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TimeDomainAnalysisof2nd OrderSystems
Introduction
We have already discussed the affect of location of pole and zero on the
transient response of 1st order systems.
2
G (s) n
OpenLoopTransferFunction
s ( s 2 n )
C( s ) n2
2 ClosedLoopTransferFunction
R( s ) s 2 n s n2
Introduction
C( s ) n2
2
R( s ) s 2 n s n2
C( s ) 4
2
R( s ) s 2 s 4
C( s ) n2
2
R( s ) s 2 n s n2
n2 4 n 2 rad / sec
2 n s 2 s
n 1
s 2 2 n s n2 s 2 2 s 4
0.5
Introduction
C( s ) n2
2
R( s ) s 2 n s n2
n n 2 1
n n 2 1
Introduction
n n 2 1
n n 2 1
Depending upon the value of , a secondorder system can be set
into one of the four categories:
1. Overdamped when the system has two real distinct poles ( >1).
c b a
Introduction
n n 2 1
n n 2 1
According the value of , a secondorder system can be set into
one of the four categories:
2. Underdamped when the system has two complex conjugate poles (0 < <1)
c b a
Introduction
n n 2 1
n n 2 1
According the value of , a secondorder system can be set into
one of the four categories:
c b a
Introduction
n n 2 1
n n 2 1
According the value of , a secondorder system can be set into
one of the four categories:
4. Critically damped when the system has two real but equal poles ( = 1).
j
c b a
TimeDomainSpecification
For0< <1andn >0,the2nd ordersystemsresponseduetoa
unitstepinputlookslike
11
TimeDomainSpecification
The delay (td) time is the time required for the response to
reach half the final value the very first time.
12
TimeDomainSpecification
The rise time is the time required for the response to rise from 10%
to 90%, 5% to 95%, or 0% to 100% of its final value.
For underdamped second order systems, the 0% to 100% rise time is
normally used. For overdamped systems, the 10% to 90% rise time is
commonly used.
TimeDomainSpecification
Thepeaktimeisthetimerequiredfortheresponsetoreach
thefirstpeakoftheovershoot.
14
14
TimeDomainSpecification
The maximum overshoot is the maximum peak value of the
response curve measured from unity. If the final steadystate
value of the response differs from unity, then it is common to
use the maximum percent overshoot. It is defined by
15
TimeDomainSpecification
The settling time is the time required for the response curve
to reach and stay within a range about the final value of size
specified by absolute percentage of the final value (usually 2%
or 5%).
16
SPlane
Natural Undamped Frequency.
j
Distance from the origin of s
plane to pole is natural
undamped frequency in n
rad/sec.
SPlane
Let us draw a circle of radius 3 in splane.
3 3
3
SPlane
Therefore the splane is divided into Constant Natural
Undamped Frequency (n) Circles.
SPlane
Damping ratio.
SPlane
For Undamped system 90 therefore, 0
SPlane
0
Foroverdampedandcriticallydampedsystems
therefore, 1
SPlane
Drawavectorconnectingorigin ofsplaneandsomepointP.
j
P
45
cos 45 0.707
SPlane
Therefore,splaneisdividedintosectionsofconstantdamping
ratiolines.
Example2
Determine the natural frequency and damping ratio of the poles from the
following pzmap.
1.5
0.91 0.84 0.74 0.6 0.42 0.22
0.96
1
0.99
0.5
-0.5
0.99
-1
0.96
2.5
0.7 0.56 0.42 0.28 0.14
-3
-3 -2.5 -2 -1.5 -1 -0.5 0
Example4
The natural frequency of closed Pole Zero Map
1.5
0.8
1
Determine the location of closed 1
0.94 0.5
loop poles so that the damping 0
ratio remains same but the natural 0.94 0.5
undamped frequency is doubled. -1
1
0.8
1.5
-2
2
0.64
4
0.5
3
1
4 2
0
-1
-2
-3
0.5
-4
-5
-8 -6 -4 -2 0
SPlane
n n 2 1
n n 2 1
1st and 2nd 2nd order systems
(s) Km 1
Vs (s) LJ
s2 + + s+
J L LJ Secondorder system
s+
I(s) 1 J
Vs (s) R
b R bR + K m K v
s2 + + s+
J L LJ
Step response of 2nd order system large R/L
L = 0.1H, Kv = 6V sec, Km = 6N m/A, J = 2kg m2 ,
Overdamped R = 6, b = 4kg m2 Hz; vs (t) = 30u(t) V.
response
dissipation >
energy storage
Step response of 2nd order system large R/L
L = 0.1H, Kv = 6V sec, Km = 6N m/A, J = 2kg m2 ,
Overdamped R = 6, b = 4kg m2 Hz; vs (t) = 30u(t) V.
response
Step response of 2nd order system large R/L
L = 0.1H, Kv = 6V sec, Km = 6N m/A, J = 2kg m2 ,
Overdamped R = 6, b = 4kg m2 Hz; vs (t) = 30u(t) V.
response
Comparison of 1st order and 2nd order overdamped
1st order 2nd order
(L0) (L=0.1H)
Step response of 2nd order system small R/L
L = 1.0H, Kv = 6V sec, Km = 6N m/A, J = 2kg m2 ,
Underdamped R = 6, b = 4kg m2 Hz; vs (t) = 30u(t) V.
response
dissipation <
energy storage overshoot
Comparison of 1st order and 2nd order underdamped
NO overshoot overshoot
1st order 2nd order
(L0) (L=1.0H)
Overdamped DC motor: derivation of the step response
Using the numerical values L = 0.1H, Kv = 6V sec, Km = 6N m/A, J =
2kg m2 , R = 6, b = 4kg m2 Hz we find
Km rad b R bR + Km Kv 2
= 30 ; + = 62rad/sec; = 300 (rad/sec) .
