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Use Bode Standard Order

Equations to Determine
System Parameters
Control Systems and Automation
By Brendan Burr

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

Table of Contents
TABLE OF CONTENTS...........................................................2
TASK 1................................................................................6
1.1 Describe the following parameters that can be obtained
from Bode standard second order equations in the s domain.
Identify the appropriate symbol in each case........................6
Damping ratio.....................................................................6
Solution:-.........................................................................................6
Undamped natural frequency...............................................7
Solution:-.........................................................................................7
Damped natural frequency..................................................7
Solution:-.........................................................................................7
The response time in terms of the following:-.......................8
(i) Rise time........................................................................8
Solution:-.........................................................................................8
(ii) Peak time......................................................................8
Solution:-.........................................................................................8
(iii) Overshoot and percentage overshoot.............................9
Solution:-.........................................................................................9
(iv) Settling time.................................................................9
Solution:-.........................................................................................9
1.2 A second order system has the following transfer function
in the s domain:................................................................11
Determine the following parameters for this system:-........11
(a) The undamped natural frequency in rads /sec...............11
Solution:-.......................................................................................11
.......................................................................................11
(b) The damping ratio........................................................12
Solution:-.......................................................................................12
(c) The damped natural frequency in rads/sec.....................13
Solution:-.......................................................................................13
TASK 2..............................................................................14
2

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

2.1 A second order system has an undamped natural


frequency of 10 rads/sec and a damped natural frequency of 9
rads/sec. ..........................................................................14
Determine the following parameters for this system:..........14
(a) The damping ratio........................................................14
Solution:-.......................................................................................14
(b) The equation for the transfer function in terms of the s
domain.............................................................................15
Solution:-.......................................................................................15
(c) The 100% rise time.......................................................15
Solution:-.......................................................................................15
(d) The percentage maximum overshoot.............................16
Solution:-.......................................................................................16
(e) The 2 % settling time....................................................16
Solution:-.......................................................................................16
(f) The peak time...............................................................16
Solution:-.......................................................................................16
2.2 A second order system has an overshoot of 20% and a rise
time of 0.5 sec when subject to a step input. Determine the
following parameters for this system:-...............................17
(a) The damping ratio........................................................17
Solution:-.......................................................................................17
(b) The damped natural angular frequency.........................18
Solution:-.......................................................................................18
(c) The undamped natural angular frequency......................18
Solution:-.......................................................................................18
(d) The number of oscillations for a 2% settling time...........18
Solution:-.......................................................................................18
TASK 3..............................................................................19
3.1 Construct the following series R-L-C circuit using the S/W
package Croc Clips or Electronic Workbench.......................19
3.2 Apply a step input voltage of 1 V to Vi by connecting a
switch in series with a 1V DC supply...................................19
Solution:-.......................................................................................19
3.3 Connect an Oscilloscope probe to monitor the output
voltage Vo. [You will also need to connect a switch across the
3

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

capacitor in order to discharge the Capacitor between


readings.].........................................................................19
Solution:-.......................................................................................19
3.4 Connect a switch in parallel across R. Close the switch to
set R = 0 ........................................................................19
Solution:-.......................................................................................19
3.5 Using the component values and with R = 0 determine
and tabulate a set of analytical results for the following
parameters:-.....................................................................20
(a) The Undamped natural frequency in Rads/sec................20
Solution:-.......................................................................................20
(b) The Undamped natural frequency in Hz.........................20
Solution:-.......................................................................................20
(c) The Undamped periodic time T in sec.............................20
Solution:-.......................................................................................20
3.6 Run the simulation.......................................................21
Solution:-.......................................................................................21
3.7 From the simulation determine and tabulate a set of
measured results for the following parameters:-.................21
(a) The Undamped natural frequency in Rads/sec................21
Solution:-.......................................................................................21
(b) The Undamped natural frequency in Hz.........................21
Solution:-.......................................................................................21
(c) The Undamped periodic time T in sec.............................21
Solution:-.......................................................................................21
3.8 Compare the analytical results obtained in 3.5 with the
measured results from the practical simulation in 3.7.........23
Solution:-.......................................................................................23
3.9 Using relevant theory and techniques produce a table of
analytical results for the following parameters. Use the
values of the damping ratio given and suggest you use an
Excel spreadsheet to enter the appropriate formulae..........24
Solution:-.......................................................................................24
4.3 For each simulation produce a printout of the waveform
response for Vo.................................................................26
(0.1)...............................................................................................26
(0.2)...............................................................................................27
(0.3)...............................................................................................28
(0.4)...............................................................................................29
4

