Automatic Control 1

!9.!0 SCOND ORDR SYSTM RSPONS

In the system considered in the previous section (Fig. 19.6), if the mass of the
spring is also taken into account, it becomes a second order system. Figure
19.9 shows the block diagram of such a system. First the input signal q
i
is
compared with the output signal q
o
. Then the difference e = q
i
q
o
is passed on
to the motor which produces an output torque T proportional to e (or = qe). The
system has a viscous resistance with damping coefficient c.
lig. !9.9
Let the combined moment of inertia of the motor and load be I.
Then, the equation of motion is
o
Iq

+
o
cq

= qe = qq
i
qq
o
or
o
Iq

+
o
cq

+ qq
o
= qq
i
(19.8)
The equation is similar to Eq. (18.25) and can also be written as
0 o o i
q q c
I I I
q q q q + + =

or
c
q

+ 2zw
n o
q

+
2
n o
q w =
2
n i
q w (19.9)
where c = 2zIw
n
. The response of the system can now be considered for the
following types of input:
(i) Step displacement,
(ii) Step velocity (ramp displacement), and
(iii) Harmonic.
!9.!! STP DlSPLACMNT lNPUT
Step displacement input is one in which input is made q
i
for t > 0, i.e. the input
signal is made at an angel q
i
from the zero position and is held in the new
position.
Therefore, the equation becomes,
o
q

+ 2zw
n o
q

+
2
n o
q w =
2
n i
q w (19.10)
The full response of the system will be the sum of transient and steady-state
values, i.e. the sum of complementary and particular solutions.
The complementary function is the solution of the equations,
o
q

+ 2zw
n o
q

+
2
n o
q w = 0
Its solution depends upon the value of z. If it is less than zero, i.e. the
system is under-damped, the solution is as derived in Eq. (18.21) since the
above equation is similar to Eq. (18.27).
2 Theory of Machines
Thus, CF =
t
n
Xe
z w -
sin (w
d
t + j)
The particular solution is given by,
PS =
2
2 2
2
w q
zw w + +
n i
n n
D D
Now, as q
i
is constant,
i
q

= 0
In the steady-state, frequency of oscillation of the output becomes equal to
that of the input.
\
o
q

=
i
q

= 0
Also,
c
q

= 0. Thus, Particular solution =

2
2
n i
n
w q
w
= q
i
The complete solution is q
o
= q
i
+
t
n
w
Xe
z -
sin (w
d
t + j) (19.11)
The constants X and j can be found from initial conditions.
When t = 0, q
o
= 0,
0 = q
i
+ X sin j or sin j =
i
X
q
-
When t = 0,
o
q

= 0, and
or 0 = X[
t
n
e
zw -
w
d
cos (w
d
t + j) + sin (w
d
t + j) ( zw
n
)
n
t
e
zw -
]
0 = w
d
cos j z w
n
sin j
or tan j =
d
n
w
zw
Thus, in the right-angle triangle ABC (Fig. 19.10),
AB = w
d
, BC = zw
n,
AC =
2 2
( )
n d
zw w +
=
2 2 2 2
(1 )
n n
z w z w + -
= w
n
X =
sin
i
q
j
- =
/
i n i
d n d
q w q
w w w
- = -
\ q
o
= q
i

1
sin tan
n
n i t d
d
d n
e t
zw
w q w
w
w zw
- -

+


-
or q
o
= q
i

2
2 1
2
1
1
1 sin 1 tan
1
n
t
n
e t
zw
z
z w
z
z
- -

-

- - +

-

(19.12)
Thus, for unit step displacement input, i.e. for q
i
= 1,
q
o
= 1
2
2 1
2
1
1
sin 1 tan
1
n
t
n
e t
zw
z
z w
z
z
- -

-
- +

-
(19.13)
lig. !9.!0
Automatic Control 3
In a similar way, the responses for the critical and over-damped systems can
also be obtained as have been given in Sec. 18.9.
The plots of q
o
vs. t have been shown in Fig. 19.11 for various values of
damping coefficient z. It can be observed that;
lig. !9.!!
(i) The amount of damping influences the magnitude or amplitude of over-
shoot about the steady state response.
(ii) If damping (z) is increased, the frequency of oscillation is reduced.
(iii) The quickest response with no overshoot is at critical damping (z = 1).
(iv) For z = 0.6 (approximately), the response is even faster with very little
overshoot.
(v) There is no steady-state lag (error).
(vi) To reach the steady state as quickly as possible, w
n
should be high or q as
large as possible and I as small as possible.
As discussed earlier, at any instant, there is a dynamic error between the
response and the input which gradually reduces. However, an acceptable error
band or a tolerable zone as shown in Fig. 19.12 is prescribed for the system.
lig. !9.!2
4 Theory of Machines
R1se 11me T
r
)
It is the time for the output to be equal to the input for the first time. It
corresponds to point P
r
(Fig. 19.12). It can be deduced from Eq. (19.5), by
making output equal to the input i.e.
1 =
2
2 1
2
1
1
1 sin 1 tan
1
n r
T
n r
e T
zw
z
z w
z
z
- -

