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The order of the instrument is the highest derivative of the above differential equation
which describes the dynamic behaviour of the instrument for a specified input.
Normally, the instruments are subjected to inputs which are random in nature. As it is
not possible to predict the random input, the following test inputs are used to determine
the dynamic behaviour of the instruments: step input, ramp input, impulse input and
sinusoidal inputs.
ZERO ORDER INSTRUMENTS
The simplest possible special case of the above equation occurs when all the as
and bs except a
o
and b
o
are assumed to be zero. Then the equation becomes
i o o o
q b q a
i
o
o
o
q
a
b
q
or i o
kq q
where k = static sensitivity
Any instrument or system that closely obeys this equation over its intended range of
operating conditions is defined to be a zero order instrument. Since the equation q
o
= kq
i
is algebric, it is clear that, no matter how q
i
might vary with time, the instrument output
(reading) follows it perfectly with no distortion or time lag of any sort. Thus, the zero
order instrument represents ideal or perfect dynamic performance.
A practical example of a zero order instrument is the displacement measuring
potentiometer. Here a strip of resistance material is excited with a voltage and provided
with a sliding contact. If the resistance is distributed linearly along length L, we may
write
i
i
o
e
L
x
e or i o
kx e
where
L
e
k
i
volts / inch
Ofcourse, the winding will have some inductance and capacitance (very low). But yet the
potentiometer is called as zero order instrument because
1) the inductance and capacitance can be made very very small by proper design.
2) The speed (frequencies) of motion to be measured are not high enough to make
the inductive and capacitive effects noticeable.
FIRST ORDER INSTRUMENTS
In the reference equation choosen, if all as and bs other than a
1
, a
o
and b
o
are
taken as zero, we get
i o o o
o
q b q a
dt
dq
a +
1
Any instrument that follows this equation is, by definition a first order system. Dividing
the equation by a
o
we get
i i
o
o
o
o
o
kq q
a
b
q
dt
dq
a
a
+
1
where K =
o
o
a
b
= static sensitivity
Taking laplace transform
( ) ( ) ( ) s KQ s Q s SQ
a
a
i o o
o
+
1
( ) ( ) ( ) s KQ s Q s
i o
+ 1
where
0
1
a
a
= time constant
Or
( )
( )
( ) s Q
s
K
s Q
i o
+
1
+
e
o
x
i
e
i
L
kq
i
Time
Time
q
o
Now by applying various inputs ie by substituting for
( ) s Q
i
, the corresponding
( ) s Q
0
is
evaluated
Step response of the First order instrument
A unit step input is defined by a signal which has a value equal to unity for t>0.
At t = 0, the value of signal is zero
i.e q
i
(t) = 1 t > 0
q
i
(t) = 0 t = 0
Taking Laplace transform we get
( )
s
s Q
i
1
1
1
1
. Solving this we get A = 1 and B = . Therefore
( )
,
_
+
+
s
s
s Q
o
1
1
or
( )
t
o
e t q
1
It is observed that the instrument output reaches 63.2% of its final steady state value after
a time and the instrument takes theoretically infinite time to reach steady state value.
A dynamic characteristic useful in characterizing speed of response of any system is the
settling time and is defined as the time for the system to reach and stay within a t
tolerance band. A small settling time indicates fast response. In other words a large time
constant corresponds to slow system response and vive versa.
