Lecture 7
Modelling Second Order Systems
and Examples
CL-417 Process Control
Prof. Kannan M. Moudgalya
IIT Bombay
Monday, 6 August 2012
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CL-417 Process Control
Second Order Models and Response
Outline
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Responses of second order systems
Capacitive systems
Time delay
CL-417 Process Control
Second Order Models and Response
Recall: Two tanks in series
Qi (t)
h(t)
h(t)
Q(t) = x(t)h(t)
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CL-417 Process Control
Second Order Models and Response
Recall: II order model of thermometer
Ta
T
Tw
The relation between Ta and T is second order
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CL-417 Process Control
Second Order Models and Response
Modelling of Two Systems in Series
What we discussed is of the following form:
u(s)
s+1
s+2
y(s)
Mathematical model:
1
1
1
G(s) =
= 2
s+1 s+2
s + 3s + 2
Consider following generalised models:
G(s) =
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K
2 s2 + 2 s + 1
CL-417 Process Control
Second Order Models and Response
Second order system
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Y(s) = G(s)U(s), G(s) =
K
2 s2 + 2 s + 1
is the time constant
is the damping coefficient
K is the steady state gain
Step response: Y(s) =
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2 s2 + 2 s + 1 s
s+a
s+b
s
Is there a relation between a and b, A and B?
CL-417 Process Control
Second Order Models and Response
Partial fraction of second order system
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Y(s) =
2 s2 + 2 s + 1 s
A
s+a
B
s+b
C
s
Given that y(t) is the output of a plant,
1.
2.
3.
4.
There is no relationship between a and b
Either a or b is real
a = b
a and b are complex conjugates
Answer: 4, i.e. a and b are complex conjugates
If a and b are not complex conjugates,
y(t) will be imaginary, not realistic for a real plant!
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Second Order Models and Response
Step response
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Y(s) =
2 s2 + 2 s + 1 s
s+a s+b
2 2
a and b are roots of s + 2 s + 1 = 0
a = b , A = B p
2 4 2 2 4 2
a, b =
2 2
1p 2
=
1
1, a, b are real
< 1, complex
CL-417 Process Control
Second Order Models and Response
C
s
Step response for > 1
Y(s) =
2 s2 + 2 s + 1 s
Known as an overdamped system ( > 1)
I Its solution is given by
n
y(t) = KM 1 e(t/ )
!
!#
"
p
p
2
2
1
1
cosh
t +p
sinh
t
}
2 1
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CL-417 Process Control
Second Order Models and Response
Step response for = 1
Y(s) =
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2 s2 + 2 s + 1 s
Known as critically damped system ( = 1)
Its solution is given by
t
et/
y(t) = KM 1 1 +
CL-417 Process Control
Second Order Models and Response
Step response for < 1
Y(s) =
2 s2 + 2 s + 1 s
Known as underdamped system ( < 1)
I Its solution is given by
n
y(t) = KM 1 e(t/ )
!
!#
"
p
p
2
2
1
1
cos
t +p
sin
t
}
1 2
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CL-417 Process Control
Second Order Models and Response
Another form of II order system
G(s) =
K
2 s2 + 2 s + 1
will also be written as
G(s) =
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n2
s2 + 2n s + n2
K is taken as 1
n : natural frequency, : damping factor.
For different values of , get underdamped,
critically damped, overdamped systmes
CL-417 Process Control
Second Order Models and Response
Scilab code [Link]
exec ( second . s c i ) ;
s = %s
omegan = 1 ; t = 1 : 0 . 1 : 1 5 ;
y = s e c o n d ( omegan , 0 . 1 , t ) ;
y = s e c o n d ( omegan , 0 . 5 , t ) ;
y = s e c o n d ( omegan , 1 , t ) ;
y = s e c o n d ( omegan , 2 , t ) ;
f u n c t i o n y = s e c o n d ( omegan , z e t a , t )
G = omegan 2 / ( s 2+2 z e t a omegan s+
omegan 2 )
y = c s i m ( s t e p , t , G) ;
plot2d ( t , y)
endfunction
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Second Order Models and Response
II Lab + Assignment
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Fit a first order transfer function to SBHS
response - demonstrated in the last class
Scilab code will be given for this lab
Fit a second order overdamped model to the
same step response
You will have to modify the Scilab code yourself
First check it out on simulation, check the
code and then try on the lab
Try only one unknown change at a time!
CL-417 Process Control
Second Order Models and Response
More Models
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CL-417 Process Control
Second Order Models and Response
Integrating Process
Qi (t)
h(t)
Q
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dh
= Qi Q
dt
In deviational variables,
dh
A
= Qi (t) Q(t)
dt
Taking Laplace transform,
Ash(s) = Qi (s) Q(s)
h(s) =
1
1
Qi (s)
Q(s)
As
As
A
CL-417 Process Control
Second Order Models and Response
Integrating Process
Qi (t)
h(t)
Q
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CL-417 Process Control
In case of a step disturbance in feed flow, tank
will
1. overflow
2. run dry
3. overflow or run dry
4. stabilise at some
suitable value
Answer: 3: overflow or
run dry
Second Order Models and Response
Ramp input to a first order system
Y(s) =
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Y(s) =
K
s + 1
K
U(s), U(s) =
a
s2
+
at
C
s + 1 s2
s + 1
s
s2
Multiply by s + 1, let s = 1/ , A = Ka 2
Multiply by s2 :
Ka
A
=
s2 + Bs + C
s + 1
s + 1
By letting s = 0, C = Ka
Differentiating blue equation w.r.t. s
and letting s = 0, B = Ka
CL-417 Process Control
Second Order Models and Response
Final value of ramp input to a first order
system
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Y(s) =
s
s2
Ka
Ka
+ 2
Y(s) =
s + 1
s
s
Inverting
y(t) = Ka et/ 1 + Kat
y(t = ) = Ka(t )
Let K = 1 and plot u(t) and y(t) in the same
plot
s + 1
Ka 2
CL-417 Process Control
Second Order Models and Response
Rectangular Pulse
M
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Give the following input, u(t): t = 0
u(t) = 1(t) M 1(t t1 ) M
1(t) denotes unit step input
u(t) = [1(t) 1(t t1 )] M
1 t1 s
1
M
U(s) =
e
s
s
M
U(s) = [1 et1 s ]
s
CL-417 Process Control
Second Order Models and Response
t = t1
Time Delay Modelling
From a previous lecture
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Second Order Models and Response
Handling Time Delay
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Change the input by a step
Find out when the output starts changing
Determine the time delay
Check whether the SBHS has any time delay!
CL-417 Process Control
Second Order Models and Response
What we learnt today
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Responses of second order systems
Scilab code
Capacitive systems
Time delay
CL-417 Process Control
Second Order Models and Response
Thank you
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Second Order Models and Response