Experiment No:01 Date:04/09/2018

FIRST ORDER AND SECOND ORDER SYSTEM

STUDY OF STEP RESPONSE OF FIRST ORDER SYSTEM (Thermometer)

AIM

To study the step response of the first order system (Thermo-well).

THEORY

A thermometer is added with additional resistance (thermo-well) at its bulb to increase its time constant. The
system can generally be considered as first order system.

The dynamic response of first-order type instruments to a step change can be represented by

Where,

θ =temperature indicated by thermometer, oC

θF =Final steady state temperature,oC

t =time, sec

T = time constant, sec

The linear first order differential has the particular solution for given initial conditions,


 1  e t / T
F

The time constant Τ is the time required to indicate 63.2% of the complete change.
The time constant, T is numerically equal to the product of resistance and capacitance.
PROCEDURE

 Fill the heating bath with clean water by opening the inlet valve of heating bath.
 Switch on beeper and set beep interval to 3 seconds.
 Ensue that cyclic timer is set to 30 seconds on time and 30 seconds off time.
 Switch on Mains to heat the water in heating bath to its boiling point. Switch off the mains.
 The water in heating bath is now near its boiling point. Insert the thermometer in heating bath suddenly after
noting its initial temperature.
 Note the thermometer reading at each beep interval till the temperature reaches
at steady state.

 Switch off beeper and fill up the readings observed in “Observations” below.

OBSERVATIONS& CALCULATIONS
 1) Initial temperature (0C) =90

2) Final temperature (0C) =31

Sl No. Time (Sec.) Actual temperature (⁰C)

1. 0 90

2. 2.5 80

3. 5.6 70

4. 9.8 60

5. 15.6 55

6. 21.1 50

7. 31.6 45

8. 59.1 40

9. 71.2 35

10. 120.6 32

11. 158.1 32

12. 172.3 32

13. 185.4 31
Calculations

Step change = Final temp. – Initial temp=590C

Value of 63.2% of step =0.632 x (Final temp – Initial temp) + Initial temp

=52.70C

Plot the graph of Actual temperature Vstime and note the value of time at63.2% of step change.

T=17s

This value is observed time constant of theThermometer. Calculate theoretically predicted temperature by
following equation:

Theoretical temperature = Initial temp. - {Step change x [1-exp (-1xTime/T)]}

=63.760C

Plot the graph of Theoretical temperature Vstime on the same graph plottedabove.

Model Graph:

RESULT:

1. The step response of the first order system is studied.

2. The time constant for the thermo-well is 17s
 B.STUDY OF STEP RESPONSE OF SECOND ORDER SYSTEM(Mercury Manometer & Water
Manometer)

AIM

To study the step response of the second order system (Mercury manometer& water manometer).

THEORY

The dynamic response of a second order system to a step change can be describedby a second-order
differential equation.The solutions to above equation involve three cases:

1. Under damped condition[ζ<1].

2. Critical damped condition [ ζ=1].
3. Over damped condition [ ζ>1].

The response for under damped system [i.e. ζ<1] can be written as:

   1    1  
 
2 2
y (t )  KM  1  e t /  Cos t  Sin t  
     1 2    
     

In case of manometer:

y(t) = Response at any time ‘t’ after step change (deviation value).

K = Gain factor =1

M = Magnitude of step change

Where,

L = Column length in meter,

µ = Dynamic viscosity in Kg/m.s.

ρ = Mass density of the manometer fluid in kg/m3.

D = Tube diameter in m,

g = Gravitational acceleration in m/sec2)

Frequency of damped oscillation (f) =

• Performance characteristics for the step response of an under damped system is shown below

Rise time, (tr) = Time the indicated value takes to first reach the new steady state value.

Time to first peak, (tp) = Time required for the indicated value to reach itsfirst maximum value.

Response/settling time(ts) is defined as the time required for the indicated value to reach and remain inside a band
whose width is equal to +/-5% of the total change in θ. The term 95% response time sometimes is used to refer to this
case. Also, values of +/-1% sometimes are used.

Decay ratio (DR)= c/a (Where c is the height of the second peak).

Overshoot (OS) = a/b

Period of oscillation Pis the time between two successive peaks or twosuccessive valleys of the response.

PROCEDURE

•Ensure that water level in manometer is set at ‘0’ on the scale.

 • Close the vent of water manometer by hand.

• Press the rubber bulb to deflect the water to @100mm from ‘0’ level.

• Note the water level reading and quickly open the vent to apply step change.

•Note the top peak and bottom peak readings. Also simultaneously note the periodof oscillation. (This can be
noted by measuring time required for 4-5 oscillationsand then calculating for each oscillation)

• Repeat process 2-3 times for different step changes.

OBSERVATIONS

Manometer fluid : water Manometer fluid : Mercury

Dynamic viscosity (µ) = 0.001Kg/m.S Dynamic viscosity (µ) = 0.00157Kg/m.S

Mass density (ρ) = 1000Kg/m3 Mass density (ρ) = 13600Kg/m3

Column length (L) =1.05 m Column length (L) =0.75m

Tube diameter (d) =22 mm Tube diameter (d) =8 mm

Manometer (Water/ Mercury):

Sl. Actual response (mm) Period of oscillation (sec)
No.
  Note peak values observed during oscillations.
 Measure the period of oscillations and note average time required for each oscillation.
 Plot the graphs of Actual & Theoretical response VsTime.

Step change =Final Height – Initial Height = …………….mm

Period of oscillation(T) =……………..S

From graph:

a=…………..; b=…………..; c=……………

Rise time(tr) =……………..S

Decay ratio(DR) = c/a =……………

Overshoot(OS) = a/b =…………….

∴ Ʈ =………..……S

CALCULATIONS

ω = 2π/T

∴ Ʈ =………..……S

𝐿
∴ ƮTheoratical =√
2𝑔

=……………S

2𝑔
Damping coefficient =(8𝜇𝐿)/{(𝜌𝑔𝐷²) (√ 𝐿 )}

=…………..S

RESULT

The step response of the second order system and its characteristics are studied.

(1) Rise time =…………….

(2) Peak time =…………….
(3) Settling time =…………….
(4) Decay ratio =…………….
(5) Overshoot =…………….
(6) Period of oscillation =…………….