The dynamic or measurement error is defined as
( ) ( ) ( ) t q t q t e
o i m
( )
,
_
t
m
e t e 1 1
( )
t
m
e t e
when K = 1
( )
( ) S
C
S
B
S
A
S Q
i
+
+ +
1
2
Solving we get
A = , B = 1, C =
2
There fore
( )
( ) S S S
S Q
i
+
+ +
1
1
2
2
( )
,
_
+
+ +
S
S S
S Q
i
1
1
2
2
( )
,
_
+
+ +
S
S S
S Q
i
1
1
2
Or
( )
t
o
e t t q
+
( )
,
_
t
o
e t t q 1
The dynamic response of this is as shown
The dynamic error is
( ) ( )
,
_
t
o i mD
e t t
t q t q e
1
,
_
t
e 1
The steady state error is
) ( ) (
0
t e t e
mD
Lt
t SS
In other words dynamic error has two parts
t
e
as dt t q
t t t q
i
i
Taking laplace transform we get
Q
i
(S)=1
Substituting this in the general equation of first order system
( )
( )
,
_
S
S
S Q
o
1
1
1
1
Therefore
( )
t
o
e t q
Example
As an example of a first order instrument, let us consider a liquid(mercury) in glass
thermometer. The input quantity here is the temperature T
i
(t) of the fluid surrounding the
bulb of the thermometer and the output is displacement
o
of the thermometer fluid in the
capillary tube. The principle of operation of such a thermometer is the thermal expansion
of the filling fluid which drives the liquid column up and down in response to
temperature changes since this liquid column has inertia, mechanical lag will be involved
in moving the fluid from one level to another level. However, this is negligible when
compared to the thermal lag involved in transferring heat from the surrounding fluid
through the bulb wall into the thermometer fluid. Hence we can say the first order tracks
the input with a time lag.
time
q
i
t
1/
time
1/
q
i
t
q
o
t
SECOND ORDER INSTRUMENTS
A second order instrument is one that follows the equation
i o o o
o o
q b q a
dt
dq
a
dt
q d
a + +
1
2
2
2
Dividing whole equation by a
o
and taking laplace transform we get
( ) ( ) ( ) ( ) s KQ s Q s SQ
a
a
s Q S
a
a
i o o
o
o
o
+ +
1 2 2
( )
( )
1
1 2 2
+ +
S
a
a
S
a
a
K
s Q
s Q
o o
i
o
( )
( )
1
2
2
0
2
2 0
1
2
2
+
1
1
]
1
S
a
a
a a
a
a
a
S
K
s Q
s Q
o
i
o
( )
( )
1
2
2
2
+ +
S
S
K
s Q
s Q
n n
i
o
Or
( )
( )
2 2
2
2
n n
n
i
o
S S s Q
s Q
+ +
Where
io Dampingrat
a a
b
requency natural undamped
b
a
itivity Staticsens
a
b
K
o
o
o
n
o
o
2
2
2
we get
( )
2 2
2
2
1
n n
n
o
S S S
s Q
+ +
The response is of three types depending upon the location of poles (ie) roots of
characteristic equation. The three different cases are
(i) Over damped system > 1
If the > 1, the roots of the characteristic equation are real and unequal.
An over damped system responds to any time varying input in a slugging manner
with out any oscillation about the final steady state position as shown.
(ii) Critically damped system = 1
If = 1, the roots are real and equal. The response of the system in this
case is rapid and the system reaches its final steady state condition smoothly
without oscillations as shown.
(iii) Under damped system < 1
If < 1, then the roots of characteristic equation are complex conjugate
pair. The under damped system follows the input with oscillations about its final
steady state position.
The speed of response is determined by the rise time which is the time taken to
rise from o to 90% of its final value. For a overdamped system, the rise time is very
large, for critically damped it is optimum where as for underdamped system, though rise
time is very low, the oscillations should be controlled in order that the response is
following the input. An increase in value of damping ratio reduces the oscillations
but slows the response.
n
is an indication of the speed of response since doubling its
value will reduce the time t to half its value for achieving a given output response.
Further the peak value of q
o
over and above the value of q
i
called peak overshoot should
compromise has to be made while choosing value of during design state in order to
achieve a reasonably fast response and small peak overshoot.
The second order system tracks step input without any error.
Ramp response of second order system.