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

(0.5)...............................................................................................30
(0.6)...............................................................................................31
(0.8)...............................................................................................32
(1.0)...............................................................................................33
(1.6)...............................................................................................34
4.5 Produce a printout of the complete simulation circuit
used.................................................................................35
CONCLUSION.....................................................................36
Books...............................................................................37
Catalogues........................................................................37
Websites...........................................................................37

BTEC Higher National Certificate in Electronics

Brendan Burr

Control Systems and Automation

Task 1
1.1 Describe the following parameters that can be obtained from Bode
standard second order equations in the s domain. Identify the
appropriate symbol in each case.
Damping ratio.
Solution:-

As you can see from the graph above, the greater the damping ratio,
the less steep the increase of y(t) is. Any damping ratio greater than 1
results in an over damped waveform, and will never reach the value of
1 (on the y axis). This is exampled by zeta = 2 above.
If the damping ratio is equal to 1 then this is known as critically
damped, i.e the waveform is non oscillatory and actually exponential.
This is exampled by zeta = 1 above.
A damping ratio less than 1 makes the waveform oscillatory and it
overshoots 1 (on the y axis), this is known as under damped. You can
see this on the above graph where zeta = 0.7, 0.4, 0.2 and 0.1. The
output is clearly decaying with its peak losing amplitude with each
oscillation.
When the waveform is oscillatory without any form of decay, the
waveform is called undamped. This is shown above where zeta = 0,
and the waveform does not decay over multiple cycles.
The formula to work out the damping ratio is as follows:
=

R C
2 L

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

Undamped natural frequency.


Solution:The undamped natural frequency of a waveform is where there is no
decay in the amplitude of the waveform over time. For this to happen
in an R-L-C circuit, the value of the resistor must equal 0 Ohms.
This effectively makes the circuit simply an LC circuit with just the
Inductor and Capacitor, and creates a resonance effect which in theory
does not decay.

The formula to work out the undamped natural frequency is as follows:


=

1
LC

The symbol used for undamped natural frequency is n and is


measured in Radians/Sec.
Damped natural frequency.
Solution:The damped natural frequency occurs when the resistor in an R-L-C
circuit has a value greater than 0. As I have explained above, if the
damping ratio is greater than 1 then the waveform will be over damped,
if under 1 then it will be under damped, if the damping ratio calculates
to be equal to 1 then the waveform will be critically damped.
You should expect to see a waveform with an overshoot, if the
damping ratio is less than 1, likewise you would expect to see no
overshoot if the damping ratio is greater than or equal to 1.
The formula required to work out the damped natural frequency is as
follows:
=n

1 2

The symbol used for damped natural frequency is d and is measured


in Radians/Sec.
7

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

The response time in terms of the following:(i)

Rise time

Solution:Rise time is the amount time it takes for the response output to reach
the steady state line. This is the first point at which the response
output reaches the steady state line, so even if under damping occurs
the rise time can still be calculated.
The formula to calculate the rise time is as follows:

2 d

It requires the damped natural frequency which can be determined as


shown above.
If the system is over damped then the response output will never reach
the steady state line and therefore the rise time will be immeasurable.
The symbol used for rise time is t r and is measured in Seconds.
(ii)

Peak time

Solution:The peak time is the time it takes for the response output to rise from 0
to the first peak point, which is also the time it takes the response
output to reach half a cycle. Therefore = d t p so to work out the
peak time the equation would be:
=

The symbol used for peak time is t p and is measured in Seconds.

BTEC Higher National Certificate in Electronics

Brendan Burr

Control Systems and Automation

(iii)

Overshoot and percentage overshoot.

Solution:Overshoot is the maximum amount by which the output response


overshoots the steady state line. It is calculated at the first peak point,
i.e when = d t p .
The overshoot can be calculated by using the formula:
= ss e

n 1 2

To calculate the percentage overshoot the formula is the same but


simply:
= ss e

1 2

100 %

Percentage overshoot does not have a symbol to express it, however it


is measured as a percentage of the steady state value so should have
a percentage sign at the end.
(iv)

Settling time

Solution:The settling time is used to determine how long it takes for the
oscillations to die away and for the output response to reach a
continuous steady state. The continuous steady state is accomplished
when the waveform falls within a percentage of the steady state line.
To work out the settling time for 2% you would use the following
formula:
ln 0.02 = n t s
ln 0.02 = 3.912023005
ts =

3.912023005

However we use the formula

ts =

4
n

for ease.

To work out the settling time for 5% you would use the following
formula:
ln 0.05 = n t s
ln 0.05 = 2.995732274
ts =

2.995732274

However we use the formula


9

ts =

3
n

for ease.

