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Q
T, F
¾ Taking the Laplace transform yields:
or letting
1
τ 1 ρCp F
T (s) = τ s+1
T (0) − T (s)
τ s+1 in
+ τ s+1
Q(s)
Transfer functions
τ
τ s+1
+
+
e.g. The block is called the transfer function relating Q(s) to T(s)
Where
¾ This implies that the limit exists, i.e. that the system is stable.
or
Procedure
¾ Find steady-state
¾ Write steady-state equation
¾ Subtract from linear ODE
¾ Define deviation variables and their derivatives if required
¾ Substitute to re-express ODE in terms of deviation variables
¾ Satellite system
¾ DC motor
¾ Linearized model
Fo
h F
L
Modeling Objectives: Control height of liquid in tank
f(x)
f(x0) ∂f
( x0 )
∂x
x0
x
CHEE 3550 - Winter 2012 - S.Blouin 20
Nonlinear Systems
First order Taylor series expansion
¾ Transfer function
MATLAB
>> s = tf(‘s’);
>> G1 = 2/(3*s+1);
>> G2 = 6.5/(4.2*s+3);
>>feedback(G1,G2,-1)
Transfer function:
8.4 s + 6
----------------------
12.6 s^2 + 13.2 s + 16
¾ Overall transfer function
MATLAB
>> s = tf(‘s’);
>> G1 = 2/(3*s+1);
>> G2 = 6.5/(4.2*s+3);
>>feedback(G1,G2,+1)
Transfer function:
8.4 s + 6
----------------------
12.6 s^2 + 13.2 s - 10
¾ Overall transfer function
where
F
¾ Assume:
Î Incompressible flow
Î Outlet flow due to gravity
¾ Balance equation:
Î Total
Î Flow In
Î Flow Out
¾ Laplace transform
DC Motor
Speed of a car
DC Motor
What do we need?
¾ System initially at equilibrium
¾ Step input of magnitude M
¾ Measure process gain from new steady-state
¾ Measure time constant
MATLAB
num = [1]; den = [1 1];
sys = tf(num,den);
ltiview('step',sys);
MATLAB
num = [3.2]; den = [7 1];
sys = tf(num,den);
ltiview('step',sys);
MATLAB
TimeStep = 0.01;
Ramp input of slope a Time = 0:TimeStep:5;
Input = Time;
5
G = tf([1],[1 1]);
4.5 [Output] = lsim(G,Input,Time);
4 plot(Time,Input); hold on;
plot(Time,Output); hold off;
3.5
2.5
1.5
0.5 a = 1 ,τ = 1
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Sinusoidal
2 input Asin(ωt)
1.5
0.5
AR
0
-0.5
-1 φ
-1.5
0 2 4 6 8 10 12 14 16 18 20
10
0 Bode Plots
High Frequency
Corner Frequency Asymptote
-1
10
-2
10 -2 -1 0 1 2
10 10 10 10 10
0
-20
-40
-60
-80
-100 -2 -1 0 1 2
10 10 10 10 10
MATLAB
Amplitude Ratio Phase Shift num = [1]; den = [1 1];
sys = tf(num,den);
ltiview(‘bode',sys);
Fi
F
Laplace domain dynamics
1 1
H(s) = As F in (s) − As F (s)
Slope =
Time Time
Time Time
Time Time
Underdamped
Critically Damped
Overdamped
By Newton’s law
p
Underdamped
Critically Damped
Overdamped
2
1.8
ξ=0
1.6 ξ=0.2
1.4
1.2
1
0.8
0.6
ξ=2
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
CHEE 3550 - Winter 2012 - S.Blouin 66
Second Order Systems
Observations
1. Rise time,
2. Time to first peak,
3. Settling time,
4. Overshoot:
5. Decay ratio:
where
s.t.
e.g.
» s=tf('s');
» sys=1/s/(s+1)/(4*s^2+2*s+1);
Transfer function:
1
-------------------------
4 s^4 + 6 s^3 + 3 s^2 + s
» pole(sys)
ans =
0
-1.0000
-0.2500 + 0.4330i
MATLAB
-0.2500 - 0.4330i
¾ Poles
Î -1.0000
-0.0000 + 1.0000i
-0.0000 - 1.0000i
¾ Poles
Î -8.1569
-0.6564
-0.1868
¾ Poles
-4.6858
0.3429 + 0.3096i
0.3429 - 0.3096i
¾ Fast poles
Î Poles that are further from the imaginary axis
z Larger real part means larger exponential term and faster
decay
¾ Stable poles
Î Poles with negative real parts
Î Decaying exponential
¾ Unstable poles
Î Poles with positive real parts
Î Increasing exponential
Oscillatory Integrating
Behaviour Behaviour
Pure Exponential
Stable Unstable
Marginally
Stable
CHEE 3550 - Winter 2012 - S.Blouin 87
Poles
Example
Stable Poles
Unstable Poles
Fast Poles
Slow Poles
Zeros:
¾ Do not affect the stability of the system but can modify the dynamical
behaviour
¾ Slow zeros are closer to the imaginary axis than the dominant poles of the
transfer function
Î Affect the behaviour
Î Results in overshoot (or undershoot)
If gains are of opposite signs and time constants are different then a right half
plane zero occurs
¾ Zeros
Î -10.000
Dominant
Fast, Stable
Pole
Zero
¾ Poles
Î -8.1569
-0.6564
-0.1868
¾ Zeros
Î -0.1000
Slow (dominant)
Stable zero
¾ Poles
Î -8.1569
-0.6564
-0.1868
¾ Zeros
Î 10.000
¾ Poles
Î -8.1569
-0.6564
-0.1868
¾ Zeros
Î 0.1000
Slow
Unstable Zero
Dominant
Pole
Slow
Stable Zeros
Zero at
Origin
Observations:
¾ Zero at the origin eliminates (or zeroes out) the system response
to a step
Fi
Control loop
Step response
CHEE 3550of a first
- Winter order
2012 plus dead time process
- S.Blouin 113
Delay
Delayed step response: