M.D.

Bryant ME 340 notes 6/8/10

Second Order Systems

 2 energy storage elements
 => Resonance: inductance &
capacitance trade energy

Example: RLC circuit

i +
R
-

+
V +
R

V V C
C

- -
VL
- +
L

q di
−V + iR + + L = 0
C dt
since i = dq/dt
2
dq dq q
L 2 + R + = V (t)
dt dt C
 M.D. Bryant ME 340 notes 6/8/10

Standard form, 2nd order system:

x˙˙ + 2ζω x˙ + ω x = f (t)

n
2
n

• Rearrange, make coefficient of 2nd

order term unity:

d 2q R dq 1 V (t)
2
+ + q=
dt L dt LC C
• Compare equations
V (t) R
• f (t) =
C ,
2ζω n = ,
L
ω n2 = 1 LC
€ 1
ζ =
R
=
R
• ωn = LC , 2Lω n 2 L /C
€
€ System parameters
€
€  natural
€ frequency ωn
 damping ratio ζ
 M.D. Bryant ME 340 notes 6/8/10

Example: Oscillator without damping

no damping (no power loss) ⇒ R = 0

2
x˙˙ + ω x = f (t)
n

Solution by superposition

x = xcomplementary + xparticular
€ — complementary differential equation
( set forcing term f(t)=0 )

˙x˙ + ω n2 x = 0
— Homogeneous solution: xc
 Guess: x c = A cosω n t + B sin ω n t
 Test (substitute):
€
2 d 2 (Acosω n t + Bsin ω n t)
0 = x˙˙c + ω x c€
n = 2
+ ω n2 (Acos ω n t + Bsin ω n t) = 0
dt
 M.D. Bryant ME 340 notes 6/8/10

Particular Solution
— DC voltage fo switched in at t = 0

— f(t) =fo

 Differential equation (t > 0):

2
x˙˙ + ω x = f o
n
 Particular solution (guess):

xp = C
€  Test: 0 + 2ζω n (0) + ω n2C = f o

fo
€ xp = 2
 ωn
€

€
 M.D. Bryant ME 340 notes 6/8/10

Total solution: x = x c + xp

fo
x(t) = Acos(ω n t) + Bsin(ω n t) +
ω n2

 Apply: x(0) = 0 , x˙(0) = 0 (initially at rest)

f
€ 0 = x(0) = A + o2
ωn
€ 0 =€x˙ (0) = ω n B
Find constants, solution:
€
fo
€ x(t) = 2 [1− cos(ω n t)]
ωn
M.D. Bryant ME 340 notes 6/8/10

Step Response, Second Order System

2 ζ=0
0.1
x
0.3
fo/ωn2
0.5
0.7
1
1
2

4 8 12
ωn t

 System to steady state value xss(t) = fo /ωn2.

 Curve depends on ζ value: small ζ or small
damping => oscillation
 Frequency ωn = 1/√LC determined by L & C
 When ζ ≠ 0 (R ≠ 0), oscillations at damped
natural frequency: ω = ω 1− ζ
d n
2