Professional Documents
Culture Documents
Equations to Determine
System Parameters
Control Systems and Automation
By Brendan Burr
Brendan Burr
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
Brendan Burr
Brendan Burr
(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
Brendan Burr
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
1
LC
1 2
Brendan Burr
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
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:
=
Brendan Burr
(iii)
n 1 2
1 2
100 %
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
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
ts =
3
n
for ease.
Brendan Burr
_ 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
Brendan Burr
1.2
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
Brendan Burr
(b)
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
12
Brendan Burr
(c)
Solution:So:
n = 4
Then:
d = 4 1 0.625 2
d = 3.122498999
d =3.12
Rads/Sec
13
Brendan Burr
Task 2
2.1
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
14
Brendan Burr
(b)
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)
Solution:tr =
2 d
tr =
29
tr =
18
t r = 0.1745329252
t r =0.18
Seconds
15
Brendan Burr
(d)
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)
Solution:ts =
4
n
4
0.19 10
ts =
4 19
19
t s = 0.9176629355
ts =
t s = 0.92
(f)
Seconds
Solution:tp =
9
t p = 0.3490658504
tp =
t p = 0.35
Seconds
16
Brendan Burr
2.2
(a)
Solution:-
% =e
Overshoot
20% = e
0.2 = e
1 2
100 %
1 2
100%
1 2
= 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
Brendan Burr
(b)
Solution:tr =
2 d
0.5 =
2d
= 2d
0.5
2 = 2 d
Rads/sec
= d
(c)
Solution:d =n 1 2
= n 1 0.46 2
= n
1 0.46 2
n = 3.529857617
n =3.53
(d)
Rads/sec
Solution:=
2 1
1
2
1
1
0.46 2
= 1.242669869
=1.24
Oscillations
18
Brendan Burr
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.
Solution:Complete
3.3
Solution:Complete
3.4
Solution:Complete
19
Brendan Burr
3.5
(a)
Solution:1
LC
n =
n =
(110 ) (110 )
3
n =
10 10 6
1
n =
10 9
31622
n =
(b)
.7766
Rads/sec
Solution:fn =
fn =
n
2
31622 .7766
2
f n =5032
(c)
.92121
Hz
Solution:PT =
PT =
1
fn
1
5032 .92121
PT =
198 .6917653
10
Sec
20
Brendan Burr
3.6
Solution:Complete
3.7
(a)
Solution:-
n = 31415 .92654
10 ,000
n =
(b)
Rads/sec
Solution:f n =5000
(c)
Hz
Solution:PT =200
10
Sec
21
Brendan Burr
22
Brendan Burr
3.8
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!
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
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
(0.4)
29
Brendan Burr
(0.5)
30
Brendan Burr
(0.6)
31
Brendan Burr
(0.8)
32
Brendan Burr
(1.0)
33
Brendan Burr
(1.6)
34
Brendan Burr
4.5
35
Brendan Burr
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
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
37