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Lecture04 - Second Order Time Response

This lecture covers the second order time response of systems, including their characterization by damping ratio and natural frequency. It discusses performance criteria such as rise time, peak time, peak overshoot, and settling time, along with examples of mass/spring/damper systems. The lecture emphasizes the importance of understanding these concepts for analyzing and designing control systems.

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pluemlxd
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16 views

Lecture04 - Second Order Time Response

This lecture covers the second order time response of systems, including their characterization by damping ratio and natural frequency. It discusses performance criteria such as rise time, peak time, peak overshoot, and settling time, along with examples of mass/spring/damper systems. The lecture emphasizes the importance of understanding these concepts for analyzing and designing control systems.

Uploaded by

pluemlxd
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Lecture 4:

Second Order Time


Response
Today’s Lecture
Last Week:
Inputs: Step, Ramp, and Pulse
Response in the Time Domain (First order)
Final Value Theorem
This Week:
Second order time response
Second Order Systems
Many physical systems (even with higher order) can be
approximated by a second order model
Tools and specs are well developed and standardized
Characterized by  (damping ratio) and n (natural
frequency)
1 𝜔𝑛2
𝐺 𝑠 = 2 = 2
2𝜁𝑠 𝑠 𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
1+ +
𝜔𝑛 𝜔𝑛
Second Order Systems
1 𝜔𝑛2
𝐺 𝑠 = 2 = 2
2𝜁𝑠 𝑠 𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
1+ +
𝜔𝑛 𝜔𝑛
Unit step response (with unity gain):

−𝜁𝜔𝑛 𝑡
𝜔𝑛
𝑦 𝑡 =1−𝑒 𝜁 sin 𝜔𝑑 𝑡 + cos 𝜔𝑑 𝑡
𝜔𝑑
where
𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2
Second Order Systems

1 + 𝑒 −𝜁𝜔𝑛 𝑡

𝜔𝑛
1− 𝑒 −𝜁𝜔𝑛 𝑡 𝜁 sin 𝜔𝑑 𝑡 + cos 𝜔𝑑 𝑡
𝜔𝑑
1 − 𝑒 −𝜁𝜔𝑛 𝑡
Second Order Systems
2𝜋
𝜔𝑑
Second Order Systems
Effect of  Under-damped  1

< 1: under-damped
(oscillatory response)
( = 0: sustained oscillations)
Increasing 
= 1: Critical-damped
Over-damped >1 (fastest response with no
overshoot)

Critically damped = 1 > 1: over-damped


(Cannot overshoot)
Second Order Systems
Performance Criteria
Rise time, 𝑡𝑟
 Time to reach steady state
value (for underdamped
systems)
 Time to go from 10% to 90%
amplitude for over-damped
systems

Peak time, 𝑡𝑝
 Time to initial overshoot

𝑡𝑟 𝑡𝑝
Second Order Systems
Performance Criteria
Peak overshoot,
𝑦 𝑡𝑝 − 𝑦𝑠𝑠
𝑦 𝑡𝑝 − 𝑦𝑠𝑠
 Initial overshoot, above
95%
steady state value

Setting time, 𝑡𝑠
 Time to initial overshoot

Number of
oscillations to 𝑡𝑠 𝑡𝑠
𝑡𝑟 𝑡𝑝
Second Order Systems
Rise time:
By setting 𝑦 𝑡𝑟 = 1 in response (and much manipulation):
1 1 − 𝜁 2
𝑡𝑟 = 𝜋 − tan−1
𝜔𝑑 𝜁

Low damping ration gives faster response (small 𝑡𝑟 ), but also


produce oscillatory responses.
Compromise necessary (0.4 < 𝜁 < 0.8 a good start)
Second Order Systems
Time to peak:
Time to peak: from inspection, for oscillatory system, rime to
peak is one half periodic response:
1 2𝜋 𝜋
𝑡𝑝 = =
2 𝜔𝑑 𝜔𝑑
Confirmed by setting first derivative of y to 0 (and much
manipulation)
Second Order Systems
Peak overshoot:
Use 𝑡𝑝 and evaluate using time response :

−𝜁𝜔𝑛 𝑡𝑝
𝜔𝑛
𝑦 𝑡𝑝 = 1 − 𝑒 𝜁 sin 𝜔𝑑 𝑡𝑝 + cos 𝜔𝑑 𝑡𝑝
𝜔𝑑

Percentage maximum peak value:


𝑝𝑒𝑎𝑘 𝑣𝑎𝑙𝑢𝑒 − 𝑓𝑖𝑛𝑎𝑙 𝑣𝑎𝑙𝑢𝑒 𝑦 𝑡𝑝 − 𝑦𝑠𝑠
= × 100%
𝑓𝑖𝑛𝑎𝑙 𝑣𝑎𝑙𝑢𝑒 𝑦𝑠𝑠
Second Order Systems
Setting Time:
Decaying exponential term describes 𝑒 −𝜁𝜔𝑛 𝑡 envelope of the
oscillation
Equate to 0.05 give the 5% setting time

