|
Uners “Tre Response Awarysis
“Transient 2 6h shake “Tesponse — Measures
Performan te 4 firs order 4 second order system
“effec 4 addtbronal pole & additional zero +
st Stat enor constant A Suystem ~ Type muntber
Pprp idmtwllen- Analytica} design q PL, PD, PID
controller.
~» ———
x .
Tnboduchion ;
Tne rreaponse 6% abo called
time domain analysis, ie) owkput as, c.-funckion
4 hime - ;
~totah fime “ves pore coe 4 a contol .
ome ¢ CUMic. *
my consis sbranstont resp
Supske 4
reapore) Cet ane) 6 state resporne C5 Ct>:
| eT .
| CCHE= GCE) + Csg Ct .
Trent
|__, "res porse_
“etal dime Tesponse -
| iLites hat tk parameters can be vusted.
“preter both th tracert and Shay tl
| behavowt * “ay remains for a V
short Hime - vt
(E>
>t
Rem clopencls on
Fels onl + Mok on
ie
| Before yne
test aby am tn
bests without
response” Tn Case, &
no poackt
Jarorabory
0) ue qm
Ci) Unik 6
cil) Romp
|
say Set ape.
“Tramient Response
\ ope remains a3 bime't’
r ap preaches infinity (leratime)
Ces Ct >
t
|= dep ends on both
4 Pe wa ae
ae gh ad Se -
ant
iy ni bane
use we need not precood as j
‘tb Lecnsiont Teaponne Aral Pe sth
red test signals generated in
se. (sudden Shock) |
(sudden change ) |
(Ctombant
Velowty )
tiv? parable (cormtant seslanadion) Zs _|
writ cou ED CED = ULE) \ 4
a step b “hy je Risd = Ss
| \ | L eel
i | Oe tb 79| toe
ae i r i | Res ts
0, t
FES
\”
| “fest seetion
[rnp «unit i dinpulse Sig . . .
| Risr= 4
| «cs? =_7 Uy
cise te — © an
i wVveue bt = [ears 3 se @) |
s State vu &
ess = Lin fece] = lin [wets _ cee] . |
tor oo © bow |
- fev] |
ding STecso] + lim s [Ris -¢cs JO |
80 so, |
\ss -
Substitut ROS) accs> Value cn® . |
. - Lin 4
Ss 5 8 0 s b S41
[Rs 0]
Reso = Ye aubstitick oo Main eq
C8 &) (Fas)
1
>A B
S (tes) seas |
l= ACit¢1s) + BS put'G=o
ra]
' IFS
tyr t- x
S xes4 Ya)
TO
Jeck>= re |
Steady Stal, Svvor :~
Ess = Lire s [Res>- ecs_|
> 0
S(H4s)
= him s[z ~ 1
| So
ge (ie)
| ess boy |
‘Tripub : une Roum p signal
| Reo= Mex wabetitiule tn main ean
| 2. (tsp e 1 ft
| ; 2 li+a4s
6 tess AL ~Bo4 L..
Ss ge 14S TEAS Asters 4c st |
: Pak sz
| 1s AS(4tS49 4 B(it459 +c [Paro]
| -
[Puts =
rec (~y)*
pa
C= 4
V= AU 4a 4B IFO 4
P= A4B) Fd +c
1=(At)) (14-004 4.
Ve AED eM t40
yAd = A CIAL)
(cso = ty az
s s? Mets
- a
Ces) = Aydt
“ ACStI,)
Toke t-L+T
£
CH= -tHi gate Le
Jeo 21 7 [Oto Se [0B = ct 9 | . |
Steady Stake ewer
= bi 8 Tres -ces9
“ss S%0 [Res 4
. Lip sla - Zea |
oo &
SOAS EAS esr SU
. Pi os
l= AS48409 4 B(l4a59 4 cs
VE AUHOFB(IFO4 ¢
(TAB) UF +e
1=(AH) 4004 02
Me NED FAG
(cs) = ~ tL 44 es 12
s 8? I4ts ¢
| Cs) 4 dy a®
“ 3 ACSt+h 4)
| Toke LT
rut, r
Cu = -t4y teh ©
Differentiation 4 skep “ > tmpuhe sh
fone oth) -th .
| saben 4 Rlep “gral > Foun snd
th
cars | tre fm) > t4te ye.
