Process Dynamics and Control

Unit II: Design of Single-Loop Feedback Control Systems

Second Order Process

A second order process is a process whose output is modeled by a second order

differential equation.
and  = Damping factor or coefficient

The nature of the step input response of such a IInd order process depends on the roots of the
denominator (known as the poles of the system) of the above transfer function, especially on the
value of the damping factor, .
Characteristics of Underdamped IInd-Order System Step Response
 
tr  (  cos1  )
1 2

7. Peak Time: Time at which the output is maximum


tp 
1 2

8. Settling time: The time at which the output response settles around  5% of the ultimate
response value.

4
ts 


Ex. 1.

For a second order system with following transfer function

G(s) =7 / (9s2 + 3s + 5)

When a step change of magnitude 10 is introduced into the system, determine

i. Rise time

ii. Ultimate value of response

iii. Overshoot
iv. Decay ratio

v. Period and frequency of oscillations

vi. Natural period and frequency of oscillations

vii. Peak time

viii. Settling time

Solution:

Comparing the given second order T.F. with the standard second order T.F.,

Y (s) Kp
G (s)  
X (s)  2 s 2  2s  1

we observe that the transfer function is not in standard form as the last term in the denominator is
not ‘1’, so dividing the numerator and the denominator by 5

Y (s) 7/5
G (s)  
X ( s ) (9 / 5) s  (3 / 5) s  1
2

1. 4

1.8s  0.6 s  1
2

now the transfer function is in its standard form from which we get the parameter values, τ2 = 9/5,
so τ = 1.34, 2ξτ = 3/5, so ξ = 0.22 (as ξ < 1 this is a underdamped system)

(i) The rise time corresponds to the first time (n = 1) that y(t) = KpA = y(∞)

tr  (  cos1  )
1 2

1.34
 (3.14  cos1(0.22))
1  0.222

Note: While calculating cos-1(0.22) choose “rad” (radian) mode in the calculator

= 2.48 time units (e.g. sec)

(ii) The ultimate value of the response can be determined using the final value theorem:
Lim(t->∞) y(t) = y(∞) = Lim(s->0) [s F(s)]
 = Lim(s->0) s [(7/5) / s (9s2 + 3s + 1)]
= Lim(s->0) [(7/5)/(9s2 + 3s + 1)]
= 7/5

   
 exp 
 1 2 
(iii),(iv) Overshoot (OS)  

= exp(3.14*0.22/sqrt(1  0.222))
= 0.49 (49 % overshoot)

Decay ratio = (OS)2

= (0.49)2
= 0.24

v. Period and frequency of oscillations

Period of oscillations

2(3.14)1.34

1  0.22 2

= 8.67 time units

Radian frequency of oscillations

1  0.22 2

1.34

= 0.72

vi. Natural period and frequency of oscillations

Natural period of oscillations

= 2(3.14) 1.34

= 8.41

Natural frequency of oscillations

= 1/1.34 = 0.74

vii. Peak time


tp 
1 2

3.14(1.34)

1  0.22 2

= 4.33 time units

viii. Settling time

4
ts 


4(1.34)

0.22

= 24.36 time units

IInd Order Systems:

1. Two Tank Non-Interacting System (Liquid Level)

2. Two Tank Interacting System (Liquid Level)

3. U-Tube Manometer

4. Damped Vibrator

1. Two Tank Non-Interacting System (Liquid Level):

Fig. Two Tank Non-Interacting System

2. Two Tank Interacting System (Liquid Level)

Fig. Two Tank Interacting System

The term A1R2 is the interaction factor indicating the degree of interaction.
3. U-Tube Manometer
4. Damped Vibrator:

In engineering practice, we are almost invariably interested in predicting the response of a

structure or mechanical system to external forcing. For example, we may need to predict the
response of a bridge or tall building to wind loading, earthquakes, or ground vibrations due to
traffic. Another typical problem you are likely to encounter is to isolate a sensitive system from
vibrations. For example, the suspension of your car is designed to isolate a sensitive system
(you) from bumps in the road.

A spring-dashpot-mass system as shown in the figure is a damped vibrator system, which is a

model of a real engineering system.

We assume that at time t = 0, the initial position and velocity of each system is

In each case, we wish to calculate the displacement of the mass x from its static equilibrium
configuration, as a function of time t. It is of particular interest to determine the influence of
forcing amplitude and frequency on the motion of the mass.

We follow the same approach to analyze each system: we set up, and solve the equation of
motion.

Equation of Motion for External Forcing

To model the system first draw a free body diagram for the system, as shown
Applying the Newton’s law of motion gives

Rearrange and susbstitute for F(t)

Check out our list of solutions to standard ODEs. We find that if we set

,
our equation can be reduced to the form

Comparing this equation to the standard IInd-order differential equation we get,

If a sin input is given to the system its steady state response is always harmonic, and has the
same frequency as that of the forcing function.
The amplitude of vibration is strongly dependent on the frequency of excitation, and on the
properties of the spring-mass system.
If the forcing frequency is close to the natural frequency of the system, and the system is lightly
damped, huge vibration amplitudes may occur. This phenomenon is known as resonance.

There is a phase lag between the forcing and the system response, which depends on the
frequency of excitation and the properties of the spring-mass system.

Basic Feedback Controllers

Block Diagram and Closed Loop Response
Dynamic Response of Control System to Step Input
Ex. 1: Draw the block diagram of a standard feedback loop control system and derive its overall
T.F.: (Y(s)/YSP(s)).

Solution:

Fig. Standard Feedback Control System Block Diagram

Thus the required T.F. is,

Block Diagram Algebra

To reduce a large complex bock diagram to determine the overall transfer function following
basic rules are to be applied:

Ex. Reduce the following block diagram to a single block thus determining the overall T.F.
C(s)/R(s)

Solution:
Stepwise reduce the block diagram using the basic rules of block-diagram algebra as given
below.
a. Right-shift the G3-H3 line after G4 and left-shift the adder after G1 so that we get two
separate and clear (no interconnections) inner loops

b. Combine the inner loops into single blocks.

c. Finally combine the outer loop into a single block.