Time Time Time
q
i
t
,
q
o
t
q
i
t
,
q
o
t
q
i
t
,
q
o
t
q
i
t
q
i
t q
i
t q
0
t
q
0
t
q
0
t
Over damped system
Critically damped system Under damped system
The response looks similar to that of first order instrument except the transient
portion. After transient error has vanished, the output lags the input by a time period
given by 2 /
n
The second order system tracks ramp input with steady state error = 2 T
Example
A good example of a second order instrument is the force measuring spring
scale. We assume the applied force q
i
has frequency components only well below the
natural frequency of the spring itself. Then the main dynamic effect of the spring may be
taken into account by adding one third of the springs mass to the main moving mass.
This total mass we call M. The spring is assumed linear with spring constant K
Newtons / meter. Assuming perfect film lubrication, a viscous damping effect is
accounted as constant B ( Newton / meter / second ). The scale can be adjusted so that qo
= 0 when qi = 0 (i.e force input = 0 )
force = (mass)(acceleration)
ERRORS IN MEASUREMENT SYSTEMS
No measurement can be made with perfect accuracy and there is always some
difference between actual value or true value and the observed vale. This difference is
called as error. It is necessary to reduce this error. Therefore, it is instructive to know
the various types of errors and the uncertainties that are in general, associated with
measurement system. Further, it is also important to know how those errors are
propagated.
This is because if an error is detected, then it can be eliminated or its effects can be
accounted for in the form of suitable correction. On the other hand if an error goes
unrecognized then it would make experimental data ureliable.
Types of errors
Time
q
i
t
q
o
t
2
The different types of errors can be broadly classified ad follows.
a) systematic or cumulative errors
b) accidental or random errors
c) miscellaneous type of gross errors
Systematic or cumulative errors
Such errors are those that tend to have the same magnitude and sign for a given set of
conditions. Because the algebric sign is the same, they tend to accumulate and hence are
known as cumulative errors. This error is also called as instrument bias. These types of
errors are caused due to following
a) Instrument errors
Certain error are inherent in instrument systems. These error arise due to three
main reasons.
i) Due to inherent short comings of instruments
This error may be due to
Poor Design / construction of the instruments
Errors in divisions of graduated scales / calibrations
Due to inequality of the balance arms / irregular spring constant
ii) Misuse of instruments
Errors caused in measurements due to the fault of the operator
Failure to adjust the zero of instruments / poor initial adjustments
Using leads of too high resistance
Using the instruments contrary to manufacturers instructions
iii) Loading effects
Such errors are caused by the act of measurement on the physical system.
Common occurrences are
Introduction of additional resistance by measuring ammeter which
may alter the circuit current
Introduction of a thermometer alters the thermal capacity there by
changes the original state
Elimination
1) By selecting a suitable instrument for a given application
2) Applying suitable correction after determining the amount of instrument error
3) Calibrating the instrument against a suitable standard
b) Environmental errors
These type of errors are caused due to variation of conditions external to the
measuring device, including the conditions in the area surrounding the instrument.
These may be effects of temperature, pressure, humidity, dust, windforces,
magnetic or electrostatic fields.
Elimination
1) Conditions should be kept constant as nearly as possible
2) Using equipment which is immune to these effects
3) Employing techniques which eliminate the effects of these disturbances /
applying computed corrections
4) Proper shields may be provided
c) Observational errors
There are many sources of observational errors. An error on account of
Parallax will be incurred unless the line of vision of the observer is exactly
above the pointer. There are observational errors in measurement involving
timing of an event especially when sound and light measurements are involved
since no two observers possess the same physical response.
Elimination
1) Parallax error is eliminated by having the pointer and the scale in the same
plane
2) Digital display of output eliminates the errors on account of observational or
sensing powers
Accidental or Random errors
These errors are caused due to random variations in the parameter or the system
of measurement. Such errors vary in magnitude and may be either positive or negative.
