9/7/2015

Mechatronics Today’s topic

ME 475
Mechatronics System Response

Semester: July 2015

Dr. Sumon Saha

Assistant Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology
Monday, September 07, 2015

Mechatronics System concept Mechatronics System Classification

• A system can be thought of as a box which has an input and

an output. • Measurement System versus Control System
• Equations are used to describe the relationship between the
input and output of a system. input System output
• Response of a system is a measure of its fidelity to its Electric Motor Rotation
purpose. power
input output
Equations
Motor
Electric Rotation • Is it a control system or measurement system?
power Based on purpose of that system
• Modeling is the process of representing the behavior of a • Combination of measurement and control system
system by a collection of mathematical equations & logics.
Automatic Control System
• Simulation is the process of solving the model and it
performed on a computer.
Order of a system is designated by the order of the Differential equation.

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Mechatronics Measurement system Mechatronics Control system

• Elements of a Measurement system • The term control means to regulate, to

– Transducer
direct or to command.
– Signal processor • Thus, a control system may be defined
– Recorder as a combination of devices and
components connected or related so as
• Example: Digital thermometer
to command, direct or regulate itself or
another system.

http://mechatronics.colostate.edu/figures/E1-2.jpg http://my.safaribooksonline.com/book/electrical-engineering/electrical-
controls/9789332512092/chapter-1dot-introduction/heading_00003_chapter001_xhtml

Mechatronics System Response Mechatronics System Response

The time response of a control system consists of two parts:

parts:
Transient or natural response
Dynamic System response
Steady-state or forced response
1. Transient / Natural response 2. Steady-state / Forced response
– from initial state to the final – the manner in which the system
state. output behaves as t approaches infinity.
– purpose of control systems – indicates the error after the transient
is to provide a desired response has decayed, leaving only the
response. continuous response.
– depends on the nature of – depends on the nature of the input
the system. function.

What are the different types of response exist in a dynamic system? Transient / Steady-state /
Illustrate their characteristics. Natural response Forced response

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Mechatronics Zeroth order systems Mechatronics First order systems

q ( t ) = Ku ( t ) Many measuring elements or systems can be represented by

a first order differential equation in which the highest
where derivatives is of the first order, i.e. dx/dt, dy/dx, etc. For
K is static sensitivity or gain. It represents scaling example,
between the input and the output. dq ( t )
u(t) is the input or forcing function;
a + bq ( t ) = u ( t )
where dt
q(t) is the output or response of the system
a, b are constants or physical system parameters;
u(t) is the input or forcing function;

Output follows the input without distortion or time lag.
q(t) is the output or response of the system

System requires no additional dynamic considerations.

Represents ideal dynamic performance. dq ( t ) u (t )
τ + q (t ) =

Example: Potentiometer, ideal spring etc. dt b
where
τ = [a/b] is time constant of the system;
Explain the characteristics behaviors of the following systems under step
input: (i) zeroth order, (ii) first order and (iii) second order.

Mechatronics Example: First order system Mechatronics Standard Process Inputs

Consider a thermocouple initially at temperature, T is suddenly • Step input

0 t<0
exposed to an environment at T∞. u (t ) = 
M t≥0
Heat transfer by convection is • Ramp input
0 t<0
Qɺ in = hA(T∞ − T ) u (t ) = 
 at t≥0
Thermal energy gain by the solid in
• Rectangular pulse input
a time interval dt is
dT 0 t<0
Qɺ out = mCv 
u (t ) =  h 0 ≤ t < t w
dt 0
 t ≥ tw
ɺ ɺ
First law: Qin = Qout
• Sinusoidal input
dT mCv dT
τ + T = T∞ τ= hA (T∞ − T ) = mCv  0
u (t ) = 
t<0
dt hA dt  A sin ω t t ≥0
Mention the types of process inputs applied in a dynamic system.
Acknowledgment: http://teacher.buet.ac.bd/zahurul/ Illustrate their characteristics.

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Mechatronics Solution: First order system Mechatronics Solution: First order system

Consider a homogeneous differential equation, Consider a non-homogeneous differential equation (step input),
dy dy
a + by = 0 a + by = c
dt dt
Assume, p ≅ d/dt
Assume, yp ≅ A and dyp /dt = 0
c
Characteristic equation: ap + b = 0 Particular integral is: by p = c ⇒ y p = A =
dy b
b Ramp input: a + by = ct + d
Root is p=− dt
a Assume, yp ≅ At + B and dyp /dt = A
Complementary function is yc = Ce Pt = Ce−(b / a )t Particular integral is: aA + by p = ct + d ⇒ aA + bAt + bB = ct + d
Complementary function = transient solution which decreases in c bAt + ( aA + bB ) = ct + d
bA = c ⇒ A =
magnitude with increasing values of time and ultimately vanish. b yss = At + B
(Natural response) ac bd − ac c bd − ac
aA + bB = d ⇒ + bB = d ⇒ B = = t+
Particular integral = steady-state solution which does not modify b b2 b b2
with increasing values of time. (Forced response) Complete solution is: y = yc + y p

