#078946290/00629# 01-272-72- CE 12/04

JUAN ANTONIO QUINTANA SILVA

ELECTRONICA
IT ORIZABA
ELECTRONICA
OTF 9 852 BOX 94300
ORIZABA VERA CRUZ 94300
MEXICO
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'orld or to e.e. otner 'iUCCe.'i'ie.'i, 'li'iit
wo n d e rwa re. co mIs u ccess
weight's motion in eilher direction.
Tlle spring force is proporlional to lhe
weighl's position Xp",<c J. lhe frictionaJ rce is
proportionaJ to th weight's velocity (Xp,acc),
and lh force of grc vily is proportional lo the
weiocrht's ac eleralion IX J. Combinin
o
cr
these
..
with the displacement f lhe handle (X
eonl
,,)
yields the governing equation shown in Figure
5. This is a econd arder relationship because it
conlains both a ingle differentialion operator
and a dOllble differ ntiation operalor.
Uulike lhe firsl order process in th previotls
example, this second arder process wiU sorne
times oscillate ev n if the conlTol effort does not.
Specifically, if the friclion is low enough, the
spring is sliff enollgh, and the weigbl is heavy
Figure 3
First order brewing
process step response
-lIT J
T - -- ---- - - --=.-:.;- -.. -;.;--.--.....--j
The brewing process will respond with an expo
nentially decaying rise in the process variable
(T",oee.. ) when the control effort (Teonrrol ) changes
abruptly from zero to T at time zero.
enough, the process will be underdamped and a
imple lug wiJI cau lbe weighl to bounce as
sbown in Figure 6. Conversely, an overdamped
second order process wiU respond without oscilo
lations as shown in Figure 7.
Other processes
The relatiollships shown in Figures 3, 6, and 7
are nol unique to brewing beer amI bouncing
springs. They appl y to all first and sec ud order
plocesses-just about everythiug lhat can be
controlled with a lraditional PID (proportionaJ
integral-derivativelloop. QnJy lhe values oI 'i,
and (J.l" change from one process to the next.
Al! fust order step responses look Ws:e Figure
3, and all second order step responses lo k like
either Fi re 6 or Figure 7. Only the scaJe
changes.
In the first order case, the time constant 'i
determines the duralion of the step response by
defining exactly when the process variable will
reach 63% of its final vaJue (which is to say,
, = when t = 'i). The smaller the T
ploe
v lue of 'i, the sooner that 63% point will be
reached, and conversely.
Similarly, tbe values of the damping ratio s
and the natural frequency w" completely del r
mine tbe duration al1d amplitude of an under
damped second ord r step response. As shown
in Figure 6, lhe inverse of w serves as the time
n
constant for the decaying exponential term
e '''"T. The product w" (that is, aw"l serves
as the frequency oE the inusoidal term
sin(aw" t + <\. The phase of that sinusoid is <1' and
its amplitude is l/a, both of which are deter
mined by lhe magnitude of
Feedback control
These relationships are particularly conve
nient for feedback controller designo They
al10w a controller lo predict lhe step response
of any first order process with a known time
constant or any second order process wilh a
known damping ralio and natural frequency.
Th controller can thcn be configured to apply
just the right series of
steps required lo drive
Figure 4
the process variable
towards the desired set
Weight-ona
point along a desired tra spring process
jectory.
Just how the values of The object of this
'i, and w" can be trans child's toy is to
X control 1
laled into appropriate bounce the weight
conlr ller parameters, up and down. The
position of the weight such as P, l, and D, is
often a matter of signifi (X",oce.. ) can be con
cant technical complexi tm1led by manipulat
ly. Fortunately, there are ing the position of
Xprocess 1
formulas available for the handle (Xco"tro).
many of the simplest
case. See, for e ample,
Figure 5 Governing equation
the famous Ziegler
,
Nichols tuning rules for
P"'"
1'"
=>1l Xl:olllml
first order proc sses in
"L op Tuning Fundamen This second order relationship governs how
lals," Control Engineering, the position of the weight (X ) wil/
process
.luly 2003, at www.con to the position of the handle (Xeonlro)' Xproeess is
troleng.com. the time derivative of Xprocess and X is its
proeess
Determining the val second derivative. The fixed values of the
ues of 'i, s, and t" that damping ratio Sand the natural frequency w"
b st represent th behav depend on the physical properties of the
ior of the process in ques process - the mass of the weight. the viscosity
tion can also be a chal of the frictional force, and the strength of the
lenge. First principies spring.
analysis uses lhe laws of
www.controleng.com CONTROL ENGINEERING DECEMBER 2004 35