Name tnitind condiktons are cers
Z
|
Coo= O+ ttc:
| . +
: cur there) « terete 7 Ramps ,
x x
Measures 8 Performance 4 Second order
| tye:
|The Standard foam 4 closed Loop transfer.
jeeem 4) Second wel stem > given by,
ces? Oe
| —_ 2
RUS) 84 BEWpSt OH C
| tahoe Dp Nekwrad undaraped freay (rad /sec )
> ing wakto = Ad
=e darn 1" (eal ten sl dant cnowuk)
} | Depend on Domptn ratio '¢', Sister can be
| least in b> foun Cosea
oy un cute 2 &=0
| Gi) Under damnped system : Ox & frequen 9 dane .
om aie eee [Tene Domain Teaporse 4 cco} den Syn
fo wil apalee cgal |
|
| eccord order iw oO . \
| Transfer fir RS) 8 2g:a98 + OD |
pet impel sla. Stes) = Wn
s 742,08 4p |
Ls maineayy
[Quett ardampe Sen (& =0) Aub te main eon , + |
Coss Wo ey On ;
| 2 Qe nN 2 |
| S4 Dn SAE
ia Tnvevse LT, |
we = Oh Sd Wnt |
(eset: : cabrcally damped slr (G24) Sub i maincy,
|
ces9 = OF = Ort |
574 QS + OA (84, |
| Taking +-LT |
)
— pont
Choe WAtE” we
(cs = 2 —_—_—_
SFIS SHOT
Rookk $1,552 ~GWn +Wy gut
Si= ~ Wy + On VET
So fee On EI
o
tcs> = AY BO _ Oe
oS) S-S2
2
WN= Als-S2) + BLS~s,> Sub} S= S,
2
ene A (S,-S2)
A. a
8\-S2 coebititul $25, Valu
>
.- oo
Ghote +605 +O, [62
ees,
S742EOnS4+Un
| caae(tit) » Ovencamped syster CE 74) sab to main ean,
a | Bs we .
| S-S,
- : en ony as bike A
| | Bz —.O,
ae
ccs>= ofr vez, (n/p ge ;
| S-s, S~ So )
| ecsy = On fl
Oe) S-S) S-Sp
Take
|
|
Cth) =
Cte) =
tnverre Laplace Transform
[ew : hp st Se
NET [<"-e )
Substtule s, 2 Sa,
[fe een Ebert eal |
Wn
ae
On
ve
/
[«** (fervent fon | |
"gdp: —
e "Taina, vem] +
C
I.
tee
2
°
2 sche ) \ |
| op 4
Caselfv): trdercamped system (0< @<4)
| Root: §,S2 => ~GwWnt Ip [lee
8, =~ Gn + 1p fee
Sp =~ GWy LO (e-
Cees De toe .
SABES + wF (6 -s,) (S-S2)
|
I
| we. A 4 BL
€-5.0ts-5) 8-8 SS
Wr = ACS-Ss> +8 (S-S)) WG=s)
Wr = ACS-S3)
Az We Oe — |,
S\- So 21 DAVE Jatvege**
N B= —Dn
C= Dofailcee hfe iinge
S-S) S-So ' 1
- wo $s 8-5
| Ccsd = Hn _ [ 5-5, zs.) \
| Qj Vee Take TeL>T
to 2 On (-** - oat )
ag
(-gwonstonler Jt [-§dnctchitrer dt \ |
beau = (er ) _d
aig
eth ag [ fene _ ore |
aie |
Cte = wh oft stoner (ete®
dures a
eee a SM solar |
Vege
[thea stale over Gain 6 [een-cosy] |
gs + Lim sfr- Be i
g 20 S42EWoST Oy
2h Coy
eg = Lin s(t
Sao Teme Response 4 second ovdex System tov
| unt step 3 gral. :
Tr 4% second 7] ccs) Oy?
