University of Savoie

DEUG STPI Unit U32 linear systems - Automatic

CHAPTER 6 SYSTEMS OF SECOND ORDER
1. Differential equation - Transfer Function.
Called second order system, a system governed by a differential equation of the
form: 1 d 2 y dy 2.ξ. +. + Y = K ω2 ωn dt dt 2 n 2.ξ 4
ith: - 2 <0 ωn


ωn giving ξ <1 (the system can not be decomposed into t o first order systems
in series). ωn is called free or natural frequency pulsation or angular frequenc
y of undamped system. ωn is measured in rad / s. ξ is called damping system or d
amping factor. K is the static gain of the system (gain steady). By applying the
Laplace transform to this equation,
e get: 1 12 1 '+ 2. + ξ 2.ξ. p.Y (p) -.
y (0 +) + Y (p) = K. X (p) 2. p. Y (p) - 2. P. y (0) + 2. y (0) + ωn ωn ωn
ωn ωn 1 2. ξ When the initial conditions are nil, 2. p 2 +. p + 1 . Y (p)
= K. X (p) ωn ωn The system transfer function is: Y (p) K. Ωn2 H (p) = = 2 =
X (p) + 2 ωn. ξ.ωn p + p 2
2
2.ξ K p 1 + p + ωn ωn
2
This transfer function has a pole comple conjugate: j-ξ ±. 1 - ξ2. Ωn E ample:
(t) i (t) CR y (t)
(
)
di 1t For zero initial conditions,
e have: L + + ∫ R.i i. dt dτ = C0 - 33 -
And y = 1T. ∫ τ i.d C0

Universi y of Savoie
   
DEUG STPI Uni U32 linear sys ems - Au oma ic
 
where: wi h: wi h:
 
d2 y dy + R C. + Y = x 2 d d 1 H (p) = 2L C. p + R C. p + 1 1 1 ω2 = and = ξ.
R. C. L. No ωn C 2 L C.
2. Impulse response.
The system impulse response is given by: h (t) = LP-1 [H (p)] K. Ωn ξω nt-Where
h (t) =. E. Sin ωn. 1 - ξ2. t 2 1 - ξ can be seen from this e pression that the
system is stable, if ξ.ωn> 0. Ie if the poles of the transfer function are negat
ive real part. ωn is positive, the system is stable for ξ> 0. If the system is s
table, h (t) is a damped sine of:
[
]
h (t)
0
t
ω p = ωn. 1 - ξ2 o
n pulse is called pseudo pulse system.
3. Step response.
This response is obtained for (t) = u (t) or X (p) = 1 / p. We therefore have:
We sho
that
hen
(t) = LP-1 [H (p) / p] 1
(t) = K 1 -. e-ξω nt. Sin ω
n. 1 - ξ2. t + θ 1 - ξ2
[
]
1 - ξ2
ith: tan (θ) = ξ for a system
ith a static gain of 1, K = 1:
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University of Savoie
DEUG STPI Unit U32 linear systems - Automatic
1 Xp
0 tr tp
t
When the system is stable, (ξ> 0), the system response is damped sine from aroun
d the final value that is equal to K times the value of the step. (E cept for th
e critical case,
here ξ = 1: the response is aperiodic.) The initial slope is e
qual to 0. 4 The response time of 2% is roughly equal to. ξ. ωn For second order
systems, define first e ceeded Instant: We call the first moment of e cess, the
moment
hen the output reaches its first ma imum. T is denoted P. Amplitude of
the first e ceedance: the first is called amplitude e ceeded the amplitude of th
e first ma imum on the final value of the output. We note this value Xp. Calcula
ting tp tp A,
e have
'(t) = 0 since
(t) is ma imum. Ho
ever,
e have: 1
'
(t) = - K. . e-nt ξω. ωn. - ξ. Sin ωn. 1 - ξ2. t + θ + 1 - ξ2. Cos ωn. 1 - ξ2.
t + θ 2 1 - ξ
[
Therefore
'(t) = 0 is:
e have: therefore, by identifying:

