Mechanical Measurement Systems

Prof. Ravi Kumar

Lecture – 21
Second Order System- Ramp Response

Hello, I welcome you all in this course on mechanical measurement systems. Today, we
will discuss second order system, the ramp response and we will focus on ramp response
only second order system.

(Refer Slide Time: 00:36)

And we will focus on ramp response, it means when there is a ramp input in a second
order system, how system is going to behave.

Now, before we start the ramp response, I like to mention here that in case of step
response of second order system, recently we have discussed step response of second
order system where input is instantaneous where input is instantaneous and remains
constant.

Now in this ramp response if I say the system is under damped when the system is under
damped, they are going to be the vibrations and after a certain time period, this is omega
t and this is qo qik sorry qo by K divided by qi qo by K divided by qi, right.
Then we will have vibrations. Now, suppose this is for under damped system it means
zeta is less than 1. Now, suppose zeta is equal to 0.001 in that case, it is obvious that in
that case we have to will we are going to have vibrations of larger amplitude and they
will die after a long time very long time right.

(Refer Slide Time: 02:28)

And this type of input or this pite of response for a measuring system I mean it is not
appreciated a measuring system should response should stabilize as early as possible. So,
that is why last time I told you that the damping ratio has to be in a range of 0.6 to 0.7
now can go up to 0.8.

So, there we strike a very good compromise between the oscillation and the sluggishness
of the response of the system right.
(Refer Slide Time: 03:09)

Now we have like piezoelectric transducers. So, piezoelectric transducers have a quality
when a force is applied against the opposite faces EMF is generated or by applying EMF
against the opposite faces the deformation will take place in the crystal. Now in
piezoelectric crystal, it has zeta or the damping ratio of the order of 0.001 right.

Then step input was given to this crystal and it was found that it is not responding like
this the response is very very much acceptable, right. Now, the reason being the reason
being then the analysis was done and the reason was found that first of all we should
understand that no I mean model can truly represent the actual system, there has to be or
there will be a deviation between a model and the working of actual system.

So, when we say there is a step input in the system it is not exactly step input the input is
something like this.
(Refer Slide Time: 04:35)

Right, this is let us say time and this is qi. So, the system will teach some infinity
decimal time, it may be milliseconds, this may be in milliseconds, but there has to be
some infinite decimal time for increasing the input from 0 to this value qis.

Now, this type of input shall it alter the response of the system. Now, the equation is if
this type of input is given shall it respo alter the response of the of the instrument. Now,
let us let we have to see that mathematically. Now, this type of input is known as
terminated ramp response terminated the ramp input to the system and we help to see the
terminated ramp response of the instrument.

Now for terminated ramp input the input becomes 0 here sorry change the input become
0 or slope of the ramp now you or the input becomes constant after this. So, there are two
parts of this input as we have done earlier in the transient response that is for time
interval t.

So, here it is divided in two zones one zone that is p is less than or equal to T and another
zone when t is greater than or equal to T and it can go to up to in 3 D for this. Now again,
we will start with the basics of second order system. So, first of all, we will write
equation for the transient response of second order system that is D square by omega n
square plus 2 zeta omega.
(Refer Slide Time: 06:50)

Sorry, D by omega n plus one multiplied by qo is equal to K qi and we can have higher
order higher order terms also on this side input side, but because this K qi is a good
enough to represent many of the engineering systems. So, we can find ourselves to kqa
only.

Qi is equal to the two cases input cases one is t by T, right when 0 less than t less than
capital T and then another one is one when input is one let us take input and this is the
steady state value and it will continue to be one right. Now output is dqi by dt is equal to
0 at t is equal to 0 right.

Now, for these boundary conditions for these boundary conditions, we have to find
solution for this and solution for this for all the cases all the cases means when the
system is over damped when the system is critically damped and when the system is
sorry when the system is under damped right and for both the parts for I mean in case of
terminated ramp input. So, there is a variation of input and then input is constant. So,
both the parts we have to find a generalized equation, and for over damped system over
damped system.

So, for we will start with the cases for under damped system because most of the
systems, I mean which are having very low because this terminated ramp response is
only for the system where the damping ratio is 0.01.
So, when the damping ratio is very close to 0 or damping ratio let us say 0.001.

(Refer Slide Time: 09:34)

So, ideally we should have calculated for over damped critically damped ever under
damped, but this terminated ramp response is useful only this analysis is useful only in
the case when damping ratio is very low, right.