𝑒 −𝜁𝜔𝑛 𝑡𝑠 = 0.05 → −ζ𝜔𝑛 𝑡𝑠 = ln 0.05 = −3


so
3
𝑡𝑠 5% =
ζ𝜔𝑛
Second Order Systems
Number of oscillations before setting time

𝑆𝑒𝑡𝑡𝑖𝑛𝑔 𝑡𝑖𝑚𝑒
𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑜𝑠𝑐𝑖𝑙𝑙𝑎𝑡𝑖𝑜𝑛𝑠 =
𝑃𝑒𝑟𝑖𝑜𝑑𝑖𝑐 𝑡𝑖𝑚𝑒
Example
Mass/Spring/Damper system
Mass, m = 1 kg
Spring coefficient, k = 4 N/m
Damping coefficient, c = 2 Ns/m
𝑟𝑎𝑑
𝜔𝑛 = 4 = 2
1 𝑠
𝑋 𝑠 𝑚 1 1
𝐺 𝑠 = = = 2 𝜁=
𝐹 𝑠 𝑐 𝑘 𝑠 + 2𝑠 + 4 2
𝑠2 + 𝑠 +
𝑚 𝑚 3
𝜔𝑑 = 𝜔𝑛 1 − 𝜁2 =2 = 3
4
Example
Mass/Spring/Damper system
Mass, m = 1 kg
Spring coefficient, k = 4 N/m
Damping coefficient, c = 2 Ns/m
Input force = unit step

1 To put in standard form, 1 4


𝐺 𝑠 = 2 numerator must equal 𝜔𝑛2 so we 𝐺 𝑠 =
𝑠 + 2𝑠 + 4 multiply by 1/4 4 𝑠 2 + 2𝑠 + 4
1 1
𝑐 𝑡𝑝 = 1 − 𝑒 −𝑡 sin 3𝑡 + cos 3𝑡
4 3
Example
Mass/Spring/Damper system
Periodic Time:
2𝜋 2𝜋
𝑃𝑒𝑟𝑖𝑜𝑑𝑖𝑐 𝑇𝑖𝑚𝑒 = = = 3.628 𝑠𝑒𝑐
𝜔𝑑 3
Rise time:
1 1 − 𝜁 2 1
𝑡𝑟 = 𝜋 − tan −1 = 𝜋 − tan−1 3 = 1.209 𝑠𝑒𝑐
𝜔𝑑 𝜁 3

Time to peak: 1 2𝜋 𝜋 𝜋
𝑡𝑝 = = = = 1.804 𝑠𝑒𝑐
2 𝜔𝑑 𝜔𝑑 3
Example
Mass/Spring/Damper system
Peak overshoot: (Apply 𝑡𝑝 to equation)
1 1
𝑐 𝑡𝑝 = 1 − 𝑒 −1.804 sin 3 1.804 + cos 3 1.804 = 0.291
4 3

Percentage increase:
𝑝𝑒𝑎𝑘 𝑣𝑎𝑙𝑢𝑒 − 𝑓𝑖𝑛𝑎𝑙 𝑣𝑎𝑙𝑢𝑒 𝑐 𝑡𝑝 − 𝑐𝑠𝑠
= × 100%
𝑓𝑖𝑛𝑎𝑙 𝑣𝑎𝑙𝑢𝑒 𝑐𝑠𝑠
0.291 − 0.25
= × 100% = 16%
0.25
Example
Mass/Spring/Damper system
5% Settling Time:
3 3
𝑡𝑠 5% = = = 3 𝑠𝑒𝑐
ζ𝜔𝑛 0.5 2
Number of oscillations:
𝑆𝑒𝑡𝑡𝑖𝑛𝑔 𝑡𝑖𝑚𝑒 3
𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑜𝑠𝑐𝑖𝑙𝑙𝑎𝑡𝑖𝑜𝑛𝑠 = = = 0.827
𝑃𝑒𝑟𝑖𝑜𝑑𝑖𝑐 𝑡𝑖𝑚𝑒 3.628
Example
Mass/Spring/Damper system
𝑡𝑟 = 1.209 s
𝑡𝑝 = 1.804 s

𝑡𝑠 = 3 s

Periodic Time = 3.628 s


Peak overshoot = 0.291 (16%)
Conclusion
Step response of Second Order System
Can be use to represent many (higher order) systems
Defined by natural frequency and damping ratio
Damping ratio relates to oscillation in response
Performance criteria
Rise time
Peak time and amplitude
Settling time

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