LJ sec V J L LJ
Therefore, the transfer function for the angular velocity is
(s) 30
s1 = 5.290Hz, s2 = 56.71Hz = .
Vs (s) (s + 5.290)(s + 56.71)
To compute the step response we substitute the Laplace transform of the voltage
source Vs (s) = 30/s and carry out the partial fraction expansion:
j
system poles
(2nd order overdamped)
input
pole
56.71 5.29 5 0
1st order
system pole
2.004 Fall 07
Undamped DC motor: no dissipation
Consider the opposite extreme where the dissipation due to both the resistor and
bearings friction is negligible, i.e. R = 0 and b = 0. Using the same remaining
numerical values L = 0.1H, Kv = 6V sec, Km = 6N m/A, J = 2kg m2 , we
find
Km rad b R bR + Km Kv 2
= 30 ; + = 0; = 180 (rad/sec) .
LJ sec V J L LJ
Therefore, the transfer function for the angular velocity is
A 2nd order system is undamped
(s) 30
= 2 . if the transfer function denominator has a
Vs (s) s + 180 conjugate pair of two imaginary roots.
(s) 30
s1,2 = j13.42Hz = .
Vs (s) (s + j13.42)(s j13.42)
system poles
(2nd order undamped)
j
j13.42
input
pole
5 0
(s) 30
s1,2 = 4 j3.74 rad/sec = .
Vs (s) (s + 4 + j3.74)(s + 4 j3.74)
We will now develop the partial fraction expansion method for this case, aiming
to find the step response:
90 90 K1 K 2 s + K3
(s) = = = 90 + 2 .
s(s + 4 + j3.74)(s + 4 j3.74) s(s2 + 8s + 30) s s + 8s + 30
Underdamped DC motor: small dissipation
Using the familiar partial fraction method, we can find K1 = 1/30, K2 = 1/30,
K3 = 8/30, therefore
1 s+8
(s) = 3 .
s s2 + 8s + 30
If the complete square instead of (s+4)2 were of the form s2 , the inverse Laplace
transform would have followed easily from Nise Table 2.1:
" #
s+4 s+4
L1 2 = L1 2 = cos (3.74t) + 4 sin (3.74t) .
s + 14 s2 + (3.74)
To take the extra factor of 4 into account, we must use yet another property of
Laplace transforms, which we have not seen until now:
L eat f (t) = F (s + a). (Nise Table 2.2, #4).
Underdamped DC motor: small dissipation
We apply this frequency shift property as follows:
" #
s+4
L1 2 = cos (3.74t) + 4 sin (3.74t)
s2 + (3.74)
" #
(s + 4) + 4
L1 2 2 = e4t [cos (3.74t) + 4 sin (3.74t)] .
(s + 4) + (3.74)
Combining all of the above results, we can finally compute the step response for
the angular velocity of the DC motor as
(t) = 3 3 e4t [cos (3.74t) + 4 sin (3.74t)] u(t).
t Damping ratio
Figure by MIT OpenCourseWare.
1 Undamped (natural) period
.
2 Time constant of exponential decay
system poles
overshoot (2nd order undamped)
j
4 + j3.74
j3.74
4 0
input
pole
j3.74
4 j3.74
The general 2nd order system
We can write the transfer function of the general 2nd order system with unit
steady state response as follows:
n2
, where
s2 + 2n s + n2
undamped if = 0;
underdamped if 0 < < 1;
critically damped if = 1;
overdamped if > 1.
The general 2nd order system
c (t)
Undamped
2.0
1.8
1.6
1.4
Underdamped
1.2
Critically
1.0 damped
0.8
0.6
Overdamped
0.4
0.2
t
0 0.5 1 1.5 2 2.5 3 3.5 4
We find
1 1 2
K1 = , K2 = , K3 =
n2 n2 n
Substituting and applying the same method of completing squares that we did
in the numerical example of the DC motors angular velocity response, we can
rewrite the laplace transform of the step response as
p
(s + n ) + p n 1 2
1 1 2
2 .
s (s + n ) + n2 1 2
2
The definitions above can be rewritten X + jn 1 = jd
d n s-plane
= ,
n
p n = d
d
1 2 =,
n
p X jn 1 2 = jd
d 1 2
tan = = .
d
Figure 4.10
Figure by MIT OpenCourseWare.
The underdamped 2nd order system
n2
2 2
, 0<<1
(s + 2n s + n )
Finally, using some additional trigonometry and the definitions
p
d = n , d = n 1 2 , tan = p
1 2
Figure 4.10
t
Transients in the underdamped 2nd order system
Peak time
Tp = p .
n 1 2
c(t)
Percent overshoot (%OS)
cmax !
1.02cfinal
c final
%OS = exp p 100
1 2
0.98cfinal
0.9cfinal
ln (%OS/100)
= q
2 + ln2 (%OS/100)
Settling time
(to within 2% of steady state)
0.1cfinal
p
t
Tr Tp Ts ln 0.02 1 2
4
Ts = .
Figure by MIT OpenCourseWare. n n
Electro-mechanical
equations of motion
(time domain)
di
L + Ri + Kv = vs
dt J d(t) di(t)
i(t) = . vL (t) = L = vs (t) ve (t).
Km dt dt
d
J + b = Km i
dt
Stepfunction source
vs (t) = V0 u(t).
L = 0.1H, J = 2kg m2 ,
Kv = 6V sec, Km = 6N m/A,
V0 = 30V.