(Refer Slide Time: 10:06)

So, now here after just putting these boundary conditions here as shown here we get the
output q by K is equal to t by T, then 2 zeta by omega n plus 1 by omega nT under root
one minus zeta square e raise to power zeta omega nT then signed under root one minus
zeta square omega nT plus phi again, the phi is the phase angle and this equation is valid
for only when time is greater or is less than or equal to time for terminated ramp
response because the time for terminated ramp respo ramp input is up to this only right.
So, we have got one equation for this.

Now, another equation for we have this equation is valid when time is greater than T then
qo by K, we have taken the previous expression as it is and then it is minus another
expression and the both the expressions have certain common terms and certain different
terms as well and the phase angle here in this case is 2 2 tan inverse under root zeta
square by zeta, right. So, this is the case when time is greater than capital T, I mean when
terminated sorry the ramp input the ramp input has stopped and it can go up to infinity.

So, this is pretty long equation and I have not gone into the details how the equation has
been driven because as a mechanical engineer we are mostly concerned with the
application side of the things right. So, instead of going into the details or integrase is a
mathematical integrates of driving this equation I will like to discuss the implications of
this equation now implications of this.

(Refer Slide Time: 12:03)

Equation is that there is a steady error of the size in this equation we will find that there
is a steady state error.
(Refer Slide Time: 12:18)

Now, steady state error sse, the steady state error is of the size of two zeta divided by
omega nT. So, in terminated ramp response there is an a steady state error and steady
state error can be expressed by this, Now here if the T is very small, if we make omega
and very high even for that if T is small and the product has to be high higher than much
higher than the zeta, then steady state error will be reduced.

So, if we take the piezoelectric crystal for piezoelectric crystal the frequency is let us say
10 to 5; 5 hertz, right, T is some milliseconds right, we will take one example for this and
then if zeta is 0.001 in that case, the order of the error will be very less that we will
discuss later or on.
(Refer Slide Time: 13:19)

Now, first of all let us discuss about the response of the system, now how system is going
to respond. Now for this using these equations using these equations some curves have
been drawn like this.

(Refer Slide Time: 13:43)

For example the first curve is about time versus qo by K and this curve starts from let us
say 0.02; 0.006, I am taking example of piezoelectric crystal where zeta is 0.001 right.

and for example, the ramp response is terminated approximately 6.3 milliseconds or 6
exactly 6.28 milliseconds. So, capital T is 6.28 milliseconds for very short duration on
time this cannot be 0 in ramp input, it is 0, but for actual for actual input even though, we
want to have sorry for step input it has to be 0, but in actual practice we cannot have 0 to
certain value in 0 for time interval there has to be some time interval and for here we
have assumed the value 6.28 milliseconds right and right.

Now, we will see the output of this crystal this output characteristics; so for the output
characteristics.

(Refer Slide Time: 15:21)

We divide in two parts one curve is for 0 to 10 into 10 to power minus 3. So, 0 2 sorry 2,
4, 6, 8 and 10 milliseconds. Now input is q by K right. So, it starting from 0.02, 0.04 and
up to it goes up to 0.020 10 times right.

And then we will say this is the input it is point six two eight. So, you come somewhere
here and the input is like this is the input is the ramp input. Now for this ramp input the
output of the output of or the response of the system is like this if it was vertical they are
remember, we could have observed the vibrations, but it is a ramp in the ramp the
deviation is not much n.

Now, ramp is terminated somewhere there right. So, now, we will draw another curve in
this curve we will take the type beyond 6.24 right.
(Refer Slide Time: 16:59)

And we will come somewhere here. So, let us say 6.3 milliseconds and then let us say
6.4 milliseconds or 10 to power minus 3 seconds right. So, this will involve both
response of ramp and as well as steady input.

So, now here this is sorry this is 1.0 and here is 1.002 right and there is a unit input as
you said in there is note, there is a input is like this input is you have taking unit input.
So, input is like this.

Now, the response of the system the response of the system is going to be like this here.
So, what I mean to say for this also there is not much deviation and when the input ramp
is completed in that case also the deviation is not much.

So, there is an excellent response we should say, there is an excellent response of the
system for terminated ramp input right though if we give ideally if you give the step
input there is going to be a lot of vibrations in the syst in the response of the instrument.
So, error in this type of measurement is I said to you earlier.
(Refer Slide Time: 18:59)

That it is 2 zeta by omega nT.

Let us take one example there is a pressure pickup which has damping ratio as 0.01. So,
damping ratio is 0.01 and natural frequency is 1 lakh.

(Refer Slide Time: 19:23)

Omega n is 0 lakh cycles per second.

Now, sorry this is one is not cycle, it is radians per second it is radians per second and
subjected to the ramp input with t is equal to 0.6 to 8 t is equal to 0.6 to 8, right. So,
transient error in percentage is going to be equal to 2 times zeta divided by omega n or
for 1 percent error it is going to be 1 by zeta divided by omega n.

