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ME451 L15 Timeresp2nd 240116 183552
ME451 L15 Timeresp2nd 240116 183552
ME451 L15 Timeresp2nd 240116 183552
3 4
Step response for 2nd-order system
Step response for 2nd-order system
for various damping ratio
Input a unit step function to a 2nd-order system.
What is the output? Undamped 2
u(t)
u(t) y(t)
y(t)
1
Underdamped 1.5
0 0
Critically damped 1
0
0 5 10 15
5 6
1 .4
1 .2
0 .8
0 .6
0 .4
0 .2
0
0 5 10 15
7 8
Properties of 2nd-order system Some remarks
Percent overshoot depends on ζ, but NOT ωn.
From 2nd-order transfer function, analytic
expressions of delay & rise time are hard to
obtain.
Time constant is 1/(ζωn), indicating
convergence speed.
For ζ>1, we cannot define peak time, peak
value, percent overshoot.
(5%) (2%)
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Damping ratio
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Influence of real part of poles Influence of imag. part of poles
Settling time ts decreases. Oscillation frequency ωd increases.
ts
13 14
Im
Re
15 16
An example (cont’d) An example (cont’d)
Require PO < POm (given): Combination of two requirements
&
Im Im
Re Re
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Summary Exercises
(Use a calculator if necessary.)
Transient response of 2nd-order system is Read the related topics from the textbook.
characterized by
1. For the system below with ζ=0.6, ωn=5
Damping ratio ζ & undamped natural frequency ωn
(rad/sec), obtain
Pole locations
• Percent overshoot ?
Delay time and rise time are not so easy to • 5% settling time ?
characterize, and thus not covered in this course.
For transient responses of high order systems,
we need computer simulations.
Next, Root locus
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Exercises
2. For the system below, design K1 and K2 s.t.
Percent overshoot is at most 20%?
Peak time is at most 1 sec.?
With designed K1 and K2, what is 5% settling time?
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