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

The symbol used for settling time is t s and is measured in Seconds.


Using this information you could then go back and work out the number
of overshoots there would be before the output response reaches the
settling time boundaries.
Number

_ of _ oscillatio ns =

Settling _ time
Periodic _ time

Number _ of _ oscillations =

n 2 d
=
2
n
d

2 n 1 2
Number _ of _ oscillations =
n
Number _ of _ oscillatio ns =

10

BTEC Higher National Certificate in Electronics

Brendan Burr

Control Systems and Automation

1.2

A second order system has the following transfer function in the s


domain:
o
16
= 2
i
s + 5s + 16
Determine the following parameters for this system:(a)

The undamped natural frequency in rads /sec.

Solution:o
n 2
= 2
i s + 2 n s + n 2

If:
o
16
= 2
i s + 5s + 16
Then:
n 2 = 16

n = 16
n = 4

Rads/sec

11

BTEC Higher National Certificate in Electronics

Brendan Burr

Control Systems and Automation

(b)

The damping ratio.

Solution:So:
s 2 +2
n s +n

If:
s 2 + 5s + 16
Then:
2 n s = 5s
2 n = 5
2 4 = 5
8 = 5

5
8

=0.625

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BTEC Higher National Certificate in Electronics

Brendan Burr

Control Systems and Automation

(c)

The damped natural frequency in rads/sec.

Solution:So:
n = 4

Then:

d = 4 1 0.625 2
d = 3.122498999
d =3.12

Rads/Sec

13

BTEC Higher National Certificate in Electronics

Brendan Burr

Control Systems and Automation

Task 2
2.1

A second order system has an undamped natural frequency of 10


rads/sec and a damped natural frequency of 9 rads/sec.

Determine the following parameters for this system:


(a)

The damping ratio.

Solution:d =n 1 2

9 = 10 1 2
9
= 1 2
10
0.9 2 = 1 2
0.81 = 1 2
0.19 = 2
0.19 =
=

19
10

or

=0.4358898944

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BTEC Higher National Certificate in Electronics

Brendan Burr

Control Systems and Automation

(b)

The equation for the transfer function in terms of the s domain.

Solution:o
n 2
= 2
i s + 2 n s + n 2

o
=
i

10 2

19
s 2 + 2
10 s + 10 2
10

o
100
= 2
i s + 2 19 s + 100
o
100
= 2
i
s + 8.72 s +100

(c)

The 100% rise time.

Solution:tr =

2 d

tr =

29

tr =

18

t r = 0.1745329252
t r =0.18

Seconds

15

BTEC Higher National Certificate in Electronics

Brendan Burr

Control Systems and Automation

(d)

The percentage maximum overshoot.

Solution:-

=e

1 2

0.19

=e

100 %

1 0.19

100

0.19

= e 10.19 100
= 21.83747257 %
=
2
1 .8
4 %

(e)

The 2 % settling time

Solution:ts =

4
n

4
0.19 10

ts =

4 19
19
t s = 0.9176629355
ts =

t s = 0.92

(f)

Seconds

The peak time.

Solution:tp =

9
t p = 0.3490658504
tp =

t p = 0.35

Seconds

16

BTEC Higher National Certificate in Electronics

Brendan Burr

Control Systems and Automation

2.2

A second order system has an overshoot of 20% and a rise time of


0.5 sec when subject to a step input. Determine the following
parameters for this system:-

(a)

The damping ratio.

Solution:-

% =e

Overshoot

20% = e

0.2 = e

1 2

100 %

1 2

100%

1 2

Natural Log both sides.


Giving:

= LN ( 0.2 )
1 2

= 1 2 LN ( 0.2 )
Square both sides:

( ) 2 = (1 2 ) ( LN ( 0.2) ) 2
Multiply out the brackets:

[ ] 2 = [ LN ( 0.2) ] 2 2 [ LN ( 0.2) ] 2
[ ] 2 + 2 [ LN ( 0.2) ] 2 = [ LN ( 0.2) ] 2
2
2
2 2 + [ LN ( 0.2 ) ] = [ LN ( 0.2) ]
2 [[ ] 2 + [ LN ( 0.2 ) ] 2 ] = [ LN ( 0.2 ) ] 2
2
[
LN ( 0.2 ) ]
2
=
[[ ] 2 + [ LN ( 0.2) ] 2 ]
2
[
LN ( 0.2) ]
=
[[ ] 2 + [ LN ( 0.2) ] 2 ]
= 0.4559498108
=0.46

17

BTEC Higher National Certificate in Electronics

Brendan Burr

Control Systems and Automation

(b)

The damped natural angular frequency.

