EXAMPLES ON TRANSIENT RESPONSE OF A SECOND ORDER HANDOUT E.15  EXAMPLES ON TRANSIENT RESPONSE OF...
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Transcript of EXAMPLES ON TRANSIENT RESPONSE OF A SECOND ORDER HANDOUT E.15  EXAMPLES ON TRANSIENT RESPONSE OF...
MEEN 364 Parasuram Lecture 14,15 August 22, 2001
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HANDOUT E.15  EXAMPLES ON TRANSIENT RESPONSE OF FIRST AND SECOND ORDER SYSTEMS, SYSTEM DAMPING AND
NATURAL FREQUENCY
Example 1
In the system shown below, x(t) is the input displacement and θ(t) is the output angular displacement. Assume all masses involved are negligibly small and that all motions are restricted to be small. Obtain the response of the system for a unit step input. Assume zero initial conditions.
Writing the force balance equation for the above system, we get
,)( ..
θθ kLLxb =−
. .. xL
b kL =+ θθ (1)
Equation (1) represents the governing differential equation of motion.
Taking the Laplace transforms of equation (1), we get
),()( ssXsL b kLs =Θ
+
. )(
1 )( )(
b ks s
LsX s
+ =Θ⇒ (2)
MEEN 364 Parasuram Lecture 14,15 August 22, 2001
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Equation (2) represents the transfer function of the system shown above. For a unit step input ssX
1)( = , therefore the output Θ(s) becomes,
. )(
11)( b ksL
s +
=Θ (4)
Taking the inverse Laplace transform of equation (4), we get
tb k
e L
t )(1)( −=θ . (5)
Equation (5) represents the response of the system for a given step input. The MATLAB sequence to obtain the step response for a given ‘L’, ‘k’ and ‘b’ is given below.
L = 2; k = 100; b = 20;
num = 1/L; den = [1 k/b];
sys = tf(num,den); step(sys) xlabel('Time') ylabel('Angular Displacement, Theta') Title('Step response of a first order system')
The response of the system is as shown below.
MEEN 364 Parasuram Lecture 14,15 August 22, 2001
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Example 2
What is the unit step response of the system shown below?
R(s) + Σ s+1 2 10 s
C(s)

The closed loop transfer function is
. 1010
1010 )( )(
2 ++ += ss
s sR sC
For a unit step input ssR 1)( = , therefore,
, )155)(155(
1010)(
,1 1010
1010)( 2
sss ssC
sss ssC
−+++ +=⇒
++ +=
.1 155
1 153 154
155 1
153 154)(
sss sC +
−+− +−+
+++ −−=⇒ (6)
The inverse Laplace transform of the above equation yields,
,1 153
154 153 154)( )155()155( +
+− −+
+ += −−+− tt eetc
.11455.01455.1)( 13.187.8 ++−=⇒ −− tt eetc (7)
Equation (7) represents the response of the system to a unit step input.
The MATLAB code for obtaining the unit step response of the above second order system is given below.
num = [10 10]; den = [1 10 10];
sys = tf(num,den); step(sys)
MEEN 364 Parasuram Lecture 14,15 August 22, 2001
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xlabel('Time') ylabel('Output') Title('Step response of a second order system')
The response is shown below. Note that there is an overshoot.
MEEN 364 Parasuram Lecture 14,15 August 22, 2001
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Example 3
When the system as shown in Figure (a) is subjected to a unit step input, the system output responds as shown in Figure (b). Determine the values of ‘K’ and ‘T’ from the response curve.
The maximum overshoot from the response curve is 25.4%. Therefore
.4.0 ,254.0
,254.0
21
=⇒ =⇒
=
− −
ζ
ζ ζπ
e
M p
MEEN 364 Parasuram Lecture 14,15 August 22, 2001
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From the response curve we have
.14.1
,3 )4.0(11
,3
22
=⇒
= −
= −
==⇒
=
n
nnd p
p
t
t
ω
ω π
ζω π
ω π
From the block diagram, the closed loop transfer function is
. )( )(
2 KsTs K
sR sC
++ =
Hence
.12, TT
K nn == ωζω
Therefore the values of ‘K’ and ‘T’ can be determined as
.42.109.1)14.1(
,09.1 14.14.02
1 2
1
22 =×==
= ××
==
TK
T
n
n
ω
ωζ
Example 4
Figure (a) shows a mechanical vibratory system. When a 2 N force (step input) is applied to the system, the mass oscillates as shown in Figure (b). Determine ‘m’, ‘b’, and ‘k’ of the system from the response curve. The displacement ‘x’ is measured from the equilibrium position.