-
- - +

-
or
2
2 1
2
1
1
sin 1 tan
1
n r
T
n r
e T
zw
z
z w
z
z
- -

-
- +

-
= 0
This is possible if the term inside the bracket is zero or p. It cannot be zero
as in that case, t
r
= 0 which is not possible.
Therefore,
2
1 z - w
n
T
r
= + tan
1

2
1 z
z
-
= p
or T
r
=
2
1
2
1
tan
1
n
z
p
z
z w
-
-
-
-
(19.14)
Peak Irror Oversnoo1)
Peak or the overshoot is the deviation (error) of amplitude of the output from
the input. The first peak or the peak overshoot occurs at point P
p
as shown in
Fig. 19.12. As the output reaches the peak point, a point on the harmonic circle
rotates through angle p, therefore, time taken to reach the peak point is given
by
T
p
=
d
p
w
=
2
1
n
p
z w -
(19.15)
and the error =
( )
2
2
1
sin 1
1
p
T
n p
e T
zw
z w j
z
-
- +
-
=
2
1
1
p
T
e
zw
z
-
-
sin (p + j)
=
2
2
1
1
1
p
T
e
zw
z
z
-
-
-
=
2
1
n
n
e
zw p
z w
-
-
Percent overshoot =
2
1
100 e
zp
z
-
-
(19.16)
Automatic Control 5
5e1111n T1me T
s
)
Time taken for the output to reach and remain within a zone of specified
percent around the final steady state value. The usual value is between 2-5
percent. Let the accepted value of error be De. Thus after a time T
s
the ampli-
tude is to be De (corresponding to point P
s
)
2
1
1
n s
T
e
zw
z
-
-
= De
or
n s
T
e
zw -
=
2
1 z - De or
n s
T
e
zw -
=
2
1
1 . e z - D
Taking log of both sides, zw
n
T
s
= ln
2
1
1 e z D -
or T
s
=
1
n
zw
ln
2
1
1 e z D -
(19.17)
ampIe !9.2 A measurement system consists of an effective mass of 40 g and a
spring constant 1.8 kN/m. Find
(i) the natural frequency of oscillation of the system
(ii) the damping constant for critical damping
(iii) the damping constant for 25% overshoot and corresponding period of oscillation.
5KJE
(i) w
n
=
s
m
=
1800
0.040
= 212.1 rad/s
f
n
=
2
w
p
n
=
212.1
2p
= 33.8 Hz
(ii) For critical damping,
c
c
= 2 sm = 2 1800 0.040 = 16.97
(iii) For 25% overshoot,
0.25 =
2
1
e
z p
z
-
-
or
2
1
e
z p
z -
= 4
2
1
pz
z -
= ln 4 = 1.386 or
2
2
1 z
z
-
= ln 4
14.68 z
2
= 1,
z = 0.261
c = 2z sm = 2 0.261 1800 0.040 = 4.43 N/m/s
Period of oscillation,
T =
2 2
2 2
1 212.1 1 0.261
n
p p
w z
=
- -
= 0.0307 s
6 Theory of Machines
ampIe !9.4 A second order measurement system has an effective mass of
1.2 kg, the stiffness coefficient 60 kN/m and the damping factor 0.42. Assuming a
unit step input, find
(i) the rise time
(ii) the settling time for a tolerance band of 2%.
5KJE
w
n
=
s
m
=
60000
1.2
= 223.6 rad/s
The rise time, T
r
=
2
1
2
1
tan
1
n
z
p
z
z w
-
-
-
-
=
2
1
2
1 0.42
tan
0.42
1 0.42 223.6
p
-
-
-
-
=
1.137
0.907 223.6
p -

= 0.00988 s
The settling time,
t
s
=
1
n
zw
ln
2
1
1 e z D -
=
1
0.42 223.6
ln
2
1
0.02 1 0.42 -
= 0.0165 4.009
= 0.0427 s