Solution:tr =

2 d

0.5 =

2d

= 2d
0.5
2 = 2 d
Rads/sec

= d

(c)

The undamped natural angular frequency.

Solution:d =n 1 2

= n 1 0.46 2

= n
1 0.46 2
n = 3.529857617
n =3.53

(d)

Rads/sec

The number of oscillations for a 2% settling time.

Solution:=

2 1
1
2

1
1
0.46 2

= 1.242669869
=1.24

Oscillations
18

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

Task 3
3.1

Construct the following series R-L-C circuit using the S/W package Croc
Clips or Electronic Workbench

R = variable ,
3.2

L = 1 mH,

C = 1 F.

Apply a step input voltage of 1 V to Vi by connecting a switch in series


with a 1V DC supply.

Solution:Complete
3.3

Connect an Oscilloscope probe to monitor the output voltage Vo. [You


will also need to connect a switch across the capacitor in order to
discharge the Capacitor between readings.]

Solution:Complete
3.4

Connect a switch in parallel across R. Close the switch to set R = 0

Solution:Complete

19

BTEC Higher National Certificate in Electronics

Brendan Burr

Control Systems and Automation

3.5

Using the component values and with R = 0 determine and tabulate a


set of analytical results for the following parameters:-

(a)

The Undamped natural frequency in Rads/sec.

Solution:1
LC

n =

n =

(110 ) (110 )
3

n =

10 10 6
1

n =

10 9

31622
n =

(b)

.7766

Rads/sec

The Undamped natural frequency in Hz.

Solution:fn =

fn =

n
2

31622 .7766
2

f n =5032

(c)

.92121

Hz

The Undamped periodic time T in sec.

Solution:PT =

PT =

1
fn

1
5032 .92121

PT =
198 .6917653

10

Sec

20

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

3.6

Run the simulation.

Solution:Complete
3.7

From the simulation determine and tabulate a set of measured results


for the following parameters:-

(a)

The Undamped natural frequency in Rads/sec.

Solution:-

n = 31415 .92654

10 ,000
n =

(b)

Rads/sec

The Undamped natural frequency in Hz.

Solution:f n =5000

(c)

Hz

The Undamped periodic time T in sec.

Solution:PT =200
10

Sec

21

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

22

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

3.8

Compare the analytical results obtained in 3.5 with the measured


results from the practical simulation in 3.7

Solution:For the analytical result for a) I got n = 31622 .7766 rads/sec. This is
compared to the n = 10,000 rads/sec result which was measured.
The difference in this is actually quite small considering the possible
imperfections of manually measuring the graphs.
I also managed to get the undamped natural frequency measured and
calculated reasonably close to one another. The undamped natural
frequency which I measured was f n = 5032 .92121 Hz compared to
f n = 5000 Hz, which was calculated. The difference is down to an
approximation from the graph, a greater level of accuracy could have
been obtained if I was able to zoom in, however crop clips doesnt
allow this.
The frequency was calculated using the Periodic Time, by taking the
reciprocal value of it. This meant that any discrepancies in the value of
the Periodic Time also ran through to undamped natural frequency.
The measured periodic time was PT = 198.6917653 10 6 Sec, compared
to the calculated periodic time of PT = 200 10 6 Sec.
Overall the calculated and the measured simulation results are very
similar, enforcing the chance of it being correct and accurate.

23

3.9 Using relevant theory and techniques produce a table of analytical results for the following parameters. Use the values
of the damping ratio given and suggest you use an Excel spreadsheet to enter the appropriate formulae.
Solution:3.9 Analytical Results
Damping Ratio (y)
Value of R
Damped natural
frequency (Wd)
Damped natural
frequency (f)
Peak time
% Overshoot
2% Settling time
Peak voltage of Vo
Number of overshoots

0.10
6.32

0.20
12.65

0.30
18.97

31464.27

30983.87

30166.21

5007.69
9.98E-05
72.92%
1.265E-03
1.72925
6.33

4931.24
1.01E-04
52.66%
6.325E-04
1.52662
3.12

4801.10
1.04E-04
37.23%
4.216E-04
1.37233
2.02

0.40
25.30
28982.75

4612.75
1.08E-04
25.38%
3.162E-04
1.25383
1.46

0.50
31.62

0.60
37.95

0.80
50.60

1.00
63.25

1.60
101.19

27386.13

25298.22

18973.67

0.00

#NUM!

