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6 - Time Response Analysis 2

This document discusses time response analysis of control systems. It summarizes typical test signals like impulse responses and discusses steady state error. It then provides examples of determining step, ramp and error constants for different transfer functions. The document also summarizes responses for first order and second order systems to unit step, ramp and impulse inputs. It discusses concepts like damping ratio, natural frequency, rise time, settling time, overshoot and how they are affected by system parameters.

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حساب ويندوز
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73 views

6 - Time Response Analysis 2

This document discusses time response analysis of control systems. It summarizes typical test signals like impulse responses and discusses steady state error. It then provides examples of determining step, ramp and error constants for different transfer functions. The document also summarizes responses for first order and second order systems to unit step, ramp and impulse inputs. It discusses concepts like damping ratio, natural frequency, rise time, settling time, overshoot and how they are affected by system parameters.

Uploaded by

حساب ويندوز
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Time Response Analysis of Control System

Typical Test Signals:

For impulse response r (t) =δ (t) , R(s) = 1 shock inputs

The system type refers to the order of the pole of G(s) at s = 0.

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Steady State Error ess:

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Example: Determine the step, ramp, parabolic error constants and
steady state errors of the following unity feedback control system. The
forward path T.F is given G(s) = 1ooo/ (1+0.1 s)(1+10 s)

Solution: kp = 1000 , ess = 1/1001

K v= 0 , ess= ∞

Ka = 0 , ess = ∞

Example: A unity feedback control system has the forward transfer


function G(s) = k (2 s + 1) / s (4 s + 1) (s + 1) 2

The input r(t) = 1 + 5 t is applied to the system . It is desired that ess


< 0.1. Determine the minimum value of k to the satisfy the requirement.

Solution: system type 1 , we have two inputs (unit step + ramp)

For unit step kp = ∞ , ess = 0

For ramp kv = k , ess = 5 / k

Total ess = 0 + 5 / k = 5 / k

5 / k < 0.1 , k > 50

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First – order systems:
Consider the first –order system shown in figure below. Physically, this
system may be represent an RC electric circuit.

The closed – loop T.F is :

We shall analyze the system responses to such inputs as the unit-step,


unit – ramp, and unit – impulse functions. The initial conditions are zero

Unit – step response :

Expanding C(s) into partial fractions gives:

Taking the inverse L.T, we obtain:

The above equation states that initially the output c(t) is zero and finally it becomes unity

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The exponential response curve is as shown in figure below. Note that
the smaller the time constant T, The faster the system response.

e(t) = r(t) – c(t) = 1- ( )

ess = 0

Unit – ramp response:

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The unit- ramp input and the system output are shown in figure below. The error in
following the unit- ramp input is equal to T for sufficiently large t. The smaller the time
constant T, the smaller the ess

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Unit – impulse response:

Second –order systems:

The typical unit-step response of a linear control system is as shown in


figure 5.2. With reference to the unit-step response, performance
criteria commonly used for the characterization of a linear control
system in the time domain are defined as follows:

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Consider that a prototype second-order control system with unity
feedback is represented by the block diagram shown below

The open-loop transfer function of the system is

The characteristic equation of the prototype second-order system is

The result is

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Figure below shows the unit-step response y(t) plotted as functions of
the normalized time ωnt for various values of damping ratio ζ

The response becomes more oscillatory with larger overshoot as ζ


decreases. When ζ ≥ 1, the step response does not exhibit any
overshoot ; that is, y(t) never exceeds its final during the transient. The
response also show that ωn has a direct effect on the rise time ,delay
time ,and settling time, but does not affect the overshoot.

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Damping ratio and damping factor:
The effects of the system parameters ζ and ωn on the step response
y(t) of the prototype second- order system can be studied by referring to
the roots of the characteristic equation.

S1, s2 : complex frequencies. ζ : damping ratio α : damping factor or damping


constant (neper frequency) . 1/ α = T: time constant . ωn :undamped natural
frequency ( resonant frequency) . ω : damped or conditional frequency.

Natural frequency:
Figure below illustrates the relationships between the locations of the characteristic
equation

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The following classification of the system with respect to the value of ζ is
made.

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Figures below illustrates typical unit-step responses that correspond to
the various root locations

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Maximum overshoot (Mp) and peak time (tp):
Mp is defined only for step function input. Mp depend on damping ratio
( ζ ). The relationship between ζ and Mp can be obtained by taking the
derivative of output response y(t) with respect to t and setting the
result to zero

Peak time (tp)= = =

Mp= y(tp) – 1
Mp=

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Rise time (tr) and settling time (ts):
For rise time, setting y(t) = 1 , tr =π – Ө / ω
ts =

t s=

*It is desirable that the transient response be sufficiently fast and be


sufficiently damped. Thus 0.4 ≤ ζ ≤ 0.8 or 2.5% ≤ Mp ≤ 25%

*For rapid response ωn must be large.

Example:

Solution:

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Example: The unit step response of a linear control system is shown in
figure below. Find the T.F of a second order prototype system to model
the system.

Solution:

Example: for the control system shown below . Find the values of k and
kt so that the ζ = 0.6 and ts = 0.1sec of unit step response .

Solution:

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Closed –loop T.F= Y(S) / R(S) = 25K/ S2 + (5+500Kt) S +25K

Compare with prototype second- order system

25K = ωn2 , 2 ζ ωn = 5 +500kt= 1.2 ωn , for 5% ts= 3/ ζ ωn =0.1

ωn= 50 rad/sec kt = 0.11 , k= 100

Example: a mechanical vibratory system shown below. When 2 Ib of


force (step input) is applied to the system , the mass oscillates , as
shown below .Determine m , b , and k of the system from this response
curve.

Solution:

tp = 2 =

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Consider closed loop T.F =s+ a / s2+2s+ 9 , a =3 , 5 , 10

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Example:

approximation.

a: valid , b: not valid

Solution:

a : valid , b: not valid

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