm = opposing force due to mass
M = mass
a = acceleration
x = displacement 35
Spring

Spring is an element, which stores potential energy. If a force is applied

on spring K, then it is opposed by an opposing force due to elasticity of
spring. This opposing force is proportional to the displacement of the
spring. Assume mass and friction are negligible.

Where,
F= Applied force
Fk =opposing force due to
elasticity of spring
K is spring constant
x is displacement

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Dashpot
If a force is applied on dashpot B, then it is opposed by an
opposing force due to friction of the dashpot, which is
proportional to the velocity of the body. Assume mass and
elasticity are negligible.

Fb is the opposing force due to friction of dashpot

B is the frictional coefficient
v is velocity
x is displacement
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Modeling of Rotational Mechanical Systems

Rotational mechanical systems move about a fixed axis. These

systems mainly consist of three basic elements. Those
are moment of inertia, torsional spring and dashpot.
If a torque is applied to a rotational mechanical system, then it
is opposed by opposing torques due to moment of inertia,
elasticity and friction of the system. Since the applied torque
and the opposing torques are in opposite directions, the
algebraic sum of torques acting on the system is zero.

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Moment of Inertia
In rotational mechanical system, moment of inertia
stores kinetic energy. If a torque is applied on a body having
moment of inertia J, then it is opposed by an opposing torque
due to the moment of inertia. This opposing torque is
proportional to angular acceleration of the body.

•T is the applied torque

•Tj is the opposing torque due to moment of inertia
•J is moment of inertia
•α is angular acceleration
•θ is angular displacement
Torsional Spring
In rotational system, torsional spring stores potential energy.
If a torque is applied on torsional spring K, then it is opposed by an
opposing torque due to the elasticity of torsional spring. This
opposing torque is proportional to the angular displacement of the
torsional spring.

•T is the applied torque

•Tk is the opposing torque due to elasticity of torsional spring
•K is the torsional spring constant
•θ is angular displacement 40
Dashpot
If a torque is applied on dashpot B, then it is opposed
by an opposing torque due to the rotational friction of the dashpot.
This opposing torque is proportional to the angular velocity of the
body. Assume the moment of inertia and elasticity are negligible.

•Tb is the opposing torque due to the rotational friction of the dashpot
•B is the rotational friction coefficient
•ω is the angular velocity
•θ is the angular displacement
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Electrical Analogies of Mechanical
Systems

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 Electrical Analogies of Mechanical Systems

Two systems are said to be analogous to each other if the following

conditions are satisfied:

1-The two systems are physically different

2-Differential equation modelling of these two systems are same

Electrical systems and mechanical systems are two physically

different systems. There are two types of electrical analogies of
translational mechanical systems. Those are force voltage analogy
and force current analogy.

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Similarly, there is torque voltage analogy for rotational mechanical
systems. Let us now discuss about this analogy.

Torque Voltage Analogy

In this analogy, the mathematical equations of rotational
mechanical system are compared with mesh equations of the
electrical system. Rotational mechanical system is shown in the
following figure.

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 Useful Formulas
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Electrical networks

 ipdjvaj
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In this section, we discussed the electrical analogies of the
mechanical systems. These analogies are helpful to study
and analyze the non-electrical system like mechanical
system from analogous electrical system
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End of lesson

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