orden aystem Res
se
RES) gs Aggds+iy
unit alep signal Risr= Vis
Oo
ctsy= 1 / —2°—_——
S ( SHREDS vas )
ase undarped ) pro
we A, Bt
cosd= So) eA y BS
s S4we Ss
On 2 ASD) 4 (@8t00587
Or = Ada STA=t)
Expand the oyun,
Or = AZ 4+a02 +89 +08
Fouaking 8? ferums = o= AE .')B=-1
Equcting stem =>[o =<]
. Cts2- 14/23 ) -
Fn —~ _s
S Toyo? 2
LL
S SOF
Toeeng drvewe LT, (cose tf codthicaly rel _hplien (G4)
etso: Res> 0p |
8 4 BEWyS+tO2
| ecs> WF SAaans4 02 \« &/ [ eee)
Apply poxtial frockion :
Lf ar - A, 6 ¢
C¢s>= Oe =" +
| 3{ fan) st Stn (6 tn)” |
, Lye
Wn = ACSW + BS (SHh) 4 C8.
Wr = AOR Jara Put ED
Fapand the eayuation
2
= AS 4 Awe +e ASWn + BS2BS,4 66,
Feuating 3’ teu
C= Ate os. [pend
Feycciing 3. term.
= aAWyt BO, +e. : : ly
© = 8D, -Dnte Toke tnvewe baplaa —fransfesm.
a
me
ete
Ease Wh) Pvendamped austen (€,>1)
Ccs>= _ Wa :
S(S74+25,0h8+%, )
Tet $),52 = — Ga) 4 VERE
2
“ees = Wn
S (S-S\) Cs-S2)
“Taking pextiol fpacion |
oe 8 << 30
Cs) = wn . Ay 33, + és
S(S-SDCS-S2)
Od =
A Cs-S)D 05483) 4+ BS (5-529 +e8(8-5) .
‘las Oe pukG=d
Substituke $) 32 Values te Mon
Ors ACSICS2 - 2
Wy
h* Epenaon FS) (4.0,-dT)
A> we : C etbXa-b> |
E202 — On By ae)
A= Wr - “
tor -@ah ao, A ea]
(tab Ss), tn partial prackion equation «
u® = @S,(81-S2)
Be On
Si®\~S2 >
subtihi 5, 82 Voluos in Oeye -
og. Oo ee
(hOn On ) (eght Oui + gn Ve) |
B we
O° ees are) “Petes
sustilute S=S2 ih pectia) fraction eayn «
WF = ¢S2 CH-s1)
| z
Ee
$2(S2-S1)
subsbhike s,,s2 Values in Beam Do” Oo
~SOn- Oo VE [-8Dq Ke 1
| _ _
subsite A,B, ¢ PNET res eg)
6): — +1
&) s QE (-
Tabing inverse baplace spernsform
ee
2 (GE) VT Gt)
case tty) + uanderdamped system <4)
Ccs d= Da
S(S*-AgOnsS+O¥ )
Ae ply Peat) fraction ,
\
Hs Rae ay [Ara |
BEE) (s3). F(a) (ss,
|
\ C(s>= Oe - Ay sete
S(S4egans+OQ?) s 4 QE U,S-+ LO
| ty = A (94 AGtOnS4WA I+. BS+005) 423
Se
| (4
Escpand the posckra) frackion en.
Wn = AS + ANB Ons 4 AO? 4 BSP405.
Fauating 2 keums .
Oo Ade ~ Jazz}
| “making steams .
“0: BAGOn +
P= HO, He koa
substi bb 86055 ]
A1 Br Values .
(>= 3+ CS4+eagiony * :
. Sy ke Ons reo, #
| Cts =
OSS SH RE
En
SR EUOnS4 UO,
| Aad & aublrack Pwr th denominator 4 second term
| ces= (Gree oe
PA 25,W py S + Wy HEP OR —GPOE
; =~ SHEE
E+ On)24 Wa (ia WA (I~ & s)
Dat Da = Onvt-g2
, [oe = Wo (i-
| St 2GOr
os CCS = s- [ seanrnag |
(34 ton +004 ye ghee (SHE Ont EO
cn 8 (“Ey Gun F4 “)
- S+&WOn On (Od)
(StE@nteag (AD Cs ren OF
Taking Invewe Loppleace rrancform -
| Ch ss 6 phon t cos td E ~&On e 5 ene Sin cade +
a
Ss
cts nk
= I-e ceswddt + GUWy orn wddt
[ “OL end ‘| .