So, for 1 percent error, it is going to be zeta divided by omega nT right and you can see
from here if you are putting the value because this low value of T which have could have
incurred very high error is compensated by very high value of natural frequency.

Now, we will take an example of pressure pickup in a pressure pick up where the
piezoelectric transducer is used the damping ratio is 0.01 and natural frequency is
100,000 radians per second.

(Refer Slide Time: 21:06)

So, the damping ratio 0.01 and natural frequency is 100,000 radians per second right.

And if the terminated ramp input is point is let us say point 0.628 milliseconds. So, if
you remember denominator, there is a term in the error omega nT. So, when we write this
omega nT though it is for a very short duration of time, if frequencies or the wn natural
frequency is substantially high as in the case of piezoelectric crystals, then the product of
these two is going to be hundred multiplied by 0.628 or 628 this is multiplied by zeta n
sorry, zeta this is damping coefficient this error is 2 zeta.
(Refer Slide Time: 22:11)

So, final error is going to be very insignificant in the response of the pickup and the
response of the pickup can always be shown as for this type of.

(Refer Slide Time: 22:29)

Input the response is going to be like this it will closely follow this like right.

After this we will take the ramp response of measuring systems in the ramp response of
measuring systems or the second order system ramp response second order system a
ramp response if you remember in the first order system.
(Refer Slide Time: 22:56)

We have taken ramp response as something like this, suppose this is ramp input, then the
output ramp output we have taken something like this, right and there is a steady state
error in the measurement or there is a time lag and steady state error in the measurement.

In the first order system and it was a like transient error was minus q dot is lambda e to
power minus lambda t that was a transient error and the steady stake error was steady
state error was q dot is lambda. So, this is the steady state error with the measurement.

Now here also we have for ramp response for the same initial conditions as in the case of
step response there is a final equation this is for the damped case when zeta is equal to
here in this case now we are going for the full fledge ramp response we will drive
equations for both all three cases when damping coefficient is greater than one when
system is critically damped and when the damping coefficient is less than 1.

So, when the system is over damped in that case the output.
(Refer Slide Time: 24:59)

Or the response of the system is expressed by this equation this appears to be a very
complicated equation and normally because and normally our systems have the de
damping ration in a in a range of 0.6 to 0.7.

(Refer Slide Time: 25:22)

So, normally our systems second order systems are followed by the equation governing
equation by under damped system and that is qo by K this is rate of input minus this
expression the angle phase angle can be calculated by using this equation which is a
function of damping ratio.
So, phi in under damped system the phase angle phi can be calculated by using this
equation. So, it is a function of damping ratio only and if we what we show the error in
the measurement when there is a ramp input, what is the error in the measurement. So,
like a first order system, we can have a graph for second order system also because as a
user we are more concerned with the error in the measurement right.

(Refer Slide Time: 26:51)

So, error in the measurement for second order system ramp input is going to be zeta is
equal to 1.5, it is going to be like this for zeta is equal to 1.5, this is over damped system
for a critical damped system.

So, this is let us say this is one for critically damped system is one for critically dam
system it will go like this is zeta is equal to 1 for under damped system there is going to
be change and a change is let us say zeta is equal to 0.4 the change is going to be like this
it is some degree of vibrations and that will also incur error in the measurement and that
is equal to 0.4 right.

Now, when the system is stabilized when the system is stabilized when the system is
stabilized the system is going to have and a steady state error and if we draw a curve
between time.
(Refer Slide Time: 28:10)

And the output and the output then suppose this is ramp input to the system this is the
ramp input to the system right.

Now, error in the output eventually there is going to be some error, but after a certain
time interval, there is going to be the steady state and there is going to be and steady state
error and this steady state error as I mentioned earlier it is 2 zeta 2 zeta qis rate divided
by omega n.

So, this is the steady state error in the ramp response of in first order system it was qis
rate multiplied by lambda. Now here this damping coefficient has come into the picture
and natural frequency has also come into the picture and this time constant has gone and
there is a time lag also there is one steady state other it means for this input output is this
much. So, this is a steady state error and this one is time lag.

So, in a ramp response there two things one is the steady state error that is at a particular
instant what is actual input and what is input indicated by the instrument and there is
another is time lag time lag means this input is shown at this time actual system is
responding for the same showing the same input at this time. So, this is the time lag and
time lag is represented by 2 zeta by omega n this is the time lag in the measurement and
this is steady state error in ramp response of measuring instrument.
So, that is all for today. And, in the next lecture we will start with the impulse and
frequency response of second order system.