Mechatronics Matlab code: First order system Mechatronics Response: 1st order system

0 t =0
Step Input: x(t ) =  dy
M t > 0 τ + y = Kx ( t )
y ( t ) = yo t = 0 dt

Response equation: y ( t ) = KM (1 − e − t /τ ) + yo e − t /τ

Steady state response: t → t∞ , yss = KM = y∞

y ( t ) − yo
Non-dimensional response: = 1 − e − t /τ
Symbolic math toolbox y∞ − yo
>> mupad
y ( t ) − yo
Step response: t =τ, = 1 − e −1 = 0.63
y∞ − yo

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Mechatronics Response: 1st order system Mechatronics Matlab code: First order system

0 t =0
Step Input: x(t ) =  dy
M t > 0 τ + y = Kx ( t )
y (t ) = 0 t = 0 dt

Response equation: y ( t ) = KM (1 − e − t /τ )

Steady state response: t → t∞ , yss = KM = y∞

y (t )
Non-dimensional response: = 1 − e − t /τ
y∞ Symbolic math toolbox
>> mupad
y (t )
Step response: t =τ, = 0.63
y∞

Mechatronics Response: 1st order system Mechatronics Matlab code: First order system
y ( t ) / y∞

1
τ =
a

Symbolic math toolbox

>> mupad

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Mechatronics Response: 1st order system Mechatronics Response: 1st order system

Time constant τ : the time it takes for the step response to 0 t =0

rise to 63% of its final value. . Ramp Input: x(t ) =  dy
 at t > 0 τ + y = Kx ( t )
Rise Time Tr: is defined as the time taken for the step response y (t ) = 0 t = 0 dt
to go from 10% to 90% of the final value.
Response equation: y (t ) = ?

First order system Tr = 2.31τ − 0.11τ = 2.2τ
Settling Time Ts: is the time taken for the step response to
come to within 2% of the final value of the step response.

First order system Ts = 4τ

Process is assumed to be complete when t ≥ 5τ

time constant is used to measure how fast a system can
respond.

Mechatronics Response: 1st order system Mechatronics Response: 1st order system

0 t =0 y (t )
Ramp Input: x(t ) =  dy
 at t > 0 τ + y = Kx ( t ) Ramp response = τ ( e − t /τ − 1) + t
y (t ) = 0 t = 0 dt Ka

Response equation: y ( t ) = Kaτ ( e −t /τ − 1) + Kat

Steady state response: t → t∞ , y = Ka ( t − τ )

y (t )
Non-dimensional response: = τ ( e − t /τ − 1) + t
Ka
y (t )
Ramp response: t =τ, = 0.36τ
Ka

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Mechatronics Second order system Mechatronics Second order system

Consider a homogeneous differential equation, Consider a non-homogeneous differential equation (step input),
d2y dy d2y dy
a 2 + b + cy = 0 a 2 + b + cy = d
dt dt dt dt
Assume, p ≅ d/dt and p2 ≅ d2/dt2
Assume, yss ≅ A, dyss /dt = 0 and d2yss /dt2 = 0
Characteristic equation: ap 2 + bp + c = 0 d
Steady-state solution is: cyss = d ⇒ yss = A =
−b ± b 2 − 4ac 2 c
Roots are p = Transient solutions are: d y dy
2a Ramp input: a 2 + b + cy = dt + e
dt dt
Case 1: p1, p2 ---- real and unequal roots Assume, yss ≅ At + B, dyss /dt = A and d2yss /dt2 = 0
yt = C1e P1t + C2 e P2t Steady-state solution is: bA + cyss = dt + e ⇒ bA + cAt + cB = dt + e
Case 2: p1, p2 ---- real and equal roots (p1 = p2 = p) d cAt + ( bA + cB ) = dt + e
yt = C1e Pt + C2te Pt cA = d ⇒ A =
c yss = At + B
Case 1: p1, p2 ---- complex conjugates (p1 = m + jn, p2 = m - jn)
bd ce − bd d ce − bd
yt = emt ( C1 sin nt + C2 cos nt ) bA + cB = e ⇒ + cB = e ⇒ B = = t+
c c2 c c2
Complete solution is: y = yt + yss

Mechatronics Second order system Mechatronics Second order system

Write down the response equation for this system.

m m

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Mechatronics Second order system Mechatronics Damping ratio

The amount of damping is normally specified by quoting a

damping ratio, ζ, which is a pure number, and is defined as
follows: c c
ζ = =
cc 2 km
where c is the actual value of the damping coefficient and
cc is the critical damping coefficient. The damping ratio will
Question: Obtain the complete solution for equation: therefore be unity when c = cc, where occurs in the case of
critical damping. A second order system is said to be
d2 f df
2
+ 2ςωn + ωn2 f = ωn2 K critically damped when a step input is applied and there is
dt dt just no overshoot and hence no resulting oscillation.
with (a) ζ = 0, (b) ζ = 1, (c) ζ < 1 and (d) ζ > 1.
Assume the system initially at rest. Natural frequency (ωn) of a second order system is the
frequency of oscillation of the system without damping.