4358.64
1.15E-04
16.30%
2.530E-04
1.16303
1.10

4026.34
1.24E-04
9.48%
2.108E-04
1.09478
0.85

3019.75
1.66E-04
1.52%
1.581E-04
1.01516
0.48

0.00
#DIV/0!
#DIV/0!
1.265E-04
#DIV/0!
0.00

#NUM!
#NUM!
#NUM!
7.906E-05
#NUM!
#NUM!

4.4 Measured Results


Damping Ratio (y)
Value of R
Damped natural
frequency (Wd)
Damped natural
frequency (f)
Peak time
% Overshoot

0.40

0.10
6.32

0.20
12.65

0.30
18.97

25.30

0.50
31.62

0.60
37.95

0.80
50.60

1.00
63.25

1.60
101.19

31415.93

31415.93

31415.93

27925.27

27925.27

27925.27

27925.27

0.00

No Cycle

5000.00
1.00E-04
75.00%

5000.00
1.00E-04
50.00%

5000.00
1.00E-04
35.00%

4444.44
1.00E-04
25.00%

4444.44
1.25E-04
18.00%

4444.44
1.25E-04
10.00%

4444.44
1.50E-04
1.00%

0.00
Exponential
0.00%

No Cycle
Exponential
0.00%

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

2% Settling time
Peak voltage of Vo
Number of overshoots

1.100E-03
1.75
6.00

7.000E-04
1.50
3.00

5.500E-04
1.35
2.00

3.500E-04
1.25
1.00

25

2.500E-04
1.18
1.00

2.250E-04
1.10
1.00

1.750E-04
1.10
0.00

1.750E-04
1.00
0.00

3.500E-04
1.00
0.00

4.3
(0.1)

For each simulation produce a printout of the waveform response for Vo.

(0.2)

(0.3)

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

(0.4)

29

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BTEC Higher National Certificate in Electronics


Control Systems and Automation

(0.5)

30

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BTEC Higher National Certificate in Electronics


Control Systems and Automation

(0.6)

31

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BTEC Higher National Certificate in Electronics


Control Systems and Automation

(0.8)

32

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BTEC Higher National Certificate in Electronics


Control Systems and Automation

(1.0)

33

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BTEC Higher National Certificate in Electronics


Control Systems and Automation

(1.6)

34

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

4.5

Produce a printout of the complete simulation circuit used.

35

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

Evaluation
I began this assignment by using my notes from class to help me understand
the basic principles of Bode standard second order equations. Once I had
done this I was able to use the equations given to me in the assignment to
calculate the various parameters of the systems in the questions.
I gained my underlying knowledge by answering Task 1 using notes and doing
a bit of research in the Control Engineering Book by W. Bolton. I was able to
see the mathematical routes taken to derive the formula and therefore
understand its relationship to the waveform plotted on the graph. For
example the rise time uses a direct relationship between the x and y axis and
the explanations I had previously received allowed me to visualise this for
myself.
For Task 1.2, I performed some basic equations where I simply had to extract
information from the question and then put that information into a predefined
formula which then gave me the answer I required.
Task 2.1 and 2.2 were similar in principle as they required me to extract
information from the question and use the correct formula to calculate the
answer.
Task 3 I managed to complete in class when we originally went through it. I
managed to create an excel spreadsheet with all of the necessary formula,
which meant all I had to do was determine the measured values. This didnt
take too long, however it was very repetitive, as there were numerous resistor
values to compare.
Overall I managed to complete the assignment without finding it too taxing.

Conclusion
I had a problem with my assignment as the word file became corrupt after I
had put the excel spreadsheet copy in for Tasks 3.8 and 4.4. This has
happened to me before in a previous year and it involves redoing the entire
assignment as there is no solution to it. I tried to work from a back-up copy I
made last month, but it would seem that I hadnt completed much of Tasks 1
and 2, so a lot of work had to be retyped. In future I think I will make a backup
copy every time I successfully finish a task, and then delete the copies once I
know the final copy is safe. It was especially annoying because of the time
consuming process of typing up the formula using Microsoft Equation Editor
3.0.

36

Brendan Burr

BTEC Higher National Certificate in Electronics


Control Systems and Automation

Bibliography
Through guidance from my lecturer, the following text books, catalogues and
websites I was able to complete this assignment:
Books
Control Engineering (W.Bolton)
ISBN: 0-582-32773-3
Catalogues
N/A
Websites
1. http://wapedia.mobi/thumb/3ad1500/en/fixed/470/300/2nd_Order_Dam
ping_Ratios.svg?format=jpg
2. http://en.wikipedia.org/wiki/File:RLC_series_circuit.png
3. http://en.wikipedia.org/wiki/File:Lc_circuit.svg

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