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2s + 1
K2
become
( 1s + 1)( 2 s + 1)
3. Inherently Second Order Systems
K1 K 2
or
2 s 2 + 2s + 1
2 s 2 + 2s + 1 = 0
>1 =1 0<<1 Overdamped Critically Damped Underdamped Two distinct real roots Two equal real roots Two complex conjugate roots
Ways to describe underdamped responses: Rise time Time to first peak Settling time Overshoot Decay ratio Period of oscillation
Eq. 5-51
1 2 y (t ) = KM 1 e t / cos
1 2 t + sin 2 1
as , tr and OS
0<<1
s ( s + 2s + 1)
<1
1 2
OS = exp 1 2
DR = (OS )
2
Above (5-56)
(5-54)
(5-55) (5-60)
2 = exp 2 1 2 P= 1 2
1 2 P 2
Above (5-57)
tr =
1 2
(1 cos )
1
P = time/cycle = 1/(), 2 = , so P = 2/
(where = frequency in cycles/time)
A
= A
[1 ( ) ] + (2 )
2 2
KA
Note: There is also an equation for the maximum amplitude ratio (5-66)
(5-63)
Bottom line:
We can calculate how the output amplitude changes due to a sinusoidal input
Example 5.5
Heated tank + controller = 2nd order system (a) When feed rate changes from 0.4 to 0.5 kg/s (step function), Ttank changes from 100 to 102C. Find gain (K) of transfer function:
Example 5.5
Heated tank + controller = 2nd order system (a) When feed rate changes from 0.4 to 0.5 kg/s (step function), Ttank changes from 100 to 102C. Find gain (K) of transfer function:
Example 5.5
Heated tank + controller = 2nd order system (b) Response is slightly oscillatory, with first two maxima of 102.5 and 102.0C at 1000 and 3600 S. What is the complete process transfer function?
Example 5.5
Heated tank + controller = 2nd order system (c) Predict tr:
Example 5.6
Thermowell + CSTR = 2nd order system (s ) 1 Thermocouple (a) Tmeas =
( s) Treactor
(3s + 1)(10s + 1)
Find , :
CSTR
Example 5.6
Thermowell + CSTR = 2nd order system (s ) 1 (a) Tmeas =
( s) Treactor
(3s + 1)(10s + 1)
Find , :
Example 5.6
Thermowell + CSTR = 2nd order system (b) Temperature cycles between 180 and 183C, with period of 30 s. : Find , A
10
Example 5.6
Thermowell + CSTR = 2nd order system (c) Find A (actual amplitude of reactor sine wave):
11