MEEN 364 Parasuram Lecture 14,15 August 22, 2001
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The transfer function of the system is
.1 )( )(
2 kbsmssP sX
++ =
Since for step input of 2 lb, ,2)( ssP = we obtain
. )(
2)( 2 kbsmss sX
++ =
From the response curve, the steady state value of x is 0.1, hence from the final value theorem, we have
,1.022lim)(lim)( 200 ==++ ==∞
>−>− kkbsms ssXx
ss
.20 m Nk =
From the response curve, the maximum overshoot is 0.0095, hence applying the formula for the maximum overshoot, we get
.6.0 ,0095.0
,0095.0
21
=⇒ =⇒
=
− −
ζ
ζ ζπ
e
M p
MEEN 364 Parasuram Lecture 14,15 August 22, 2001
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The peak time tp is given by
sec96.1
,2 )6.0(11
,2
22
rad
t
t
n
nnd p
p
=⇒
= −
= −
==⇒
=
ω
ω π
ζω π
ω π
Since,
.2.5 )96.1(
20
,
22
2
Kgkm
m k
n
n
===⇒
=
ω
ω
Then ‘b’ is determined as
m Nb
m b
n
sec2.12
,2
−=⇒
=ωζ .
Example 5
Consider the second order system whose transfer function is given as
. 2)(
)( 22
2
nn
n
sssR sC
ωωζ ω
++ =
For a unit step input, ssR 1)( = , therefore the output is given by
. )2(
)( 22 2
nn
n
sss sC
ωωζ ω
++ =
Expressing the above equation in partial fraction format, we have
. )()(
1)( 2222 dn
n
dn
n
ss s
s sC
ωωζ ωζ
ωωζ ωζ
++ −
++ +
−=
Taking the inverse Laplace transform of the above equation and rearranging the terms, we get
MEEN 364 Parasuram Lecture 14,15 August 22, 2001
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. 1
tansin 1
1)( 2
1
2
− +
− −= −
−
ζ ζ
ω ζ
ωζ
tetc d tn
(8)
Equation (8) represents the generalized solution of a second order system. The following plot shows the step response of a second order system for various values of ζ.
MEEN 364 Parasuram Lecture 14,15 August 22, 2001
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Example 6
Derive the governing differential equation of motion of a swinging bar supported at its ends by a cord. Solve the derived differential equation and plot the initial response of the system for the following initial conditions: a) Arbitrary initial condition
Choose l1 = 1m; l2 = 1m; m2 = 5Kg
φ l1
l2 , m2 θ
The differential equations of motion for the above system when represented in a matrix form is
−+−
−+− =
−
−
2 )sin(sin
2 )sin(sin
32 )cos(
2 )cos(
2.
21222
. 2.
22 2
..
..
2 22212
22 12
φθφθ
φθθφ
θ
φ φθ
φθ
llmlw
lmw lmllm
lmlm
Initial response
The second order differential equation has to be converted into a first order differential equation. Let
Substituting the above relations in the original nonlinear differential equation, we get the following nonlinear first order differential equation, which when represented in matrix form is
);4(
);3( );2(
);1(
.
.
y
y y
y
=
= =
=
θ
θ φ
φ
MEEN 364 Parasuram Lecture 14,15 August 22, 2001
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MATLAB Code
In this type of a problem where the inertia matrix (mass matrix) is a function of the states or the variables, a separate Mfile has to be written which incorporates a switch/case programming with a flag case of ‘mass’.
For example if the differential equation is of the form,
M (t, y) *y’ (t)=F (t, y),
then the right hand side of the above equation has to be stored in a separate mfile called ‘F.m’. Similarly the inertia matrix (mass matrix) should also be stored in a separate mfile named ‘M.m’. So, when the