The main contributing factors to random error are
Inconsistencies associated with accurate measurement of small
quantities
Presence of certain system defects such as large dimensional
tolerance / friction
Effect of randomly variable parameters
Some happenings or disturbances which we are unaware are lumped
together
This error cannot be eliminated as such
Miscellaneous type of Gross Errors
There are certain errors that cannot be strictly classified as either systematic or
random as they are partly systematic and partly random. Therefore, such errors are
termed miscellaneous type of gross errors. This class of errors is mainly callused by the
following
Personal or human errors ie due to oversight / transpose the reading
Errors due to faulty components / adjustments like misalignment of
moving parts, electrical leakage etc.
Improper application of the instrument like extreme vibration,
mechanical shock, electrical noise.
Elimination
1) Great care should be taken in reading and recording data
2) Three or more readings should be taken for quantity under measurement
Statistical analysis of Measured data and errors
As seen from the above discussion, the systematic errors and the gross errors are removed
where as there remain random errors in the final result. There is no information available
on any of the disturbing factors. The outcome of certain measurement (With random
errors) may be predicted by statistical analysis. For this, a large number of measurements
are usually used. The collection of measured data is called the sample data. This
experimental data is obtained in two form of tests:
(i) Multi-sample test : - In this test, repeated measurement of a given quantity are done
using different conditions such as different instruments, different ways of measurement
and by employing different observers.
(ii) Single-sample test :- A single measurement (or successive measurement ) done
under identical conditions excepting for time.
Many of data may repeat a number of time.
The number of repetition of a datum is
called its frequency. The sample data may
be represented by a graph known as
Histogram or Frequency distribution curve
with more and more data taken at smaller
and smaller increments the histogram would
finally change into a smooth curve, as
indicated by the dashed line. The smooth
curve is symmetrical with respect to the
central value. For statistical analysis we
calculate some numbers known as statistical
descriptors. The simplest of the descriptors
is the arithmetic mean of the data
Arithmetic Mean
The arithmetic mean of a number of readings gives the most probable value of the
measured variable. The result will be closed to the actual value if the number of readings
is very large. Ideally an infinite number of reading would give the true value. However
in practice, only a finite but a large number of measurements can be taken. If x
1
,x
2
,x
3
x
n
are n readings, n being large, the arithmetic mean x is given by
n
x x x x
x
n
+ + + +
......
3 2 1
or
n
x
x
n
i
i
1
Quantity under measurement
N
o
.
o
f
o
b
s
e
r
v
e
d
r
e
a
d
i
n
g
Mostly sample data are given in the form of the frequency is number of time same
reading is measured say value
1
x is measured
1
f times,
2
x is measured
2
f times as so
on, for this frequency table of reading, the arithmetic mean is given as follows
n
n n
f f f
f x f x f x f x
x
+ + +
+ + + +
.......
......
2 1
3 3 2 2 1 1
or
n
i i
i i
f
f x
x
1
Deviation
The deviation of a reading from the mean value is a measure of error in the
reading (i.e) Deviation is defined as the departure of the observed reading from the
arithmetic mean of the group of the reading. Let the deviation of reading
1
x be d
1
and
that of reading
2
x be d
2
then
x x d
1 1
x x d
2 2
and so on
Algebric sum of deviation = d
1
+d
2
+..d
n
= ( x x
1
)+( x x
2
)+..(
x x
n
)
= (x
1
+x
2
+..x
n
)-n x
= 0
Average Deviation
The average deviation is an indication of the accuracy and precision of the
instrument. A precise instrument will yield a low average deviation. It is defined as the
average of the absolute values of the deviations of the readings.
+ + + +
n
i
i
n
n
d
d
n
d d d d
d
1
3 2 1
.......
Standard deviation
The root mean square (r.m.s) deviation, in the statistical analysis is known as
standard deviation
n
d
n
d d d
n
i
i
n
+ + +
1
2
2 2
2
2
1
.....
+ + +
1
2
2 2
2
2
1 2
.....