‘vubsteluke [Oy = wire
CU >. 1 GGont [coslonr@e Eo e= tan ‘Ue
fot sus ee ctt> tn «tandand foro”
Ce 1 eee AOE (ferent *290)-+ (suyterine J]
Virgz
Fn en ty Cyt ee
Vege 7 EP)
| usher. o- teas! Jig «ROCF B Ain Kune fLOIASin :
. cet) - “y GOnE . -
—— 4&n
[re a +0)
~~ KX
Seay oe emon 4 end eden cn an ck
&s = Lin 8] Re - ces]
i Je - Seaagaende |
= Lm tr 6] - of
x
» —_ SUMMARY
emanilalir
SECOND ORDER SysTEM wT “Impulse cwpot
eps TN
Damping TYR cece)
andomped &=0)| ccer= Wp #nent
|
a. [estealy ented Cth. DF EE ewHE 7 -
|
|
|
a
3 Werdamped Gr ject es ee [any is
oe nderdamped | Sent
| (&<&<1)° (* aa - sinlOalFBe
[ eo _
BeEcoND ORDER S¥sTEM WHTH Uni STEP INPUT
pq
ISno Damping TYPE ctt) |
te jardamped (&=0) CE = 1. CoSDnt
Q. cotbicay damp (&4=0 Cetr=1~ SHE go, geht
- a SE
2: overdamped Ce 1D |ece>= '*2Bicee.) © +
Sat
wb
OM (G4 GF)
Ae! undeidarnped Ctey = 1- eft Sen at +8)
(0<& <1) Veg |
| TH Both tre ingute , shea eae emer Res ° | Transient _Resporte_Ghecit calf om mo
| .
| The dtramfent resporme ‘ aagitem J bo cuntt
step input depends on Initial ‘conditions +. to
oe a ne 4 VYaruous 6. em, be |
fo stasuk © with ‘ erdasc) art ey Ha Conditions
where, tq ule ime
ty —> Rie hire
tp > Peak bine .
Me > Mastnum fea overshoot
ts —> Settling ttme- :
The Lime domain “pecittcabions a8 depined os
follows ,
|
) Delouy Bone * (4) : |
tht the. hime Routed by the |
nesporne 40 Yeach half of As era) value at the [
Fins atlernpt- ; @
(ti) Rise Lime “Chr:
Tk & the hime weyuived for tesponse to
rae fom to, bo doh fox over oo Cid
Sm and o% +0 loot tov pundor danysed 4 te
final Vode - the 57 to 9574 4 th ee fia) Value for
oy fe veel for cakially damped Biystem
a qenoral unit Step respon 4. secord osdon fay |
under dounped Te given by,
CCL = | ook cnfduts0)
“re gw +68
Rise bine = ky} J@Ctr=1
Clty = fe & Wnty
= guwity to) =
Vee Silty +0) = 47%
The beim Sin(udty+od= 0
> Shozo - |
when 20,1) 27.
Wdtyt+e =7
ty > 18 - W-6
4 Ho Virge :
whee Wd. ap
=
es fon) unit bo degree:
Dee OT ani, 5 -vadion daz. | wi) > penx hath -
feok bine t obbathed by diffeuntratig
| ck) with wexpeck bet ard mony be cows AL
Work | the elope % cero -
tp- 9 | -0
=e
TF oaclen datfenentiata
tr | e
ets "
Ce the hime reayuired for the
tohere ah by reach Fret peak!
| (Bas Wavi-g | Overhoot ".
Ci) Maztmum peak overshoot : Mp)
SEM Peak OVA ook
|
Te maximum peak Velue 4 the
“response measured from nity -
Po Mes CUbp-a. = OMirge:
Timp = Cpr Ce> : Value
mas Xloo cUtp)? feok ety
[mp cet ree ©4079 Fival vedue ¢
Cc).