Mechatronics Damping ratio Mechatronics Second order system

The magnitude of the damping ratio affects the transient Question: Obtain the complete solution for equation:
response of the system to a step input change, as shown in the d2 f df
2
+ 2ςωn + ωn2 f = ωn2 K
following table. dt dt
with (a) ζ = 0, (b) ζ = 1, (c) ζ < 1 and (d) ζ > 1.
Magnitude of damping ratio Transient response Assume the system initially at rest.
Characteristic equation: p + 2ςωn p + ωn = 0
2 2

Zero Undamped simple harmonic motion

Roots are p = − ζ ± ζ 2 − 1  ωn
Greater than unity Overdamped motion  
Unity Critical damping (a) ζ = 0 (No damping / undamped)
Less than unity Underdamped, oscillation motion Roots are p = ± jωn
Transient solution: f t = C1 sin ωn t + C2 cos ωnt
Question: List the transient response specifications for a
Steady-state solution: f ss = K
general second order system and explain the specifications f = C1 sin ωnt + C2 cos ωnt + K
Complete solution:
graphically for a unit step input.
Initial condition: f = 0, df / dt = 0; t = 0 ⇒ C1 = 0, C2 = − K
Complete solution: f = K (1 − cos ωn t )

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Mechatronics Second order system Mechatronics Matlab code: Second order system

Question: Obtain the complete solution for equation: Question: Obtain the complete solution for equation:
d2 f df d2 f df
2
+ 2ςωn + ωn2 f = ωn2 K 2
+ 2ςωn + ωn2 f = ωn2 K
dt dt dt dt
with (a) ζ = 0, (b) ζ = 1, (c) ζ < 1 and (d) ζ > 1. with (a) ζ = 0, (b) ζ = 1, (c) ζ < 1 and (d) ζ > 1.
Assume the system initially at rest. Assume the system initially at rest.
Characteristic equation: p + 2ςωn p + ωn = 0
2 2

Roots are p = − ζ ± ζ 2 − 1  ωn
 
(b) ζ = 1 (Critical damping)
Roots are p = −ωn ± 0
Transient solution: ft = C1e−ωnt + C2te −ωnt
Steady-state solution: f ss = K
Complete solution: f = C1e −ωnt + C2te−ωnt + K
Initial condition: f = 0, df / dt = 0; t = 0 ⇒ C1 = − K , C2 = −ωn K
Complete solution: f = K (1 − e−ωnt − ωn te −ωnt )

Mechatronics Second order system Mechatronics Second order system

Question: Obtain the complete solution for equation: Question: Obtain the complete solution for equation:
d2 f df d2 f df
2
+ 2ςωn + ωn2 f = ωn2 K 2
+ 2ςωn + ωn2 f = ωn2 K
dt dt dt dt
with (a) ζ = 0, (b) ζ = 1, (c) ζ < 1 and (d) ζ > 1. with (a) ζ = 0, (b) ζ = 1, (c) ζ < 1 and (d) ζ > 1.
Assume the system initially at rest. Assume the system initially at rest.
Characteristic equation: p + 2ςωn p + ωn = 0
2 2
Characteristic equation: p + 2ςωn p + ωn = 0
2 2

Roots are p = − ζ ± ζ 2 − 1  ωn Roots are p = − ζ ± ζ 2 − 1  ωn

   
(c) ζ < 1 (Under damping) (d) ζ > 1 (Over damping)
Roots are p = a ± jωd Roots are p = a±b
Transient solution: f t
= e at ( C1 sin ωd t + C2 cos ωd t ) Transient solution: f t = C1e( a + b)t + C2 e( a −b )t
Steady-state solution: f ss = K Steady-state solution: f ss = K
Complete solution: f = eat ( C1 sin ωd t + C2 cos ωd t ) + K Complete solution: f = C1e( a +b )t + C2 e( a −b)t + K
Initial condition: f = 0, df / dt = 0; t = 0 ⇒ C1 = Ka / ωd , C2 = − K Initial condition: ⇒ C1 = ( a − b ) K / 2b, C2 = − ( a + b ) K / 2b
Complete solution: f = K 1 + e at {( a / ωd ) sin ωd t − cos ωd t} Complete solution:f = K 1 + {( a − b ) / 2b} e( ) − {( a + b ) / 2b} e( ) 
a +b t a −b t

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Mechatronics Response: 2nd order system Mechatronics Matlab code: Second order system
Step Input

Question: Draw a typical time response curve for a second with (a) ζ = 0,
order system with step input and define various parameters
used for transient response specifications.

