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Dynamic Behavior of First - Second Order Systems PDF
Dynamic Behavior of First - Second Order Systems PDF
V
h
q
A
The change in liquid height inside the tank can be described by the following equation;
dh h
A =q (4. 2)
dt R
At steady state, this equation can be written as:
h
0 = qs s (4. 3)
R
Subtracting Equation (4.3) from Equation (4.2) gives
d (h hs ) (h hs )
A = ( q qs ) (4. 4)
dt R
Defining the deviation variables as
Q = q qs
(4. 5)
H = h hs
Equation (4.4) can be written as
dH H
A + =Q (4. 6)
dt R
u(t) y(t)
System
U(s) Y(s)
The term (time constant) and K (steady state gain) characterize the first-order system.
Note that the both parameters depend on operating conditions of the process and that the
transfer function does not contain the initial conditions explicitly.
Steady state gain is the steady state change in output divided by the sustained change in
the input. It characterizes the sensitivity of the output to the change in input. The steady-
state of a transfer function can be used to calculate the steady-state change in an output
due to a steady-state change in the input. For example, suppose we know two steady
states for an input, u, and an output, y. Then we can calculate the steady-state gain, K,
from:
Y ( s) b s i
i
bm s m + bm 1s m 1 + L + bo
G(s) = = i =0
= (4. 13)
U ( s) n
an s n + an 1s n 1 + L + ao
a s
i =0
i
i
The steady state gain of G(s) in Equation (4.13) is bo/ao, obtained by setting s = 0 in G(s).
Definition: The order of the transfer function is defined to be the order of the
denominator polynomial
Multiplicative rule
U G1 G2 Y
Y = G1 G 2 U (4. 14)
Additive rule
U1
G1
+
+
U2 G2
u(t)
M
y(t)
KM
0 t
Dynamic Characteristics
A first-order process is self-regulating. The process reaches a new steady state.
The ultimate value of the output is K for a unit step change in the input, or KM
for a step of size M. This can be seen from Equation (4.16), which
yields y KM as t . This characteristic explains the name steady state or
static gain given for the parameter K, since for any step change in the input the
resulting change in the output steady state is given by
(output ) = K(input ) (4. 17)
This Equation tells us by how much we should change the value of the input in
order to achieve a desired change in the output, for a process with given K. Thus,
to effect the same change in the output, we need:
A small change in the input if K is large (very sensitive systems)
A large change in the input if K is small. See Figure 5.
The value of y(t) reaches 63.2 % of its ultimate value when the time elapsed is
equal to one time constant . When the time elapsed is 2, 3, 4, the percent
This implies that if the initial rate of change of y(t) were to be maintained, the
response would reach its final value in one time constant (see the dashed line in
Figure 4). The corollary conclusions are:
The smaller the value of time constant, the steeper the initial response of the
system (Figure 5).
1.0
y
KM
0.632
0.0
0 1
t
10
y(t) y(t)
K1M K1
K2M K2 KM
t1
K2 < K1 t2 t1 < t2
0 Time 0 Time
Figure 5 Effect of static gain, time constant on the response of first-order lag system.
Dynamic response
For a step change in u of magnitude M: U(s) = M/s. Equation (4.21) yields
KM
G ( s) = 2 (4. 22)
s
After inversion we find that
y (t ) = Kt (4. 23)
Notice that the output grows linearly with time in unbounded fashion (Figure 6). Thus,
y as t
Note that a pure capacitive process causes serious control problem because it can not
balance itself. For small change in the input, the output grows continuously. This attribute
is known as non-self-regulating process.
