MECH215 Dynamic Systems Second-Order Systems

DYNAMIC SYSTEMS Section 4 - Second-Order Systems

The mass-spring-damper system

& + cx & + kx = f m& x

& &+ x

c k f k f &+ x= = x m m m m k

This equation can be cast in a standard form,

2 2 & & + 2n x & + n x x = n

f k

(1)

Note:

f has the units of displacement. k

Definitions: is the natural frequency of the system n is the damping ratio Assume the following parameters: m = 970kg, k = 3.83104 N/m, c=1.22104 Ns/m. So the system model becomes,
2 n = 39.5 , n = 2rad / s , fn = 1Hz

2n = 12.6 , =

12.6 =1 4

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MECH215 Dynamic Systems Second-Order Systems

This means that the system has a natural frequency is 1Hz and is critically damped reasonable values for a car suspension.

L,R,C Electrical System

This circuit can be used as part of the station-selection (tuning) function of a radio. L inductance (Henrys) C capacitance (Farads) R resistance (Ohms) vi input voltage vo output voltage vi = vL + v C + vR ,vC = vo

vL = L

di dt

v R = Ri

and i = C

dv o dt

Therefore,

v L = LC d2 v o dt 2

d2 v o dt 2

, v R = RC dv o dt

dv o dt

So,

v i = LC

+ v o + RC

or,

v i d2 v o R dv o v o = + + LC L dt LC dt 2

Standard form:

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MECH215 Dynamic Systems Second-Order Systems

2 2 & &o + 2nv & o + n v v o = n vi

We can see that,

2 n =

1 LC

,2n =

R L

Now assume the following parameters: L = 0.8610-3 H C = 7.510-10 F R = 10.7 d2 v o dt 2 + 1.24 10 4 dv o + 1.55 1012 v o = 1.55 1012 v i dt n = 1.24106 rad/sec.

n2 = 1.551012,

fn = n/2 = 198103 Hz the frequency of BBC Radio 4 on longwave.

Second-Order Transfer Function Second-order differential equation in standard form

d2 c( t ) dt
2

+ 2n

dc( t ) 2 + n c( t ) = n r( t ) dt

(2)

Take Laplace transforms,

2 2 s 2 C(s) + 2n sC(s) + n C(s) = n R(s) 2 2 (s 2 + 2n s + n )C(s) = n R(s) 2 n C(s) = R(s) s 2 + 2 s + 2 n n (3)

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MECH215 Dynamic Systems Second-Order Systems

Step Response

R(s) = L(1) =
leading to, C(s) =

1 s

2 n 1 s s 2 + 2 s + 2 n n

or

C(s) =

s + 2n 1 2 s (s + n )2 + n (1 2 )

If it is assumed that the system is underdamped (<1), then the frequency of damped oscillation is given by, d = n 1 2 Combining the above two equations,
C(s) = s + 2n 1 s (s + n ) 2 + 2 d s + n n 1 s (s + n ) 2 + 2 (s + n ) 2 + 2 d d

(4)

C(s) =

Taking inverse Laplace transforms,

c( t ) = 1 e n t cos d t n n t e sin d t d

which can be cast in the form,

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MECH215 Dynamic Systems Second-Order Systems

c( t ) = 1

e n t 1
2

cos( d t )

(5)

where

= tan 1 2
1

(6)

(See Section 5 Free Vibration for further explanation of the above two equations) It can be shown that: For the overdamped system (>1)

c( t ) = 1

( + 2 1 ) ( n + n ( 2 1) )t ( + 2 1 ) ( n n ( 2 1) )t e e 2 2 2 1 2 1 (7)

Notice that the overdamped second order response is like the responses of 1 two first order systems, with time constants 1,2 = , added
n n ( 2 1)

together. For the critically damped system (=1) c( t ) = 1 e n t (1 + n t ) (8)

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MECH215 Dynamic Systems Second-Order Systems

Time-Domain Performance Specifications

Peak Time Tp: The time required to reach the first or maximum peak.

Tp =

= d 1 2 n

(9)

(See Section 5 Free Vibration for more details and limitations of this formula)
Percentage Overshoot: The overshoot of c(t) at t=Tp

From equation (5),

c( t ) = 1 e n t 1
2

cos( d t )

when t = Tp =

n 1 2

c( t ) = 1

1 2

cos( )

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MECH215 Dynamic Systems Second-Order Systems

Note: cos( ) = cos And from equation (6), tan = 1 2

From the sketch,

cos = 1 2

c( t ) = 1 + e

1 2

and the % overshoot = 100 e

1 2

(10)

Settling Time Ts: The 2% settling time is the time it takes for the decaying sinusoid to reach 0.02, or
e n t 1
2

= 0.02

Ts =

ln (0.02 1 2 ) n

The numerator can be shown to vary between 3.91 and 4.74 as varies between 0 to 0.9. A generally agreed value for Ts is given by, Ts = 4 n (11)

The 1% settling time is given by, Ts = 4.6 n -7-

MECH215 Dynamic Systems Second-Order Systems

and the 5% settling time by, Ts = 3 n

Rise Time Tr: Usually defined as the time taken to rise from 5% to 95% of the step size. Defining the rise time in this way avoids the practical difficulty of having to determine the exact strart and finish of the transient. A simple expression for Tr does not exist. However the rise time will be reduced if the frequency d is increased. Steady-State Response:
t

lim c( t ) = lim sC(s)

s 0

(12)

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MECH215 Dynamic Systems Second-Order Systems

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