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Lecture-22-23-24
Time Domain Analysis of 2nd Order Systems
Dr. Imtiaz Hussain
email:
imtiaz.hussain@faculty.muet.edu.pk
URL
:http://imtiazhussainkalwar.weebly.co
m/
Introduction
We have already discussed the affect of location of poles and
zeros on the transient response of 1 st order systems.
Compared to the simplicity of a first-order system, a secondorder system exhibits a wide range of responses that must be
analyzed and described.
Varying a first-order
changes the speed and
Whereas, changes in
system can change the
Introduction
A general second-order system is
characterized by the following transfer
function.
n2
C (s )
2
R(s ) s 2 n s n2
Introduction
n2
C (s )
2
R(s ) s 2 n s n2
n
Example#1
Determine the un-damped natural frequency and
damping ratio of the following second order system.
C (s )
4
2
R(s ) s 2 s 4
Compare the numerator and denominator of the given
transfer function with the general 2nd order transfer function.
n2
C (s )
2
R(s ) s 2 n s n2
n2 4
n 2 rad / sec
s 2 2 n s n2 s 2 2 s 4
2 n s 2 s
n 1
0.5
Introduction
n2
C (s )
2
R(s ) s 2 n s n2
Two poles of the system are
n n 2 1
n n 2 1
Introduction
n n 2 1
n n 2 1
According the value
of
, a second-order system can
be set into one of the four categories:
1.Overdamped - when the system has two real distinct
poles (
>1).
j
-c
-b
-a
Introduction
n n 2 1
n n 2 1
According the value
of
, a second-order system can
be set into one of the four categories:
-c
-b
-a
Introduction
n n 2 1
n n 2 1
According the value
of
, a second-order system can
be set into one of the four categories:
-c
-b
-a
Introduction
n n 2 1
n n 2 1
According the value
of
, a second-order system can
be set into one of the four categories:
equal
4. Critically damped - when the system has two real but
poles (
= 1).
-c
-b
-a
Time-Domain Specification
For 0<
<1 and n > 0, the 2nd order systems
response due to a unit step input looks like
11
Time-Domain Specification
The delay (td) time is the time required for the
response to reach half the final value the very
first time.
12
Time-Domain Specification
The rise time is the time required for the response to
rise from 10% to 90%, 5% to 95%, or 0% to 100% of its
final value.
For underdamped second order systems, the 0% to
100% rise time is normally used. For overdamped
systems, the 10% to 90% rise time is commonly used.
Time-Domain Specification
The peak time is the time required for the
response to reach the first peak of the overshoot.
14
14
Time-Domain Specification
The maximum overshoot is the maximum peak
value of the response curve measured from unity. If
the final steady-state value of the response differs
from unity, then it is common to use the maximum
percent overshoot. It is defined by
15
Time-Domain Specification
The settling time is the time required for the
response curve to reach and stay within a range
about the final value of size specified by absolute
percentage of the final value (usually 2% or 5%).
16
S-Plane
Natural Undamped Frequency.
Distance
from
the
origin of s-plane to pole
is natural undamped
frequency in rad/sec.
S-Plane
Let us draw a circle of radius 3 in s-plane.
If a pole is located anywhere on the circumference of
the circle the natural undamped frequency would be 3
rad/sec.
j
3
-3
-3
S-Plane
Therefore the s-plane is divided into Constant
Natural Undamped Frequency (n) Circles.
j
S-Plane
Damping ratio.
Cosine of the angle
between
vector
connecting origin and
pole and ve real axis
yields damping ratio.
cos
S-Plane
0 1
S-Plane
For Undamped system
90
0
therefore,
S-Plane
For overdamped and critically damped systems
0
therefore,
0
j
S-Plane
Draw a vector connecting origin of s-plane and some
point P.
j
P
45
cos45 0.707
S-Plane
Therefore, s-plane is divided into sections of constant
damping ratio lines.
j
Example-2
Determine the natural frequency and damping ratio of the
poles from the following pz-map.
Pole-Zero Map
1.5
0.5
-0.5
-1
-1.5
-4
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
Example-3
Pole-Zero Map
Also
determine
the
transfer function of the
system and state whether
system is underdamped,
overdamped, undamped
or critically damped.
-1
-2
-3
-3
-2.5
-2
-1.5
-1
-0.5
Example-4
The natural frequency of
closed loop poles of 2nd order
system is 2 rad/sec and
damping ratio is 0.5.
Pole-Zero Map
Imaginary Axis
-1
-2
-3
-2
-1.5
-1
-0.5
Real Axis
Example-4
Determine the location of closed loop poles so that the damping
ratio remains same but the natural undamped frequency is
Pole-Zero Map
doubled.
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-8
-6
-4
-2
S-Plane
n n 2 1
n n 2 1
Step Response
C (s )
n2
s s 2 2 n s n2
n2 1 2
s 2 n 2
s 2 n
1
C (s ) 2
s s 2 n s 2 n2 n2 2 n2
s 2 n
1
C (s )
s s n 2 n2 1 2
Where d n 1 2
, is the frequency of
transient oscillations and is called damped natural
frequency.
