Modelling Second Order Systems and Examples: CL-417 Process Control Prof. Kannan M. Moudgalya
Modelling Second Order Systems and Examples: CL-417 Process Control Prof. Kannan M. Moudgalya
Modelling Second Order Systems and Examples: CL-417 Process Control Prof. Kannan M. Moudgalya
IIT Bombay
Monday, 6 August 2012
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Outline
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h(t)
h(t)
Q(t) = x(t)h(t)
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s+1
s+2
y(s)
Mathematical model:
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1
1
G(s) =
= 2
s+1 s+2
s + 3s + 2
Consider following generalised models:
G(s) =
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K
2 s2 + 2 s + 1
K
2 s2 + 2 s + 1
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2 s2 + 2 s + 1 s
s+a
s+b
s
Is there a relation between a and b, A and B?
CL-417 Process Control
Y(s) =
2 s2 + 2 s + 1 s
A
s+a
B
s+b
C
s
Step response
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Y(s) =
2 s2 + 2 s + 1 s
s+a s+b
2 2
a and b are roots of s + 2 s + 1 = 0
a = b , A = B p
2 4 2 2 4 2
a, b =
2 2
1p 2
=
1
1, a, b are real
< 1, complex
CL-417 Process Control
C
s
2 s2 + 2 s + 1 s
1
cosh
t +p
sinh
t
}
2 1
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Y(s) =
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2 s2 + 2 s + 1 s
2 s2 + 2 s + 1 s
1
cos
t +p
sin
t
}
1 2
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K
2 s2 + 2 s + 1
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n2
s2 + 2n s + n2
K is taken as 1
n : natural frequency, : damping factor.
For different values of , get underdamped,
critically damped, overdamped systmes
CL-417 Process Control
II Lab + Assignment
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More Models
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Integrating Process
Qi (t)
h(t)
Q
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dh
= Qi Q
dt
In deviational variables,
dh
A
= Qi (t) Q(t)
dt
Taking Laplace transform,
Ash(s) = Qi (s) Q(s)
h(s) =
1
1
Qi (s)
Q(s)
As
As
A
Integrating Process
Qi (t)
h(t)
Q
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Y(s) =
K
s + 1
K
U(s), U(s) =
a
s2
+
at
C
s + 1 s2
s + 1
s
s2
Multiply by s + 1, let s = 1/ , A = Ka 2
Multiply by s2 :
Ka
A
=
s2 + Bs + C
s + 1
s + 1
By letting s = 0, C = Ka
Differentiating blue equation w.r.t. s
and letting s = 0, B = Ka
CL-417 Process Control
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Y(s) =
s
s2
Ka
Ka
+ 2
Y(s) =
s + 1
s
s
Inverting
y(t) = Ka et/ 1 + Kat
y(t = ) = Ka(t )
Let K = 1 and plot u(t) and y(t) in the same
plot
s + 1
Ka 2
Rectangular Pulse
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t = t1
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Thank you
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