Handout E.15 - Examples On Transient Response of First and Second Order Systems, System Damping and Natural Frequency
Handout E.15 - Examples On Transient Response of First and Second Order Systems, System Damping and Natural Frequency
Handout E.15 - Examples On Transient Response of First and Second Order Systems, System Damping and Natural Frequency
(2)
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
2
Equation (2) represents the transfer function of the system shown above. For a unit step
input
s
s X
1
) ( , therefore the output (s) becomes,
.
) (
1 1
) (
b
k
s
L
s
+
(4)
Taking the inverse Laplace transform of equation (4), we get
t
b
k
e
L
t
) ( 1
) (
. (5)
Equation (5) represents the response of the system for a given step input. The MATLAB
sequence to obtain the step response for a given L, k and b is given below.
L = 2;
k = 100;
b = 20;
num = 1/L;
den = [1 k/b];
sys = tf(num,den);
step(sys)
xlabel('Time')
ylabel('Angular Displacement, Theta')
Title('Step response of a first order system')
The response of the system is as shown below.
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
3
Example 2
What is the unit step response of the system shown below?
R(s) + s+1
2
10
s
C(s)
-
The closed loop transfer function is
.
10 10
10 10
) (
) (
2
+ +
+
s s
s
s R
s C
For a unit step input
s
s R
1
) ( , therefore,
,
) 15 5 )( 15 5 (
10 10
) (
,
1
10 10
10 10
) (
2
s s s
s
s C
s s s
s
s C
+ + +
+
+ +
+
.
1
15 5
1
15 3
15 4
15 5
1
15 3
15 4
) (
s
s s
s C +
+
+
+
+ + +
(6)
The inverse Laplace transform of the above equation yields,
, 1
15 3
15 4
15 3
15 4
) (
) 15 5 ( ) 15 5 (
+
+
+
+
+
+ t t
e e t c
. 1 1455 . 0 1455 . 1 ) (
13 . 1 87 . 8
+ +
t t
e e t c (7)
Equation (7) represents the response of the system to a unit step input.
The MATLAB code for obtaining the unit step response of the above second order
system is given below.
num = [10 10];
den = [1 10 10];
sys = tf(num,den);
step(sys)
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
4
xlabel('Time')
ylabel('Output')
Title('Step response of a second order system')
The response is shown below. Note that there is an overshoot.
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
5
Example 3
When the system as shown in Figure (a) is subjected to a unit step input, the system
output responds as shown in Figure (b). Determine the values of K and T from the
response curve.
The maximum overshoot from the response curve is 25.4%. Therefore
. 4 . 0
, 254 . 0
, 254 . 0
2
1
e
M
p
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
6
From the response curve we have
. 14 . 1
, 3
) 4 . 0 ( 1 1
, 3
2 2
n
n n
d
p
p
t
t
Hence
.
1
2 ,
T T
K
n n
Therefore the values of K and T can be determined as
. 42 . 1 09 . 1 ) 14 . 1 (
, 09 . 1
14 . 1 4 . 0 2
1
2
1
2 2
T K
T
n
n
Example 4
Figure (a) shows a mechanical vibratory system. When a 2 N 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 the response curve. The displacement x is measured from the
equilibrium position.
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
7
The transfer function of the system is
.
1
) (
) (
2
k bs ms s P
s X
+ +
From the response curve, the steady state value of x is 0.1, hence from the final value
theorem, we have
, 1 . 0
2 2
lim ) ( lim ) (
2
0 0
+ +
> >
k k bs ms
s sX x
s s
. 20
m
N
k
From the response curve, the maximum overshoot is 0.0095, hence applying the formula
for the maximum overshoot, we get
. 6 . 0
, 0095 . 0
, 0095 . 0
2
1
e
M
p
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
8
The peak time t
p
is given by
sec
96 . 1
, 2
) 6 . 0 ( 1 1
, 2
2 2
rad
t
t
n
n n
d
p
p
Since,
. 2 . 5
) 96 . 1 (
20
,
2 2
2
Kg
k
m
m
k
n
n
Then b is determined as
m
N
b
m
b
n
sec
2 . 12
, 2
.
Example 5
Consider the second order system whose transfer function is given as
.
2 ) (
) (
2 2
2
n
n
n
s s s R
s C
+ +
+ +
+ +
+
Taking the inverse Laplace transform of the above equation and rearranging the terms,
we get
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
9
.
1
tan sin
1
1 ) (
2
1
2 (
(
,
\
,
,
(
j
+
t
e
t c d
t n
(8)
Equation (8) represents the generalized solution of a second order system. The following
plot shows the step response of a second order system for various values of .
