AE 230 - Modeling and Simulation Laboratory

Dynamic System
Input and output can be related in simplified form:

d n q0 d n 1q0 dq0 an + an 1 n 1 + .... + a1 + a0 q0 = n dt dt dt m m 1 d qi dqi d qi bm m + bm 1 m 1 + .... + b1 + b0 qi dt dt dt

q0 = Output quantity qi = Input quantity as, bs = system physical parameters assumed constant

Solution of above expression can be found out using standard mathematical techniques. Most of the engineering systems can be simplified. No need to have such a complicated differential equation. Closed form or numerical methods can be used for solutions.

First order systems

Many physical system behave like first order system Simple to understand Information about system time constant and amplification

dqo dqi a1 + ao qo = b1 + bo qi dt dt
Generic first order system qo is output and qi is input a1, a0, b1, b0 constants

First order systems Mechanical

First order systems Electrical

First order systems

bo a1 dqo + qo = qi ao dt ao

a1 = = system time constant a0

b0 K= = System steady state gain a0
dqo + qo = i Kq dt
Standard first order system equation

First order systems

dqo + qo = i Kq dt

Standard first order system equation

Two parameters are required to completely describe the first order system, i.e. and K - units will be time (sec) K units will be ratio of output quantity to input quantity

First order systems

dqo + qo = i Kq dt
Kqis Q0 ( s ) = s (s + 1)

Standard first order system equation

= Kqis (1 e qo (t )

t /

Step response of first order system

First order systems

First order systems

forces = (mass)(acceleration)
fi Bx = fi Bvo =Mxo =M vo

dvo M + Bvo = fi dt

First order systems

dvo M + Bvo = fi dt

M dvo 1 + vo = fi B dt B
M kg = = = sec B N /(m / sec)

Standard first order system equation

1 m / sec K= = B N
t /

vo (t ) Kfis (1 e =

Step response of first order system

First order systems

vo (t ) Kfis (1 e t / ) =
Step response of first order system

First order systems

5% of final steady state value in 3 time constants, it is independent of step size Smaller the time constant faster the system. When time constant approaches zero, the system is zeroth order and it is an algebraic equation.

qo = Kqi

First order systems

Significance of K, steady state gain

K has no effect on how rapidly the steady state is achieved. Steady state is entirely dependent on time constant.

First order systems

M dvo 1 + vo = fi B dt B
M kg = = = sec B N /(m / sec)

dqo + qo = i Kq dt

1 m / sec K= = B N

Steady state velocity is only dependent on B. Where as speed of response or time constant is dependent on both M and B

First order systems

First order systems

First order systems

= Kqis (1 e qo (t )
Slope of the above equation t = 0 Line with above slope passing through origin Steady state value of output is

t /

dq 0 Kq is = dt eqn(1)

Kq is q0 = t

= Kq is

Eqn (1) will cut the steady state line at time

First order systems

qo (t ) = Kqis (1 e

t /

q0 t -t / Z = log e (1 ) = log(e ) = Kqis

Plot of Z versus time t is a plot of slope -1/

First order systems

= Kqis (1 e qo (t )

t /

First order systems

First order systems Ramp input

q i = cons tan t
qi

t Ramp Signal which starts at a fixed level (usually taken as zero) and grows at a fixed (usually positive) rate.

First order systems Ramp input

BD( i o ) K s o = JD o = 0
2

B d o B +o = i K s dt Ks
Rotary inertia J = 0

B = Ks

B K= Ks

(D + 1) o = Ki = K i
For constant speed i

First order systems Ramp input

(D + 1) o = Ki = K i
For speed i varying linearly with time = i t

(D + 1) o = Ki = K i t

o = K ie t / + K i (t )
For = 0 output will be= Ki t For 0 steady state error will be = - i and with lag =

First order systems Mechanical

First order systems Electrical