Probable error
Consider two points r and +r so located that the area bounded by the curve, the x axis
and the ordinates erected at x = r and x = +r is equal to half of the total area under the
curve. That is half of deviations lie between x = r
A convenient measure of precision is the quantity r. It is called Probable error. In
terms of it is represented as
r = 0.6745
Specifying measurement data
After carrying out statistical analysis of multi sample data, the results of
measurements must be specified. The results are expressed as deviations about a mean
value. The deviations are expressed as
(i) Standard deviation
The result is expressed as t X . The error limit in this case is the standard
deviation. This means that 0.6828(about 68%) of the readings are within limits = 1
approximately.
(ii) Probable error
The results is expressed as 6745 . 0 t X i.e r X t . This means that 50% of the
readings lie within limits.
(iii) 2 limit.
The result is expressed as 2 t X . In this case the probability range is increased
i.e about 95% of readings fall within limit.
(iv) 3 limit.
The result is expressed as 3 t X . In this case the probability range is increased
more i.e about 99% of readings fall within limit.
Limiting errors.
Manufacturers specify the deviations from the nominal value of a particular quantity. The
limits of these deviations from the specified value are defined as limiting errors. Relative
limiting error is defined as the ratio of the error to the specified magnitude of a quantity.
1. A moving coil voltmeter has a uniform scale with 100 divisions and gives full scale
reading of 200V. The instrument can read upto 1/5
th
of a scale division with fair degree
of certainity. Determine the resolution of instrument in volt
Major division = 200 / 100 = 2V
Each major division has 5 small division
Therefore resolution = 2/5 = 0.4V
2. The dead space in a certain pyrometer is 0.12% of span. The calibration is 500C to
1250 C. Determine the temperature change that might occur before it is detected.
Span = 1250 500 = 750
Dead space = 0.12 * 750 = 0.9 C
3. Given the following set of voltage measurements taken from the voltmeter, find their
(i) average value, (ii) average deviation, (iii) standard deviation, (iv) probable error, (v)
probable error of mean
Quantity deviation deviation
2
153 4.6 21.16
162 -4.4 19.36
157 0.6 0.36
161 -3.4 11.56
155 2.6 6.76
Av 157.6 3.12 59.2
Therefore Arithmetic mean = 157.6
Average deviation = 3.12
Standard deviation = sqrt (59.2 / 5 1 ) = 3.847
Probable error r = 0.6745 S.D = 2.595
Probable error of mean= r / sqrt(5 1) = 1.297
4. During a test run, measurement of weight were made 100 times with variation in
apparatus and procedure. After applying corrections for known systematic errors, the
following data were obtained
Weight (kg) 397 398 399 400 401 402 403 404 405
Frequency 1 3 12 23 37 16 4 2 2
Calculate: (i) Arithmetic mean, (ii) Mean deviation (iii) Standard deviation (iv)
probable error of one reading (v) probable error of mean
T f T * f d [d] d * f d2 d2*f
397 1 397 -3.78 3.78 3.78
14.28
84
14.28
84
398 3 1194 -2.78 2.78 8.34
7.728
4
23.18
52
399 12 4788 -1.78 1.78 21.36
3.168
4
38.02
08
400 23 9200 -0.78 0.78 17.94
0.608
4
13.99
32
401 37 14837 0.22 0.22 8.14 0.048 1.790
4 8
402 16 6432 1.22 1.22 19.52
1.488
4
23.81
44
403 4 1612 2.22 2.22 8.88
4.928
4
19.71
36
404 2 808 3.22 3.22 6.44
10.36
84
20.73
68
405 2 810 4.22 4.22 8.44
17.80
84
35.61
68
40078
102.8
4
191.1
6
Avera
ge =
400.7
8
1.028
4
Mean deviation
= 1.0284
Standard
deviation =
1.3826
06
Probable error of one
reading=
0.9325
68
Probable error of mean=
0.0932
57