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
10
Example 6
Derive the governing differential equation of motion of a swinging bar supported at its
ends by a cord. Solve the derived differential equation and plot the initial response of the
system for the following initial conditions:
a) Arbitrary initial condition
Choose l
1
= 1m; l
2
= 1m; m
2
= 5Kg
l
1
l
2
, m
2
The differential equations of motion for the above system when represented in a matrix
form is
]
]
]
]
]
]
,
,
,
,
2
) sin( sin
2
) sin(
sin
3 2
) cos(
2
) cos(
2
.
2 1 2 2 2
.
2
.
2 2
2
..
..
2
2 2 2 1 2
2 2
1 2
l l m l w
l m
w
l m l l m
l m
l m
Initial response
The second order differential equation has to be converted into a first order differential
equation. Let
Substituting the above relations in the original nonlinear differential equation, we get the
following nonlinear first order differential equation, which when represented in matrix
form is
); 4 (
); 3 (
); 2 (
); 1 (
.
.
y
y
y
y
]
]
]
]
]
]
]
]
,
,
,
,
,
,
2
)) 1 ( ) 3 ( sin( ) 2 ( ) 3 ( sin
) 4 (
2
)) 1 ( ) 3 ( sin( ) 4 (
) 1 ( sin
) 2 (
) 4 (
) 3 (
) 2 (
) 1 (
3
0
2
)) 1 ( ) 3 ( cos(
0
0 1 0 0
2
)) 1 ( ) 3 ( cos(
0 0
0 0 0 1
2
2 1 2 2 2
2
2 2
2
.
.
.
.
2
2 2 2 1 2
2 2
1 2
y y y l l m y l w
y
y y y l m
y w
y
y
y
y
y
l m y y l l m
y y l m
l m
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
12
m2=5;
g=9.81;
w2=m2*g;
yp=zeros(4,1);
yp(1)=y(2);
yp(2)=-w2*sin(y(1))+ (m2*l2/2)*(y(4)^2)*sin(y(3)-y(1));
yp(3)=y(4);
yp(4)=(-w2*l2*sin(y(3)))/2+(m2*l1*l2/2)*(y(2)^2)*sin(y(3)-y(1));
Similarly, to store the mass matrix a separate function file is written which is stored as
MM.m.
% the following function contains the mass matrix.
%it is separately stored in a file named, MM.m
function n = MM(t,y)
l1=1;
l2=1;
m2=5;
g=9.81;
w2=m2*g;
n1=[1 0 0 0];
n2=[0 m2*l1 0 (m2*l2/2)*cos(y(3)-y(1))];
n3=[0 0 1 0];
n4=[0 (m2*l1*l2/2)*cos(y(3)-y(1)) 0 m2*l2*l2/3];
n=[n1;n2;n3;n4];
To plot the response, the main file should call the function indmot_ode.m, which has
the switch/case programming which in turn calls the corresponding functions depending
on the value of the flag. For the main file to recognize the inertia matrix, the MATLAB
command ODESET is used to set the mass to M (t, y).
tspan=[0 30]
y0=[0.5233;0;1.0467;0] % Arbitrary Initial condition
options=odeset('mass','M(t,y)')
[t,y]=ode113('indmot_ode',tspan,y0,options)
subplot(2,1,1)
plot(t,y(:,1))
grid
xlabel('Time')
ylabel('phi')
subplot(2,1,2)
plot(t,y(:,3))
grid
xlabel('Time')
ylabel('Theta')
The above code plots the values of theta and phi with respect to time for the arbitrary
initial condition case.
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
13
Notice the command subplot.
subplot(m,n,p), breaks the Figure window into an m-by-n matrix of small axes and
selects the p-th axes for the current plot. The axes are counted along the top row of the
Figure window, then the second row, etc. For example,
subplot(2,1,1), plot(income)
subplot(2,1,2), plot(outgo)
plots income on the top half of the window and outgo on the bottom half.
MEEN 364 Parasuram
Lecture 14,15 August 22, 2001
14
Assignment
1) Determine the values of K and k of the closed loop system shown below so that the
maximum overshoot in unit step response is 25% and the peak time is 2 sec. Assume that
J = 1 Kg-m
2
.
2) Consider the closed loop system given by
.
2 ) (
) (
2 2
2
n
n
n
s s s R
s C
+ +
s s s R
s C
where R(s) and C(s) are the Laplace transforms of the input r(t) and
output c(t) respectively.