©) Sektling Hime.
ating Bite ® Ss
Th the Bime required Por 7Espone|
curve to veach and within a Apecified
kolorance. band Cetthen 87. oy B/D A firal Value. | '
| @|
Eling tine ts fore tolenalete-band |
ts= a5 + fer ay tolerance band. £ a]
n |
| {Soe $e 57. bolorane band 4-0 @]|
1
|
Protlerm on Ruypense 4 the siystimm ©
|" cbbaus the responte. q santly fend pack sytem |
Whase open loop tramfer function b SS". |
and whan énput % unit step. |
x
= Solution -
GP sr yee (aaa Poe |
_— :
For Curly feed back, |
TF ces). Gly. tAeses)
RIS 1460s) 1 + Hace)
| COS) = R¢s> (a. : o(
| S45Sty) S (82844 Ctsy: 4
SCS #49(S419
2h B c
oyB 4c.
SO" Sty” 84]
A= ACSHDCSHIFBCESICSHIFCCSEAD 5 +
| Pus S20 =>
| 82-1 la]
|. Cosd= tt tL
| s 3G Besa
| Take foverse ‘eplac bansfom,
6a. A Posfhion contsy\, aypkern with Velo
| texlbace % Shown to Figune - coletobe line,
| Peak ime, Perk OoVe=shoot , Setthieg Kime and abe
(Sketch dre TWeaponee
Res) ° :
Ces = solution: |
TR: Gs). Gils)”
RCSD HGCOH(S)
Cts> _ 100/s¢54 2)
Res)
See
ko LAE Sastioo | too |->@
Creneral fornula Fox art codes orden ¢
(ea
J fs SHOE. OS + ay] >-e
compare M 26, Ox t00 ~ Judo tonadisce |
Pédn= 18 > [06] pounce
nese Hime
dye Teo. 1 danlfngt
eg Se
On, mee
6 + tan Wrer/, )
> tasletF/o.g) = tans! (n398d= 93-13"
B= 53.12 : b-42 radian .
4. Oa Vinge = Bred recs dys TOF gorse
|
| | wi pear time
|
teem.
P Wd =F 20-39 Sec .
Cis
NO Man: peak over hook « Mp s oe Nr ee.
=e Oe.
| Mp =0- 0ay
7M = 44
IV, , ~
CO ceiling fine Us) 2
aft s =H 2 .
/ 4s EDy 0-6 Xlo = Orbbsec
Bhts =_3 1 8 =o0.5sec.
Eon © xtc
WO Res “e
Zapore :~ rma 7
a (pore
- >t
She response a Serwomechanm i
ces 008 on Oot yg ol shen subject fp a wrk
step input-obtatn. an expression for closed Loop
transfer funchion -Dekermine the adam ped rotwal (= Solution /
~bok lot
CUE = Ito-2e —)-ae
take loplac transform ,
|
es) = oh “QA
ce at ~ 1
S+60 SHo
Ces> = (Stbe)Gs 410) +0-8S (S410) -f- 2)5 CS+60)
~ S(Stb09 B+ 10) —_
Ces>2 boo |
SES+60) (S$ H10)
T pat + unit Stop signa, Ross Ys.
C0Sd= (222
SSF b0D(S+10)
—————____
&9 . boo —
Ris) RS? “Sty test b00 |
im girwal, cc Ces we
tompoare , Dp = boo 3 [e289 rad hee |
REWp= 10
+ undarped nabival fecy = n= @h-h4rad ftec
panping wotid = Spa tuyay /) je wil feedback asptem t charaetarutcedt by
jan open ramfes funcién Gtsr=k/scs410)°
[petomine gat, so tral system ell have damping
jrabio 0-5 fox ths Value 9 &. Deternune cet bi
| time, peak over shook and dime at peak overshoot
for a rik Shop to pu-
= Solution: cosy Gs)
Re) F+G1ts)
= K&cstis) k
I+K/sesticy —— Soste, *
by @mparting with 5 cosy oe
Ro sitp .
