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CH E 446 Process Dynamics and Control Summer 2003 MATLAB/SIMULINK Lab #2

Due date: 6 PM, June 27 Open-loop, Dynamic Response of Second Order Systems
Objectives: 1) To show the open-loop, time-domain response of second order systems using process gains, K; damping factors, ; and natural time constants, ; provided by the user. 2) To determine the open loop response of dynamic systems to non-step inputs, such as ramps, sine waves, etc. 3) To illustrate additional features of the MATLAB/SIMULINK software. Requirements: Again, each student is expected to make her/his own investigation. Please label your plots with titles and axis labels and include your student number in the titles. Organize your write ups carefully and please write neatly. Do not forget to include a cover page with your name and student number, the date, course, lab number and title, etc. Background: A second order dynamic model can be put into the following standard forms: a) An ordinary differential equation:

d 2 y ( t) dy + 2 + y( t ) = Ku ( t ) 2 dt dt

b) An equation in transfer function form:

y ( s) =
where y(t) u(t) K = = = = =

K u (s) 2 s2 + 2s + 1

process output process input process time constant process (steady state) gain damping factor

The "characteristic equation" for this second order system is

2 s2 + 2 s + 1 = 0
The roots of this equation may be real, equal or complex depending on the numeric values of and .

Questions: 1. Obtain the unit-step response of the following system:

G (s) = 0. 78 / (49 s2 + 7 s + 1) (Note that =7 and =0.5 for this system.)


2. In this part, you get to choose values for the gain, natural period and damping factor. There are two parameters that completely define the dynamics of a second order system: the time constant, , and the damping factor, . The time constant determines the speed of the response and the damping factor determines the form (shape) of the time domain response and the form of the roots of the denominator of the transfer function (also known as the poles of G(s)). a) For your process, select values for the gain and time constant and 3 values of such that: i) = 1; ii) 1; and iii) 1 Superimpose the three step-responses (use the same gain and time constant in each case). Obtain roots of the three different denominators. Use the "roots" command in MATLAB. b) Investigate the significance of by changing its value: e.g. for 1 or 1, try = 1, 7 and 10. In each case, obtain roots of the denominator of G(s). c) Make a small table that shows the equivalence of the terminology: i) overdamped, underdamped and critically damped response ii) damping factor = 1, >1, <1 iii) complex, real, repeated roots of the characteristic equation (See Section 3.7 of Bequette; but, in your case, support your answers by indicating actual values of , and the roots obtained for case 2a) 3. For a typical second order response (e.g. for G(s) in part 1), briefly define the following "performance" specifications and calculate their values for the response in part 1. -Rise time -Time to first peak -Settling time choose a percent value (e.g. 2%) -Overshoot -Decay ratio -Period of oscillation

4. An overdamped 2nd or higher order system can be approximated by a 1st order transfer-function with a time-delay. Obtain a 1st order plus time-delay approximation of the following 2nd order process: 1/(5s+1)(50s+1). The following procedure can be used. Find the process gain as in the first order case. Estimate the times at which the process has achieved 35.3% and 85.3% of the new steady state value. The delay and time constant may then be estimated as:

= 1.3t 35.3% 0.29t 85.3% = 0.67(t 85.3% t 35.3% )

Simulate your approximate models response to the same step input and plot it on the same axis as the original response. How does your approximate model perform. Is the final steady-state value the same? Is the approach to the new steady-state faster or slower?

5. Simulate the unit step response of the following second-order process with numerator dynamics for three values of numerator time constant: n=5, n=15, and n=-5.

y (s ) =

( n s + 1) u (s ) (5s + 1)(10s + 1)

Plot all three responses on the same axes. Do any of the responses have overshoot? Which one(s)? Do any of the responses have inverse response? Again, which one(s)?

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