Beruflich Dokumente
Kultur Dokumente
Introduction
• In time-domain analysis the response of a dynamic
system to an input is expressed as a function of
time.
A
A t0
(t )
0 t0
0 t
characteristic of actual
A
input signal.
A t0 t
u( t ) 0
0 t0
At t0
r(t )
r(t)
0 t0
ramp signal with slope A
At 2 p(t)
t0
p(t ) 2
0 t0
parabolic signal with slope A
p(t)
• Impulse
A t0
(t )
0 t0
L{ (t )} ( s) A
• Step
A t0
u( t )
0 t0
A
L{u(t )} U ( s )
S
Laplace Transform of Test Signals
• Ramp At t0
r(t )
0 t0
A
L{ r(t )} R( s )
s2
• Parabolic At 2
t0
p(t ) 2
0 t0
A
L{ p (t )} P( s ) 3
S
Time Response of Control Systems
• Time response of a dynamic system response to an input
expressed as a function of time.
System
Step Input
5
• The response of the
0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
Time Response of Control Systems
• Transient response depend upon the system poles only and not
on the type of input.
K
R(s ) C(s )
1
Ts 1
t
0
R( s ) ( s ) 1
K
C( s )
Ts 1
Impulse Response of 1st Order System
K
C( s )
Ts 1
• Re-arrange following equation as
K /T
C( s )
s 1/ T
1
c(t)
0.5
0
0 2 4 6 8 10
Time
Step Response of 1st Order System
• Consider the following 1st order system
K
R(s ) C(s )
Ts 1
1
R( s ) U ( s )
s
K
C( s )
sTs 1
• In order to find out the inverse Laplace of the above equation, we
need to break it into partial fraction expansion (page 867 in the
Textbook) K KT
C( s )
s Ts 1
Step Response of 1st Order System
1 T
C( s ) K
s Ts 1
• Taking Inverse Laplace of above equation
c(t ) K u(t ) et / T
c(t ) K 1 e
• Where u(t)=1
t / T
c(t ) K 1 e1 0.632K
Step Response of 1st Order System
• If K=10 and T=1.5s then
c(t ) K 1 e t / T
K*(1-exp(-t/T))
11
10
9 Step Response
8
steady state output 10
7 D.C Gain K
63% Input 1
6
c(t)
2
Unit Step Input
1
0
0 1 2 3 4 5 6 7 8 9 10
Time
Step Response of 1st order System
• System takes five time constants to reach its
final value.
Step Response of 1st Order System
• If K=10 and T=1, 3, 5, 7
c(t ) K 1 e t / T
K*(1-exp(-t/T))
11
10
T=1s
9
8 T=3s
7
T=5s
6
c(t)
5 T=7s
4
3
2
1
0
0 5 10 15
Time
Step Response of 1st Order System
• If K=1, 3, 5, 10 and T=1
c(t ) K 1 e t / T
K*(1-exp(-t/T))
11
10
K=10
9
8
7
6
K=5
c(t)
5
4
K=3
3
2
K=1
1
0
0 5 10 15
Time
Relation Between Step and impulse
response
• The step response of the first order system is
c(t ) K 1 e t / T K Ket / T
c(t ) 3e 0.5t
• Find out
– Time constant T
– D.C Gain K
– Transfer Function
– Step Response
Example 1
• The Laplace Transform of Impulse response of a
system is actually the transfer function of the system.
• Therefore taking Laplace Transform of the impulse
response given by following equation.
c(t ) 3e 0.5t
3 3
C( s ) 1 (s)
S 0.5 S 0.5
C( s ) C( s ) 3
( s ) R( s ) S 0.5
C( s ) 6
R( s ) 2 S 1
Example 1
• Impulse response of a 1st order system is given below.
c(t ) 3e 0.5t
• Find out
– Time constant T=2
– D.C Gain K=6
– Transfer Function C ( s ) 6
R( s ) 2 S 1
– Step Response
Example 1
• For step response integrate impulse response
c(t ) 3e 0.5t
0.5t
c( t )dt 3 e dt
cs (t ) 6e 0.5t C
0 6e 0.50 C
C6
cs (t ) 6 6e 0.5t
Example 1
• If initial conditions are not known then partial fraction
expansion is a better choice
C( s ) 6
R( s ) 2 S 1
1
since R( s ) is a step input , R( s )
s
6
C( s )
s2S 1
6 A B
s2S 1 s 2s 1
6 6 6
s2S 1 s s 0.5
c(t ) 6 6e 0.5t
Ramp Response of 1st Order System
• Consider the following 1st order system
K
R(s ) C(s )
Ts 1
1
R( s )
s2
K
C( s )
s 2 Ts 1
• The ramp response is given as
c(t ) K t T Tet / T
Parabolic Response of 1st Order System
• Consider the following 1st order system
K
R(s ) C(s )
Ts 1
1 K
R( s ) Therefore, C( s )
s 3
s 3 Ts 1
Practical Determination of Transfer
Function of 1st Order Systems
• Often it is not possible or practical to obtain a system's
transfer function analytically.
• With a step input, we can measure the time constant and the
steady-state value, from which the transfer function can be
calculated.
Practical Determination of Transfer
Function of 1st Order Systems
• If we can identify T and K empirically we can obtain the
transfer function of the system.
C( s ) K
R( s ) Ts 1
Practical Determination of Transfer Function
of 1st Order Systems
• For example, assume the unit
step response given in figure. K=0.72
• From the response, we can
measure the time constant, that
is, the time for the amplitude to
reach 63% of its final value.
• Since the final value is about T=0.13s