DD SagudystO?
we 2
Br DPR sa edy <0 =e. + ae
wy 3.n-
[n= Ve G20 > given, Pei,
Get nog =
BR OY Te,
K= loo | rsiovad foce |
feak overthook sp. A" AFG ous
1 Mp = 131
Peak ime | oe
>t - 00-3638
Od * Dyiege ED | :
(®) The open loop bramfer fanchion 4 & wni
|teadback aystero given PY Ge. Wacersy ’ ba
+ oe postive Constant By ashab Ahould the
Amplifiey qain & be veduced, go that park overshoot
unit skp response 4 the dysbem % wesuiced Prom “5: to
ool -
rSolubinn: ccs), Riss) a! _ .
Bs? \4KfscstH> T8245 4R Aysthy
mae, Coy Oat At
Re P4Aapdys te — SH s+ hy
jon comporing » Wwe get,
On= Kr 5 8E OY
Bn= [RA @: +. = me;
2(Re
pea ovethoor Mp reduced (157 to 257.) by
Jncuwaning Ep. The & Fe eased by veducing He
Vee
[Mpae® * entree |
Sides,
Taking natural Logasstnrn on beth
init = ~€om/ireee*
ar
| |
| Svusocing on both sides
L Plog?
(Lo mpy = Gf 62 .
(ln Mey cea) = & ye
| ome = 62 dnp S = sa
(nme = & (74 Mey)
@ = (Ln Mey”
T(ly Mp ye
but g= 2! 2» [eo
+ Sm te
T+ Cl me
Ke 7 reallnnp
Lo HQ mp)
AE Mpz0-15, kk, = T14lln ots >
4m (Ino-15)7> |
Ky = Bly
AE Mes o0-26, k= kao flno-as)™ /
471 Cln 0-25)> |
Ko= -SyT
- Ae slae = Kea he »
4-6
Gath k ty) reduced
q-6times the fest ro eof !
| ‘ |
©) A posikton contol System weeh Velocity feedback,
bs Shown: Hiven that g 20°5- Also caleulabe vee Lime ,
Pear time, martmum ovewkook anol Settling time -
~ adhe « — Qu fae
> edlubion : ie Slotoee) HPOCG
|
\ TR = ccs) _ Ib /sccto-g) m_l
RCS)
'+ (/sts-40-8>) (Kew)
TF = 16
S7400-8 HoKIs +16
on Comparing we gee ,
wn <6 OBFEK= 2600, .
| Wn=ared /sec, S205 (given)
| . a
\
Trilts? ig
RCS) Sar sag
ii Damped Pesyusney = On VG
Gi Wise Hime £, =p
SB -HbH Tad /cee
(assume B=toT> > 6: boul VG Ja
aid p “
Peak keme tp aes 0-Iot See « = 0-163
in
for OF CrP t= 3
Dn
= 1P6See .
4) A unity feedback contol syskem & crave
by following Open oop toansfex function
Ge sr=r4 st) /e CSto-6) ° petermine banctenk
— ccs) , GO ng
TE = Bey Ie Qcs> Hs)
ces) (o-#s41) Leste) - Obst!
RUS) (Gust d/occteg) —- S*ESH
tes) =fL\f orttstl
(s)( Sicn )
| FAY Bstc
SS s?484)
PASH DA (Het +BSt0)5 .
wh S20,
Cayuating S tears, P= AtB =Je=-) '‘@
Ces)
2 i dana | Eno
| eo — } se inl
de
Pe
Megas
| put a stl ae <4 C8-O >>
\ CS lace. feartorm feansfor™ » 1
rakuig Bap |
RCO
| q hei nee
| OP tompertty s+ eueheC? Wy |
|. ae a. 4 Ep Dy Bea |
; Sr = = 6
| nets BD, < ibe “eg 4 |
Ne gre Uh Ae oR Abe |
We oo FEDn
|
aa > Baekeaate “as (ptbedbe] |
| [ez tina] frequen] jn 28 |
1 N
|
2 A SE in represented by He
| | “peel Eee ~ he . Where cH
| geal bp drplaceroert 4
uit inet mol! Neto en |
re cease
| énpuk 4 1a wri: