Data Acquisition & Control Systems

DAG Lecture 2 First Order Systems

Modelling Cabin Temperature

First Order Systems
Newton's Law of Cooling:
dy The rate of change of temperature is proportional to the
T + y = Ku difference in temperature between atmospheric
dt temperature and the object

y is the output (sometimes written y(t) ) d

= k( a )
u is the input (sometimes written u(t)) dt
T is called the TIME CONSTANT (seconds)
K is called the GAIN (units depend on application) Assumptions
(0 ) = 2 0 C
a ( t ) = 1 0 C

Solution of ODEs using Laplace Step 1 - transformation

Transforms d
= k ( a )
dt
TRANSFORMATION
Transform using Laplace Transform Tables
MANIPULATION s ( s ) ( 0 ) = k [ ( s ) a ( s )]
Y(s) = ?
INVERSE TRANSFORMATION s ( s ) 20 = k [ ( s ) a ( s )]
Partial Fractions to make Y(s) the sum of standard
s ( s ) 20 = k ( s )
Laplace Transforms. Hence find y(t) from Laplace 10
Transform Tables s

Step 2 - Manipulation Step 3 inverse transform

s ( s ) 20 = k ( s )
10 10k 20
(s ) = +
s s(s + k) (s + k)
10k 10k
s ( s ) 20 = k ( s ) + 1 20
s ( t ) = L1 + L (s + k)
s(s + k)
10k
s ( s ) + k ( s ) = + 20
s 10k
( t ) = L 1 + 20e
kt

10k s(s + k)
(s + k) ( s ) = + 20
s
10k 20
(s ) = +
s(s + k) (s + k)

D.A.Germany - School of Engineering & Technology

Data Acquisition & Control Systems
DAG Lecture 2 First Order Systems

Partial Fractions
10k A B
= +
s(s + k) s ( s + k ) ( t ) = 10 + 10e kt

(t)

20

10

0
0 t

Simulink Solution Modelling Cabin Temperature

dy dy 1 d
T + y = Ku = ( Ku y ) = k( a ) where is the output, y,
dt dt T dt and a is the input, u.

We need to rearrange this into standard form.

d 1 d
dy + k = ka + = a
dt k dt
u + dt y
1
K By inspection with the standard form we can see that;
T
-

Modelling Cabin Temperature Summary of Lecture 2

Standard form for a first order differential equation is
(0) = 20C dy
a (t) = 10 C T + y = Ku
dt
If Gain (K) and Time Constant (T) are known the standard
response for a first order system may be used
y ( t ) = K 1 e u
t
T


Assume
T = 3600sec (1 hour)
(i.e. Thermal constant k = 0.00028s-1) Directed Independent Learning for this week:
Problems 2 - Q1 and Q2

D.A.Germany - School of Engineering & Technology