UWE Bristol: Lecture 4: Second Order Time Response and The Block Diagram Approach
UWE Bristol: Lecture 4: Second Order Time Response and The Block Diagram Approach
UWE Bristol: Lecture 4: Second Order Time Response and The Block Diagram Approach
Control
UFMFV7-15-2
Todays Lecture
Last Week:
Inputs: Step, Ramp and Pulse
Response in the Time Domain (First order)
Final Value Theorem
This Week:
Second order time response
Introduction to block diagram algebra
1
2s s 2
1
2
n n
n2
s 2 n
1
1
C (s) * 2
Part.Fract. 2
2
s s 2 n s n
s s 2 n s n2
where D n 1 2
Transform
C (t ) 1 e
n t
n
Sin D t
Cos D t
D
D
response look like?
y(t)
Under-damped <1
<1: under-damped
(oscillatory response)
(=0: sustained oscillations)
=1: critical damping
(fastest response with no
overshoot)
Increasing
>1: over-damped
(Cannot overshoot)
0
Critically damped
=1
Time
1 e n t
1 e
n t
sin d t cos d t
d
1 e n t
Time
2
d
Time
Peak time, tp
y(tp) yss
yss
95%
Settling time, ts
y(t)
Number of oscillations to ts
5% settling time
tr tp
ts
Time
1
1 1
tr
tan
d
1 2
tp
2 d d
yt p 1 e
n t p
n
sin d t p cos d t p
d
e
0.05
n t s ln 0.05 3
so
3
t s (5%)
n
Example
Mass-Spring-Damper system
k
m
c
f(t)
Mass, m = 1 kg
Spring coefficient, k = 4 N/m
Damping coefficient, c = 2 Ns/m
x(t)
X s
1
1
G s
F s ms 2 cs k s 2 2s 4
standard forms
1
4
1
1
OR
4 s 2 2s 4
4 1 0.5s 0.25s 2
n 4 2 rad/s
1
2
d n 1 2 2
3
3
4
Example
Mass-Spring-Damper system
k
m
c
G s
f(t)
Mass, m = 1 kg
Spring coefficient, k = 4 N/m
Damping coefficient, c = 2 Ns/m
Input Force = unit step
x(t)
1
4
4 s 2 2s 4
1 1
4
*
s 4 s 2 2s 4
1
1
t
c t 1 e
sin 3t cos 3t
4
3
n 4 2 rad/s
1
2
Example
d n 1 2 2
Mass-Spring-Damper
3
3
4
Periodic Time:
2 2
Periodic Time
3.628 sec
d
3
Rise time:
1
tr
d
tan
1 2
Time to peak:
1 2
tp
1.814 sec
2 d d
3
Example
Mass-Spring-Damper
n 4 2 rad/s
1
2
d n 1 2 2
3
3
4
Peak overshoot
Apply tp to equation
c t p
1
1
1.814
1
e
sin
3
(
1
.
814
)
cos
3
(
1
.
814
)
0.2092
4
3
Percentage increase
0.2092 0.25
100% 16%
0.25
Example
Mass-Spring-Damper
n 4 2 rad/s
1
2
d n 1 2 2
5% Settling Time
3
3
t s (5%)
3 sec
n 0.5 (2)
Number of oscillations
Settling time
3
Number of oscillatio ns
0.827
Periodic time 3.628
3
3
4
Example
Mass-Spring-Damper system
t r 1.209 s
t p 1.814 s
ts 3 s
Periodic Time 3.628 s
G1
G2
H
Substituting and rearranging
Opposite sign
Rules!
Todays lecture