Chapter 5 Time Response Analysis

Test signals Impulse Step Ramp

Test signals
Sinusoidal. (frequency response)

Laplace Transforms

Impulse (t) step u-1 (t) Ramp t u-1 (t)

1 1/s 2 1/s

Order of

system is ???

Order of

system is order of the differential equation

zeroth order system : C(s) / R(s) = K a constant (algebraic equation)

Examples of zeroth order systems : Potentiometer dc amplifier dc tachogenerator

First order systems:

C(s) / R(s) = K / (s + a)

Open loop 1000 / ( 100 + 200 s ) = 10 / ( 1 + 2 s ) Closed loop 1000 / ( 200 + 200 s ) = 5/(1+s)

open loop vt (s) = (vr (s) )(10 / ( 1+2 s )) = (25 / s )( 10 / (1 + 2 s) Vt () = 250 V

closed loop vt(s) = ( 25 / s)( 5 / ( 1+s )) Vt () = 125 V.

250

200

150

100

50

x1 x2

0.5

1.5

2.5

3.5

4.5

In general

K ( 1- e

- t / )

K : steady state value of the function : time constant smaller, faster response.

Ramp response of first order systems

Ramp Response r (t) = t u-1 (t)

2 s

R (s) = 1 /

C(s) R(s) Let

K = 1 + st K = 1

C
1 1 + s 1 s
2

G (s) = R (s) =

)= c(s
1

1 s (1+ s )
2

1 = 2 s 1+ s s

c(t) = t - (1 e

-t/

9 8 7 6 5 4 3 2 1 0
0 0. 1 1. 2 2. 3 3. 4 4. 5 5. 6 6. 7 7. 8 9 9 5 5 5 5 5 5 5 5

Second order systems

n C(s) = 2 2 R ( s ) s + 2 n s + n
2

For unit step input

R (s )

1 s

Applying final value theorem

C(t) t =1.0

Second order example

- position control.

r +

Kp

KA

KT Ra

L 1 s(Js+B)

sKb

Taking

KP = 0.1 V / rad KA = 10 V / V KT = Kb = 0.5 Nm/A or V/rad/sec.

J = 1 Kg

2 m

B = 0.5 Nm / rad / sec

1 L(s) = 2 r (s) s +s +1

 n = 1 rad / sec. = 0. 5

2 s

+s+1 =
2 3 2

(s + 0.5) + (


- 0.5

j
-j

In general
2 s

+ 2 n s + n
2

= (s + n ) + n 1

s1,2 = n j n 1
2

= - n j d
d = n 1 d
2

damped frequency damping factor n undamped natural frequency

For 0 < < 1

roots of s are complex conjugate

For = 1
roots are repeating at

s = - n

For > 1
roots are real

 = 0 : undamped
0<<1: under damped

 = 1 : critically damped > 1 : over damped

Unit step response

r (t)

= u-1 (t) 1 R (s) = ---s

 =0
c( s ) =

2 n 2 n

s( s + )

1 s = 2 2 s s + n

 = 0 c ( t ) = 1 - cos nt (pure oscillation)

0 < < 1:
C(s) = n s
2 (s 2 2)

+ 2 ns + n

C(s) =

1 s + 2 n - 2 2 s s + 2 ns +n

s + n 1 = - 2 2 s s + 2 ns +n n 2 2 s + 2 ns +n

we know

1 u -1 ( t ) s s cos at 2 2 s +a

a s +a
2 2

sin at

s+b (s+b) +a a (s+b) +a

2 2 2

e e

-bt

cos at sin at

-bt

s + n = 2 2 s + 2 n s + n ( s + n ) 2 2 ( s + n ) + d

n t

cos d t

 n = 2 2 s + 2 s + n
n

n d . 2 2 d ( s + n ) + d

n - n t .e sin d t d

1
2

.e

- n t

sin d t

Combine sine cos terms :

1 1-
2

1
2

1-

1 1-
2

sin ( dt + )

where cos = .

 c (t) = 1e
- n t 2

sin ( d t + )

C(t) 1.0

1+

e- nt

1- 2 1e-nt

Time(t)

1-2

Unit step response of 2nd order system for <1

where (- n) is the real part of roots

-n

 d is the imaginary part of roots 2 jn 1- = d

Cos =
-

n 1-

C(t)
Mp

Tolerance band

1.0

tr tp

Time

Time response spceification

Peak overshoot (Mp)

dc = 0 dt

 sin (dt + ). cos - cos (dt + ).Sin = 0

 sin (dt) = 0 dt =

Time at peak overshoot ( tp )

tp = /d

At t = tp ,
c(t p ) = 1 e
n .t p 2

sin ( + )

= 1+ e

n . n 1

M p = e

2 1

=e

2 1

100%.

As damping factor increases peak overshoot ??

