Data Acquisition & Control Systems

DAG Lecture 3 Second Order Systems

Standard Form for a Second Order Under-Damped Systems

Differential Equation Under damped system are characterised by overshoot
2 The damping constant, , will be between 0 and 1
d y dy
+ 2 n + 2n y = K 2n u The step response is:
dt 2 dt
n
y ( t ) = K 1 e n t cos( d t ) + sin ( d t ) u
y is the output (sometimes written y(t) ) d
u is the input (sometimes written u(t) ) The frequency of the damped
n is the undamped natural frequency (rad/sec)) oscillations is :
is the damping constant
K is the GAIN (units depend on application) d = n 1 2

If is -ve the system is unstable

Over Damped Systems Case Study - Car Suspension System f

Damping constant, >1 m

No overshoot on a step response x
Step response is: k c

[ ]
y ( t ) = K 1 + Ae r1 t + Be r2 t u

In standard form
Critically Damped Systems
Damping constant, = 1 d2x
dx d 2 x c dx k
f = m 2 +c + kx +
1
+ x= f
Lowest value of with no overshoot. dt dt dt 2 m dt m m
Step response is:

[
y (t ) = K 1 e n t n t e n t u]

If a small car has m = 1000kg, c = 12000Nsm-1, Maximum overshoot

k = 80000Nm-1 and f = 1000N
y max yss
n =
k
=
80000
= 80 9 rad.sec 1 overshoot =
m 1000 ymax y ss
c 12000
= = 0.7
2 mk 2 1000 * 80000 yss

1 1 1 2
K= =
k 80000
= 1.25 10 5 m.N 1 overshoot = e

tmax t (sec)
t max = =
d n 1 2
See appendix 2 of notes
Also on formula sheet

D.A.Germany - School of Engineering & Technology

Data Acquisition & Control Systems
DAG Lecture 3 Second Order Systems

from diff eqn

Rearranging the overshoot formula = 0.7 Transfer Functions
=
(ln overshoot )2 = (- 3 .0 ) 2
= 0. 69 Time Domain Laplace Domain
+ (ln overshoot )
2
2
9.87 + (- 3 .0 ) 2 u(t) y(t) U(s) Y(s)
System G(s)
and from tmax formula
3.159 System model = linear ODE System model = transfer function
d = = = 6 .6 rad/ s
t max 0 .475
G(s) = Y(s)
U(s)
d = 6 .6
n = = 9 .1 rad/ s Assuming all initial conditions are
1 - 2 1 - 0 .69 2 zero
from diff eqn
n = 9 rad/s

Standard Form for a Second Order K, n, and for the two tank problem
Transfer Function q1
T1 = 50s
2
d y dy Tank 1
+ 2 n + 2n y = K 2n u q12
dt 2 dt
T2 = 100s
( s 2 Y(s) sy(0) y(0)
) + 2 n ( sY(s) y(0) ) + n2 Y(s) = K n2 U(s) Tank 2
q2
s 2 Y(s) + 2 n sY(s) + n2 Y(s) = K n2 U(s)
q1 q2
1
(1+T1s)(1+T2s)
(s2 + )
2 n s + n2 Y(s) = K n2 U(s)

Y(s) K 2n q1 q2
= 2 1
U(s) s + 2 n s + 2n 1 + (T1+T2 )s + T1T2 s2

1 Summary of Lecture 3
q1 T1T2 q2 A Standard 2nd order transfer function is:
T + T2 K2n
s2 + 1 s+
1 G(s) =
T1T2 T1T2 s2 + 2n s + 2n
An underdamped system (0 < < 1) has overshoot.

K 2n = 2n K =1 ( ln overshoot )2
=
+ ( ln overshoot )
2 2

1 1
2n = n = The undamped natural frequency governs speed of response.
T1T2 T1T2

T + T2 T1 + T2 T + T2
tmax =
2 n = 1 = = 1 Directed Independent Learning for this week: n 12
T1T2 2 T1T2 n 2 T1T2
Read through Appendix 2
Try Problems 4

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