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    Modelling Second Order Systems and Examples: CL-417 Process Control Prof. Kannan M. Moudgalya

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    1) The document discusses second order system models and responses, including an overview of second order models, step responses for different damping coefficients, and examples of capacitive and time delay systems. 2) Scilab code is presented for simulating step responses of second order systems with varying damping coefficients. 3) The lecture also covers modelling of integrating processes, ramp inputs to first order systems, and rectangular pulse inputs.

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    Modelling Second Order Systems and Examples: CL-417 Process Control Prof. Kannan M. Moudgalya

    Uploaded by

    Vivek
    37 views29 pages
    1) The document discusses second order system models and responses, including an overview of second order models, step responses for different damping coefficients, and examples of capacitive and time delay systems. 2) Scilab code is presented for simulating step responses of second order systems with varying damping coefficients. 3) The lecture also covers modelling of integrating processes, ramp inputs to first order systems, and rectangular pulse inputs.

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    Modelling of control systems

    Original Title

    Control Systems

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    1) The document discusses second order system models and responses, including an overview of second order models, step responses for different damping coefficients, and examples of capacitive and time delay systems. 2) Scilab code is presented for simulating step responses of second order systems with varying damping coefficients. 3) The lecture also covers modelling of integrating processes, ramp inputs to first order systems, and rectangular pulse inputs.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    37 views29 pages

    Modelling Second Order Systems and Examples: CL-417 Process Control Prof. Kannan M. Moudgalya

    Uploaded by

    Vivek
    1) The document discusses second order system models and responses, including an overview of second order models, step responses for different damping coefficients, and examples of capacitive and time delay systems. 2) Scilab code is presented for simulating step responses of second order systems with varying damping coefficients. 3) The lecture also covers modelling of integrating processes, ramp inputs to first order systems, and rectangular pulse inputs.

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    of 29

    Lecture 7

    Modelling Second Order Systems


    and Examples
    CL-417 Process Control
    Prof. Kannan M. Moudgalya

    IIT Bombay
    Monday, 6 August 2012
    1/29

    CL-417 Process Control

    Second Order Models and Response

    Outline

    I
    I
    I

    2/29

    Responses of second order systems


    Capacitive systems
    Time delay

    CL-417 Process Control

    Second Order Models and Response

    Recall: Two tanks in series


    Qi (t)

    h(t)

    h(t)

    Q(t) = x(t)h(t)
    3/29

    CL-417 Process Control

    Second Order Models and Response

    Recall: II order model of thermometer


    Ta
    T
    Tw
    The relation between Ta and T is second order

    4/29

    CL-417 Process Control

    Second Order Models and Response

    Modelling of Two Systems in Series


    What we discussed is of the following form:
    u(s)

    s+1

    s+2

    y(s)

    Mathematical model:
    1
    1
    1
    G(s) =
    = 2
    s+1 s+2
    s + 3s + 2
    Consider following generalised models:
    G(s) =
    5/29

    K
    2 s2 + 2 s + 1

    CL-417 Process Control

    Second Order Models and Response

    Second order system


    I

    Y(s) = G(s)U(s), G(s) =

    K
    2 s2 + 2 s + 1

    is the time constant


    is the damping coefficient
    K is the steady state gain

    Step response: Y(s) =

    I
    I

    6/29

    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

    Second Order Models and Response

    Partial fraction of second order system


    I

    Y(s) =

    2 s2 + 2 s + 1 s

    A
    s+a

    B
    s+b

    C
    s

    Given that y(t) is the output of a plant,


    1.
    2.
    3.
    4.

    There is no relationship between a and b


    Either a or b is real
    a = b
    a and b are complex conjugates

    Answer: 4, i.e. a and b are complex conjugates


    If a and b are not complex conjugates,
    y(t) will be imaginary, not realistic for a real plant!
    7/29

    CL-417 Process Control

    Second Order Models and Response

    Step response
    I

    I
    I

    I
    I
    I

    8/29

    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

    Second Order Models and Response

    C
    s

    Step response for > 1


    Y(s) =

    2 s2 + 2 s + 1 s

    Known as an overdamped system ( > 1)


    I Its solution is given by
    n
    y(t) = KM 1 e(t/ )
    !
    !#
    "
    p
    p
    2
    2
    1