1 - ξ2. Cos ωn. 1 - ξ2. t + θ = ξ. Sin ωn. 1 - ξ2. t + θ an (θ) = 1 - ξ ξ2 and
ξ2 +
[
]
]
[
[
]
]
(
1 - ξ2
)
2
= 1
ξ = cos (θ) and
1 - ξ2 = Sin (θ)

previous euali y becomes: Sin (θ). Cos ωn. 1 - ξ 2. T + θ = cos (θ). Ωn Si
n. 1 - ξ 2. T + θ is: Sin θ - ωn. 1 - ξ 2. T + θ = 0 hence Sin
ωn. 1 - ξ 2. T = 0 Finally
e have
'(t) = 0 for: - 35 -
University of Savoie
DEUG STPI Unit U32 linear systems - Automatic
ω n. 1 - ξ2. t = 0 ω n. 1 - ξ 2. t = k. π
zero sloe at the origin. with k integer. π ωn. 1 - ξ2
the moment of first e ceedance is obtained for k = 1: tp =
at this moment
e have:
here:
Wp = W (t p) = K 1 + e - π / tan (θ)
(
)
X  = K. e-π / tan (θ)
Note: A statement from the ste resonse, can be found by identifying the euati
on of a system and a π ξ = ωn = second order: π2 t. Ξ2 1- 1 + 2 ln p / K
    
4. Response o a ramp. This response is ob ained for x ( ) = a. . u ( ).
2.ξ was an X () = 
a / ², and y (t) = K. a. t - +. e-ξω nt. Sin ωn. 1 - ξ
2. t + 2θ ωn ωn. 1 - ξ2
[
]
5. Harmonic.
We set p = jω,
hich corresponds to a particular case for the Laplace transform.
The transmittance K.ωn2 isochronous system is: H (jω) = 2 ωn - ω2 +2. j. ξ. ω.ω
n then: and: H (jω)
dB 2 4 = 20.log K.ωn - 10.log ωn ω4 + + 4. ξ2 - 2. ω2. ωn2
(
)
[
(
)
]
2.ξ.ω.ωn Arg H (jω) = - tan ωn February 2 - ω
[
]
T
o cases arise: Case 1: H (j ω), vanishes: in this case, the gain of the system
passes through a ma imum. We then say that there is resonance. H (jω) '= d H (j
ω) dω
2 = - K.ωn.
February 1 ω2 - No ω2
[(
) + (2ξωω)] (ω
2 2 n
[4.ω
3
2 + 2. 4.ξ 2-2. Ω.ωn 2 n
(
)
- Ω2
) + (2ξωω)
2n
]
2
thus H (jω) = 0 is equivalent to: 4.ω3 +2. 4.ξ2 - 2. ω.ω2 = 0 n - 36 -
(
)
University of Savoie
DEUG STPI Unit U32 linear systems - Automatic
either:
ω2 +2. ξ2 - 1. ω2 n = 0
(
)

hich is possible only if 2.ξ2 - 1 <0

(
)
ie
ξ <
The resonance occurs for H (jω) = 0, ie: ω = = ωr ωn. (1 - 2.ξ 2) ωr is called p
ulse resonant system. 2nd case: 1 2 In the case
here there is resonance, then

e define a factor of resonance by MP: H (j ω) 'never vanishes: there is no reson
ance. This is the case
here ξ> H (jωr) H (0) = Mp • Representation of Bode H (j
ω) 20.Log dB (K) ξ = 0.8 slope = -12dB/octave -40dB/décade ξ = 0.2 Mp = 1 2.ξ. 1
- ξ2
February 1
ω / ωn (log) Φ H [jω] 0
[
]
ωn ωr ωn ω / ωn (log)
-90 °
ξ = 0.2 -180
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University of Savoie
DEUG STPI Unit U32 linear systems - Automatic
• Representation in the Nyquist plane: 0 Im H (jω)
[
]
ω = 0
Re H (jω)
[
]
ω → + ∞
ω = ξ = 0.8 ωn
ξ = 0.2 ω = ωn
• Representation in terms of Black: Gain (dB) in dB 20.Log Mp (K) -180 ξ = 0.8 ξ
= 0.2 0 ° Phase (°)
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