Mechatronics Matlab code: Second order system Mechatronics Matlab code: Second order system

with (b) ζ = 1, with (c) ζ < 1

(ζ = 0.5)

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Mechatronics Matlab code: Second order system Mechatronics Response: 2nd order system
Step Input

with (d) ζ > 1

(ζ = 1.5)

Mechatronics Response: 2nd order system Mechatronics Second order Underdamped

Step Input system
General response equation for an underdamped second order
system c ( t ) = 1 − e at {cos ωd t − ( a / ωd ) sin ωd t}
where a = −ζωn , ωd = ωn 1 − ζ 2

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Mechatronics Second order Underdamped Mechatronics Second order system

response
General response equation for an underdamped second order Question: Show that for an under damped second order system,
system peak time, Tp, can be evaluated as
π
Tp =
ωn 1 − ζ 2
where ζ is the damping ratio and ωn is the natural frequency.
1) Peak time, Tp - The peak time is the time required for the response
to reach the first peak, which is given by:
Time Specifications:
• ωn − ζωnT p
c (t ) = e sin ωn 1 − ζ 2 Tp = 0
Tp = Peak time (time to reach first or t =T p 1− ζ 2
maximum peak )
⇒ ωn 1 − ζ 2 Tp = nπ
Tr = Rise time (For under damped system,
time to rise from 0% to 100% of cfinal) nπ
⇒ Tp =
Ts = Settling time (Time to reach and stay ωn 1 − ζ 2
within ±2% of cfinal) π
%OS = Overshoot (% of c(t) at Tp in Tp - is the time of the occurrence of the first peak: Tp =
ωn 1 − ζ 2
excess of cfinal)
Sa s a

Mechatronics Second order system Mechatronics Second order system

Question: Show that for an under damped second order system, Question: Show that for an under damped second order system,
percentage of overshoot, %OS, can be evaluated as percentage of overshoot, %OS, can be evaluated as
   
−  ζπ / 1−ζ 2  −  ζπ / 1−ζ 2 
   
%OS = e ×100 %OS = e ×100
where ζ is the damping ratio. where ζ is the damping ratio.
Percent overshoot, %OS - The percent overshoot is defined as the Percent overshoot, %OS - The percent overshoot is defined as the
amount that the waveform at the peak time overshoots the steady- amount that the waveform at the peak time overshoots the steady-
state value, which is expressed as a percentage of the steady-state state value, which is expressed as a percentage of the steady-state
value. cmax − c final value. cmax − c final
%OS = ×100 %OS = ×100
c final c final
 
−  ζπ / 1−ζ 2 
 
c final = c ( t → ∞ ) = 1 %OS = e ×100
cmax = c ( t = Tp )  
− ζπ / 1−ζ 2   ζ  
− ζπ /

1−ζ 2 
cmax = c ( t = Tp ) = 1 − e  
 cos π + sin π  = 1 + e  
 1− ζ 2 
 

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Mechatronics Second order system Mechatronics Second order system

Question: Starting from the general response equation for an Question: Starting from the general response equation for an
underdamped second order system, derive an expression for underdamped second order system, derive an expression for Rise
settling time. time. Reference: K. Ogata, Modern Control Engineering
Setting time, Ts - The settling time is the time required for the Rise time, Tr – The rise time is the time required for the response
amplitude of the sinusoid to decay to 2% of the steady-state to rise from 10% to 90%, or 5% to 95%, or 0% to 100% of its final
value. value. For under damped second order systems, the 0% to 100%
To find Ts, we must find the time for which c(t) reaches & stays rise time is normally used. For overdamped systems, the 10% to
within ±2% of the steady state value, cfinal.. The settling time is the 90% rise time is commonly used.
time it takes for the amplitude of the decaying sinusoid in c(t) to
reach 0.02, or c − c ( t ) = 0.02
final

1
⇒ e −ζωnTs = 0.02
1− ζ 2

Ts ≈
4 (
− ln 0.02 1 − ζ 2 )
ζωn ⇒ Ts = ζωn

Mechatronics Second order system Mechatronics Second order system

Question: Starting from the general response equation for an Question: Starting from the general response equation for an
underdamped second order system, derive an expression for Rise underdamped second order system, derive an expression for Rise
time. Reference: K. Ogata, Modern Control Engineering time. Reference: K. Ogata, Modern Control Engineering

π −β
Tr =
ωd

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