The inverse Laplace transform of above equation can
be obtained easily if C(s) is written in the following
form:
s
1
C (s )
n
2
s n 2 d2 s n
d2
2
2
s s n d s n 2 d2
n 1 2
1 2
s n
1
C (s )
2
2
s s n d
s n 2 d2
s n
d
1
C (s )
2
2
2 s 2 2
s s n d
1
n
d
c(t ) 1 e
n t
cos d t
1 2
e nt sin d t
n t
cos d t
1 2
e n t sin d t
c(t ) 1 e n t cos d t
sin d t
2
When 0
d n 1 2
n
c(t ) 1 cos n t
c(t ) 1 e n t cos d t
sin d t
2
if 0.1
10
c(t ) 1 e n t cos d t
sin d t
2
if 0.5
10
c(t ) 1 e n t cos d t
sin d t
2
if 0.9
10
1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
10
0.6
0.4
0.2
0
10
c(t ) 1 e nt cos d t
sin d t
2
c(t r ) 1 e nt r cos d t r
sin d t r
2
Where c(t r ) 1
0 e n t r cos d t r
sin d t r
2
e nt r 0
0 cos d t r
sin d t r
2
cos d t r
1 2
sin d t r 0
1 2
sin d t r
cos d t r
1 2
tan d t r
2
1
d t r tan1
2
1
d t r tan1
1 2
1
tr
tan1 n
d
n
tr
d
tan
a
b
c(t ) 1 e nt cos d t
sin d t
2
dc(t )
n t
t
d
n e
cos d t
sin d t e n d sin d t
cos d t
dt
1 2
1 2
0e
n t
n cos d t
2 n
1 2
2 n
sin d t d sin d t
0 e nt n cos d t
sin d t d sin d t
2
d
1 2
n 1 2
1 2
cos d t
cos d t
n t
n cos d t
2 n
1 2
sin d t d sin d t
n 1 2
n
e nt
sin d t d sin d t 0
1 2
e nt 0
2
n
1 2
sin d t d sin d t 0
sin d t
2
n
1 2
d 0
1 2
cos d t
sin d t
2
n
1 2
d 0
1 2
d 0
sin d t 0
d t sin 1 0
0, , 2 ,
t
d
Since for underdamped stable systems first peak is
maximum peak therefore,
tp
c(t p ) 1 e
n t p
cos d t p
1 2
sin d t p
c() 1
t
M p 1 e n p cos d t p
sin d t p
Put
1 100
tp
in above equation
d
Mp e
cos
d
2
d
1
sin d
100
Mp e
Put
cos
d
2
d
1
sin d
100
d n 1- 2 in above equation
Mp e
cos
n 1 2
Mp e
1 2
1 2
Mp e
1 0
100
sin 100
1 2
100
c(t ) 1 e nt cos d t
sin d t
2
1
n
n n 2 1
Real Part
Imaginary Part
4
t s 4T
n
1
n
3
t s 3T
n
tr
2
d
n 1
Peak Time
tp
d 1 2
n
4
t s 4T
n
3
t s 3T
n
Settling Time (4%)
Maximum Overshoot
Mp e
1 2
100
Example#5
Consider the system shown in following figure,
where damping ratio is 0.6 and natural
undamped frequency is 5 rad/sec. Obtain the rise
time tr, peak time tp, maximum overshoot Mp, and
settling time 2% and 5% criterion ts when the
system is subjected to a unit-step input.
Example#5
Rise Time
Peak Time
tp
d
tr
d
Settling Time (2%)
4
t s 4T
n
3
t s 3T
n
Settling Time (4%)
Maximum Overshoot
Mp e
1 2
100
Example#5
Rise Time
tr
d
tr
3.141
n 1
tan1 ( n
) 0.93 rad
n
tr
3.141 0.93
5 1 0.6 2
0.55s
Example#5
Peak Time
4
ts
n
tp
d
3.141
tp
0.785s
4
4
ts
1.33s
0.6 5
Settling Time (4%)
3
ts
n
3
ts
1s
0.6 5
Example#5
Maximum Overshoot
Mp e
Mp e
1 2
100
3.1410.6
1 0.6 2
100
M p 0.095 100
M p 9.5%
Example#5
Step Response
1.4
1.2
Mp
Amplitude
0.8
0.6
0.4
Rise Time
0.2
0.2
0.4
0.6
0.8
Time (sec)
1.2
1.4
1.6
Example#6
For the system shown in Figure-(a), determine the
values of gain K and velocity-feedback constant Kh so
that the maximum overshoot in the unit-step
response is 0.2 and the peak time is 1 sec. With these
values of K and Kh, obtain the rise time and settling
time. Assume that J=1 kg-m2 and B=1 N-m/rad/sec.
Example#6
Example#6
Since J 1 kgm 2 and
B 1 Nm/rad/sec
C (s )
K
2
R(s ) s (1 KK h )s K
(1 KK h )
2 K
Example#6
n K
Maximum overshoot is 0.2.
(1 KK h )
2 K
tp
d
1
ln(e
1 2
) ln 0.2
3.141
n 1 2
3.141
1 0.456 2
n 3.53
Example#6
n 3.96
n K
3.53 K
3.532 K
K 12.5
(1 KK h )
2 K
K h 0.178
Example#6
tr
n 3.96
4
ts
n
n 1 2
t s 2.48s
t r 0.65s
3
ts
n
t s 1.86 s
Example#7
When the system shown in Figure(a) is subjected to a
unit-step input, the system output responds as shown in
Figure(b). Determine the values of a and c from the
response curve.
a
s(cs 1)
Example#8
Figure (a) shows a mechanical vibratory system. When 2
lb of force (step input) is applied to the system, the mass
oscillates, as shown in Figure (b). Determine m, b, and k
of the system from this response curve.
Example#9
Given the system shown in following figure, find J and D
to yield 20% overshoot and a settling time of 2 seconds
for a step input of torque T(t).
Example#9
Example#9
R(s ) s n 2
Step Response
C (s )
n2
s s n
2
s s n s n 2
s s n
n
1
1
C (s )
s s n s n 2
c(t ) 1 e nt n e nt t
c(t ) 1 e n t 1 n t
71
12
1. G ( s ) 2
s 8s 12
16
2. G ( s ) 2
s 8s 16
Do them as your
own revision
20
3. G ( s ) 2
s 8s 20
72
END OF LECTURES-22-2324