As damping factor increases peak overshoot reduces


0 0.1 0.2 0.3 0.4 0.5

Mp 100 73 53 37 25 16

0.6 0.7 0.8 0.9 1.0

Mp 9.5 4.6 1.5 0.02 0

1 0 0 9 0 8 0 7 0 6 0 5 0 4 0 3 0 2 0 1 0 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

% Mp

Settling time (ts) Assume tolerance band 5 %

0.05 =

t n s e

l n ( 0 .05 ) = n t s or ts = 3

t s for 2% tolerance is 4

Rise time

(tr)
e
- n t r 2

c (t r ) = 1 = 1 -

sin ( d t r + )

or sin (dtr + ) = 0 dtr + =

or

tr = d

Steady state error for step input = 0

Steady state error of a second order system with ramp input:

E(s) = R(s) - C(s)

= 1
2 s

1-

2 n 2 (s

+ 2 ns +

2 n )

= 1 s + 2 n s . 2 2 2 s s + 2 n s + n
2

e(t)

= Lt sE(s) t s 0

2 =

For = 0.5 & n = 1 ess = 1 unit

Some more MATLAB commands . >> ng = [1 1]; dg =[1 2]; >> printsys (ng,dg)

num/den =

S + 1 S + 2 >>

>> z = roots(ng) z = -1

>> p = roots(dg) p = -2 >>

>>pzmap(ng,dg)
>>title(pole-zero map)

>>[nt,dt] = cloop(ng,dg,-1) >>zc = roots(nt) zc = -1

>>pc = roots(dt) pc = -1.5 >>

>>ng = [1]; dg = [1 1 1]; >>p = roots(dg) p= -0.5 + j 0.866 -0.5 - j 0.866

>>t = [0:0.5:10]; >>[y,x,t] = step(ng,dg,t); >>plot(t,y), grid

>>xlabel(Time[sec]) >>ylabel(output)

An example : R + K
1 s(s+1)

K G= s(s + 1) K C R = 2 s +s+K

 nn = =
2

K 1 K

Let K = 100 n = 10 rad / sec = 0.05

 Mp = e
2 1

100% = 85 %

ess for ramp input = 2 /n = 0.1 / 10 = 0.01

While the steady state error is acceptable Mp is not. - Damping to be increased to say, 0.5

Then 2 n = 1 1 n = =1 2 0.5

ess increases to 1 - not

acceptable. So we go for changing the configuration of the amplifier - derivative error compensation.

Error coefficients
R(s) + E(s) G(s) C(s)

We know
C (s) = R (s) . G (s) / ( 1+G (s) )

and E (s) G (s) = C (s)

E (s) = R (s) (1 + G (s))

Steady state error (e ss ) = Lt s E (s)

s0

step input

R (s) = 1 /s (constant position)

1 1 ess = Lt s . s0 s 1+ G(s)

Let
s 0

Lt G ( s ) = K p (position error coeff.)

Then

1 ess = 1+ K p

Ramp input

R (s) = (Constant velocity) Steady state error in position

2 1/s

1 = Lt s 2 . s 0 s 1 + G (s) 1 1 Lt Kv s 0 sG ( s )
K v = velocity error coefficient

parabolic input 3 R (s) = 1/s

(constant acceleration)

Steady state error in position

= Lt s.
s0

1 s
2 3

1 1 + G (s) 1 Ka

= Lt

1 s G (s)

s0

Ka = acceleration error coefficient

( s + z1 )(s + z2 )(....) G ( s) = n s ( s + p1 )( s + p2 )(....) n type of the system

Type 0 system
K p = Lt G ( s ) = finite value
s0

1 e ss = = finite value 1+ K p

Type 0 system

K v = Lt sG(s) = 0
s0

e ss =

Type 0 system

Ka = Lt s G(s) = 0
2 s0

ess =

Type 1 system

K p = L t G (s) =
s0

ess = 0

Type 1 system

K v = L t s G (s)
s 0

= finite ess = 1 K v = finite

Type 1 system

K a = Lt s G(s) = 0
2 s0

e ss =

Type 2 system

K p = L t G (s) =
s0

e ss= 0

Type 2 system

K v = L t s G (s) =
s0

e ss = 0

Type 2 system

Ka = Lt s G (s) = finite
2 s0

ess = 1 Ka = finite

input Type

u-1(t)
1 1 + Kp

tu-1(t)

t u1(t) 2

0 1 2

1 Kv

1 Ka

0 0

When feedback is non unity,

K p = Lt G ( s ) H ( s )
s0

K v = Lt s G ( s ) H ( s )
s0

K a = Lt s G ( s ) H ( s )
2 s0

Derivative error Compensation R +

1 s(s+1)

r +
L + -

Kp

KA

KT/Ra

1 s(Js+B)

sKb

with K = 100 n = 10 rad/sec = 0.05 Mp = 85% (not acceptable)

t s (2%) = 4 n = 8 sec.

ess

for ramp input (type 1 system)

= 0.01

Objective : increase the damping factor from 0.05 to 0.5.

Change the amplifier transfer function to K + s KD

K + sK D G ( s) = s ( s + 1)

K + s KD G(s) = 2 G(s) +1 s + s + K + s KD

n = ( no change) = 10 rad/sec 2 n = 1 + KD for = 0.5, KD = 9

K

for ramp input remains the same at 0.01

ess

4 ts (2% )= = 08 . sec. n

Derivative output Compensation

R +

1 s(s+1)
sKt

Introduce another feed back loop

K G(s) = s(s + 1 + Kt ) G(s) (1 + G(s)) = K s + s (1 + Kt ) + K

2

Specifications

= 0.5 ess for ramp input = 0.01

K v = Lt sG( s)
s 0

K = = 100 - - - - - (1) 1 + Kt

2 n = 1 + Kt or K = 1 + K t (2)

From (1) & (2),

K = 100 or K = 10000 K t = 99 .

Comparing both methods derivative output transducer required gain reduced due to feedback

Integral Control
+
KI KA + s

1 s ( s + 1)

G( s) =

K As + K I s ( s + 1)
2

type 2 ess for step input = 0 ess for ramp input = 0 ess for parabolic input is finite

However system becomes of 3 rd order - stability problem will be discussed in later chapters