    1
    cosh
    t +p
    sinh
    t
    }

    2 1
    I

    9/29

    CL-417 Process Control

    Second Order Models and Response

    Step response for = 1

    Y(s) =

    I
    I

    10/29

    2 s2 + 2 s + 1 s

    Known as critically damped system ( = 1)


    Its solution is given by
    
    
    
    
    t
    et/
    y(t) = KM 1 1 +

    CL-417 Process Control

    Second Order Models and Response

    Step response for < 1


    Y(s) =

    2 s2 + 2 s + 1 s

    Known as underdamped system ( < 1)


    I Its solution is given by
    n
    y(t) = KM 1 e(t/ )
    !
    !#
    "
    p
    p
    2
    2
    1

    1
    cos
    t +p
    sin
    t
    }

    1 2
    I

    11/29

    CL-417 Process Control

    Second Order Models and Response

    Another form of II order system


    G(s) =

    K
    2 s2 + 2 s + 1

    will also be written as


    G(s) =

    I
    I
    I

    12/29

    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

    Second Order Models and Response

    Scilab code step-II-order.sce


    exec ( second . s c i ) ;
    s = %s
    omegan = 1 ; t = 1 : 0 . 1 : 1 5 ;
    y = s e c o n d ( omegan , 0 . 1 , t ) ;
    y = s e c o n d ( omegan , 0 . 5 , t ) ;
    y = s e c o n d ( omegan , 1 , t ) ;
    y = s e c o n d ( omegan , 2 , t ) ;
    f u n c t i o n y = s e c o n d ( omegan , z e t a , t )
    G = omegan 2 / ( s 2+2 z e t a omegan s+
    omegan 2 )
    y = c s i m ( s t e p , t , G) ;
    plot2d ( t , y)
    endfunction
    13/29

    CL-417 Process Control

    Second Order Models and Response

    II Lab + Assignment
    I

    I
    I

    I
    I

    15/29

    Fit a first order transfer function to SBHS


    response - demonstrated in the last class
    Scilab code will be given for this lab
    Fit a second order overdamped model to the
    same step response
    You will have to modify the Scilab code yourself
    First check it out on simulation, check the
    code and then try on the lab
    Try only one unknown change at a time!

    CL-417 Process Control

    Second Order Models and Response

    More Models

    16/29

    CL-417 Process Control

    Second Order Models and Response

    Integrating Process
    Qi (t)

    h(t)

    Q
    I
    I

    17/29

    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

    CL-417 Process Control

    Second Order Models and Response

    Integrating Process
    Qi (t)

    h(t)
    Q

    18/29

    CL-417 Process Control

    In case of a step disturbance in feed flow, tank


    will
    1. overflow
    2. run dry
    3. overflow or run dry
    4. stabilise at some
    suitable value
    Answer: 3: overflow or
    run dry
    Second Order Models and Response

    Ramp input to a first order system


    Y(s) =

    I
    I
    I
    I
    I
    I
    19/29

    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

    Second Order Models and Response

    Final value of ramp input to a first order


    system
    I

    I
    I
    I
    I
    I

    20/29

    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

    CL-417 Process Control

    Second Order Models and Response

    Rectangular Pulse
    M
    I
    I
    I
    I

    21/29

    Give the following input, u(t): t = 0


    u(t) = 1(t) M 1(t t1 ) M
    1(t) denotes unit step input
    u(t) = [1(t) 1(t t1 )] M
    
    
    1 t1 s
    1
    M
    U(s) =
    e
    s
    s
    M
    U(s) = [1 et1 s ]
    s
    CL-417 Process Control

    Second Order Models and Response

    t = t1

    Time Delay Modelling

    From a previous lecture

    22/29

    CL-417 Process Control

    Second Order Models and Response

    Handling Time Delay

    I
    I
    I
    I

    27/29

    Change the input by a step


    Find out when the output starts changing
    Determine the time delay
    Check whether the SBHS has any time delay!

    CL-417 Process Control

    Second Order Models and Response

    What we learnt today

    I
    I
    I
    I

    28/29

    Responses of second order systems


    Scilab code
    Capacitive systems
    Time delay

    CL-417 Process Control

    Second Order Models and Response

    Thank you

    29/29

    CL-417 Process Control

    Second Order Models and Response

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