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First-Order Process With Time Delay
First-Order Process With Time Delay
V + E M Ke − τ DT s C
Σ Controller
τs + 1
-
B
Am plitude
1.0
Ratio
Dead Tim e
Frequency
Response
φ
Phase
Angle 0 D
− ω τ DT
Qo dq i
( s ) = e−τDTs ≈ 1 − τDTs q o ( t ) ≈ q i ( t ) − τDT
Qi dt
– The accuracy of this approximation depends on the dead time
being sufficiently small relative to the rate of change of the slope
of qi(t). If qi(t) were a ramp (constant slope), the approximation
would be perfect for any value of τDT. When the slope of qi(t)
varies rapidly, only small τDT's will give a good approximation.
– A frequency-response viewpoint gives a more general accuracy
criterion; if the amplitude ratio and the phase of the approximation
are sufficiently close to the exact frequency response curves of
for the range of frequencies present in qi(t), then the approximation
is valid.
qi
τDT
q o = q i ( t − τDT ) tangent line
qi(t)
dq i
q o = q i ( t ) − τDT
dt
⎜ − ⎟
−τs τs τ s2 2
⎝ 2⎠
1− + +" +
e 2
2 8 k!
e −τs = τs ≈ k
e2 ⎛ τs ⎞
τs τ2s 2 ⎜ ⎟
1+ + +" + ⎝ 2⎠
2 8 k!
Qi τDT s + 1
-100
phase angle (degress)
-150
-200
Qo 2 − τdt s
(s) =
-250 Qi 2 + τdt s
-300
-350
(τ s)
-400 2
2 − τdt s + dt
-1 0 1 2 3 4 5
10 10 10 10 10 10 10
Qo 8
e −τdt s
= 1∠ − ωτdt
frequency (rad/sec)
(s) =
( τdt s )
2
Qi
2 + τdt s +
8
G(s)[1− e−τs ]
D(s) y
D(s)G(s)e −τs
D(s)G(s) −τs
D(s) = = = e
1 + (1 − e −τs )D(s)G(s)
y r 1 + D(s)G(s)e −τs
1 + D(s)G(s)
1.6
Time Delay τ = 0.05 sec
1.4
1.2
time response
0.8
0.6
0.4
Time Delay τ = 0.05 sec
with Smith Predictor
0.2
0
0 0.5 1 1.5 2 2.5 3
From: U(1)
A small amount 0
of change in -2
magnitude
Phase (deg); Magnitude (dB)
produces a small -4
amount of -6
change in the 0
-100
larger change in G2(s)
the phase of -150
G2(s). -200
10-2 10-1 100
T1 = 5
Frequency (rad/sec)
T2 = 10
Control of a First-Order Process + Dead Time K. Craig 22
– These two systems have the same magnitude
characteristics, but they have different phase-angle
characteristics.
– The two systems differ from each other by the factor:
1 − T1s
G(s) =
1 + T1s
– This factor has a magnitude of unity and a phase angle
that varies from 0° to -180° as ω is increased from 0 to ∞.
– For the stable minimum-phase system, the magnitude and
phase-angle characteristics are uniquely related. This
means that if the magnitude curve is specified over the
entire frequency range from zero to infinity, then the
phase-angle curve is uniquely determined, and vice versa.
This is called Bode’s Gain-Phase relationship.
KD ( s ) = K ( TDs + 1)
= 0.01(20s + 1)
Adjust gain K to produce the desired bandwidth and adjust the breakpoint
ω1 = 1/TD to provide the -1 slope at ωc.
ω1 = .05 rad/s
ωc = .2 rad/s
Step
Response
s +1 1.2
s2 + s + 1 1
0.8
1
s2 + s + 1
Amplitude
0.6
To: Y(1)
0.4
0.2
0
−s + 1
-0.2 s2 + s + 1
-0.4
0 2 4 6 8 10 12
Time (sec.)
s +1
1.2
s2 + s + 1
1
0.8 1
s2 + s + 1
Amplitude
To: Y(1)
0.6
0.4
s
0.2 s2 + s + 1
0
-0.2
0 2 4 6 8 10 12
Time (sec.)
1 1.2
s2 + s + 1 1
−s + 1
0.8
s2 + s + 1
0.6
Amplitude
To: Y(1)
0.4
0.2
-0.2
−s
-0.4 s2 + s + 1
-0.6
0 2 4 6 8 10 12
Time (sec.)
K (1 − 2s )
G(s)H(s) =
s ( 4s + 1)
G(s)H(s) = 0.8
s ( 4s + 1) 0.6 K=
1 Root-Locus Plot
0.4
2
0.2
Imag Axis
0
-0.2
-0.4
-0.6
-0.8
Angle Condition: -1
-1 -0.5 0 0.5 1 1.5 2
∠G(s)H(s) = ∠
s(4s + 1)
K(2s − 1) K(2s − 1)
=∠ + 180° = ±180° ( 2k + 1) or ∠ = 0°
s(4s + 1) s(4s + 1)
Control of a First-Order Process + Dead Time K. Craig 33
• Dynamic Response of a First-Order System with a
Time Delay
– The transfer function of a time delay combined with a
first-order process is:
Ke −τDTs
τs + 1
No Time Delay
1
0.6
using the time delay
To: Y(1)
approximations. How
0.4 does this relate to RHP
2nd-Order Approx. zeros?
0.2
1st-Order Approx.
-0.2
0 14 28 42 56 70
Time (sec.)
From: U(1)
0
-20
-40
-80
0
No Time Delay
-100
-300
Exact Time Delay 2nd-Order Approx.
-400
-500
10-2 10-1 100 101 102
Frequency (rad/sec)
⎛ 2 − τDT s ⎞
K⎜ ⎟
Ke −τDT s
2 + τ s
≈ ⎝ DT ⎠
=G
τs + 1 τs + 1
B K
( iω ) = = 1.0
E ( ω0 τ )
2
+1
Ke −τDTs
Σ τs + 1
K = 8.5
1.5
K = 4.25
1
Response
0.5
K = 1.06
0
K = 2.13
-0.5
0 1 2 3 4 5 6 7 8 9 10
time (sec)
2.5
KI = 1.14
2
1.5
Response
0.5
-0.5
KI = 0.57
-1
0 5 10 15 20 25 30 35 40 45 50
time (sec)