y(t)
Dynamic response
For a step change of magnitude M, U(s) = M/s, Equation (4.26) yields
KM
Y (s) = (4. 27)
s ( s + 2s + 1)
2 2
The two poles of the second-order transfer function are given by the roots of the
characteristic polynomial,
2 s 2 + 2s + 1 = 0 (4. 28)
and they are
2 1 2 1
p1 = + and p2 = (4. 29)
Therefore, Equation (4.27) becomes
K 2
Y (s) = (4. 30)
s ( s p1 )( s p2 )
The form of the response of y(t) will depend on the location of the two poles in the
complex plane. Thus, we can distinguish three cases:
y(t)/KM
t/tau
First-order system
0.9
0.8
Second-Order system
0.7
0.6
y/KM
0.5
0.4
0.3
0.2
0.1
0
0 1 2 3 4 5 6 7 8 9 10
time
- Overshoot: Is the ratio of a/b, where b is the ultimate value of the response and a is the
maximum amount by which the response exceeds its steady state value. It can be shown
that it is given by the following expression:
Dynamic characteristics
The fitting of the first order plus time-delay model to the step response, using the
tangent method, requires the following steps, as shown in Figure 11:
1. The process gain for the model is found by calculating the ratio of the change in the
steady-state value of y to the size of step change M in x.
2. A tangent is drawn at the inflection point of the step response; the intersection of the
tangent line and the time axis (where y = 0) is the time delay.
3. If the tangent is extended to intersect the steady-state response line (where y = KM),
the point of intersection corresponds to time t = + .
This method suffers from using only a single point to estimate the time constant. Use
of multiple points may provide a better estimate.
5. Examples
Non-interacting system
Two tanks are connected in series as shown in Figure 13. The time constants are 2 = 1
and 1 = 0.5; R1 = R2 = 1. Sketch the response of the level in tank 2 if a unit-step change
is made in the inlet flow rate to tank 1.
Solution
q(t)
h1 R1, q1(t)
h2 R2 q2(t)
Note that all roots here are real; thus, this is an over-damped system. By comparing this
equation with the general form of the over-damped system, it follows that
1 = ( + 2 1)
(4. 54)
2 = ( 2 1)
It can be proved that H2(s) is
H 2 (t ) = 1 (2e t e 2t ) (4. 55)
Generalization for several noninteracting systems in series
Consider n noninteracting first-order systems as represented by the block diagram of
Figure 14. The block diagram is equivalent to the relationships
Xo k1 X1 k2 X2 Xn-1 kn Xn
1s + 1 2s +1 ns +1
Interacting system
q(t)
Solution
The balances on tanks 1 and 2 are the same as before and are given by Equations (4.47)
and (4.48). However, the flow-head relationship for tank I is now
(h h )
q1 = 1 2 (4. 58)
R1
Notice that the difference between the transfer function for noninteracting system and the
interacting system is the presence of the term A1R2 in the coefficient of s.
To understand the effect of interaction on the transient of a system, consider a two-tank
system for which the time constants are equal, if the tanks are noninteracting, the transfer
function relating inlet flow to outlet flow is
2
Q2 ( s ) 1
= (4. 62)
Q( s ) s + 1
The unit-step response for this transfer function is
t
Q2 (t ) = 1 e t e t (4. 63)
If the tanks are interacting, the overall transfer function, according to Equation (4.61), is
(assuming A1 = A2)
Q2 ( s ) 1
= 2 (4. 64)
Q( s ) + 3s + 1
Notice that R2A2 = 2 = . By application of the quadratic formula, the denominator of
this transfer function can be written as
Q2 ( s ) 1
= (4. 65)
Q( s ) (0.38s + 1)(2.62s + 1)
For this example, we see that the effect of interaction has been to change the effective
time of the interacting system. One time constant has become considerably larger and the
other smaller than the time constant of either tank in the noninteracting system. The
response of Q2(t) to a unit step change in Q(t) for interacting case [Equation (4.65)] is
Q2 (t ) = 1 + 0.17e t 0.38 1.17e t 2.62 (4. 66)
0.9
0.8
Noninteracting
0.7
0.6
Interacting
Q2
0.5
0.4
0.3
0.2
0.1
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t
From Figure 16, it can be seen that interaction slows up the response. This is
understandable, when inlet to the first tank is stepped, the flow q1 will be reduced by the
build-up of level in tank 2.
In general, the effect of interaction on a system containing two first-order lags is to
change the ratio of effective time constants in the interacting system. In terms of transient
response, this means that the interacting system is more sluggish than the noninteracting
system.
Solution
First note that w = M = 125-120 = 5 kg/min. Since T = T() T(0) = 160 140 =
20 C, the process gain is
T 20o C o
C
K= = =4
w 5 kg min kg min
u(t)
125
w (kg/min)
120
y(t)
160
152.6
140
0 5 t