Académique Documents
Professionnel Documents
Culture Documents
ND
OF 2 ORDER
PROCESS
CHAPTER 1
d y
dy
a2 2 a1 ao y bx(t )
dt
dt
Chapter 2
Standard form
of 2nd order
process
where
2
d
y
dy
2
2
y Kx(t )
2
dt
dt
a2
ao
2
a1
2
ao
b
K
ao
response time
damping factor
K steady state gain of the system
Transfer
function 2nd
order process
Y ( s)
K
G( s)
2 2
X ( s) s 2 s 1
characteristic
polynomial
Chapter 2
Y ( s)
K
G( s)
2 2
X ( s) s 2 s 1
Find roots of
characteristic
polynomial
Roots of the
characteristic
polynomial,
s 2 s 1 0
2 2
2 1
p1
p2
MULTICAPACITY PROCESS
Chapter 2
Noninteracting capacity
Describe by two differential equations
The first system affects the second by its outputs
Fi
K1
G1( s)
1s 1
h1
R1
X
Figure 1
K2
G 2( s )
2s 1
F1
Tank 1
h2
F2
X
Tank 2
CONTINUE
F1(s)
G1(s)
Y1(s)
G2(s)
Y2(s)
Y 2( s) Y 2( s) Y 1( s)
K2
K1
G1( s)
F1 ( s) Y1 ( s) F1 ( s) 1s 1 2 s 1
Overall transfer function of the system is second
order
Always result in an overdamped or critically damped
second order system and never in underdamped
system.
MULTICAPACITY PROCESS
dhi
A1
Fi F1
dt
Chapter 2
Interacting capacity
Mass balance
Assume
h1 h2
F1
R1
dh2
A2
F1 F2
dt
h2
F2
R2
Fiq
Figure 2
h1
F1
h2
F2
q1
q2
Chapter 2
CONTINUE
Overall transfer function of the system is second
order
The response of interacting capacities is always result
underdamped.
Y ( s)
K
G( s)
2 2
X ( s) s 2 s 1
1
K
Y ( s) 2 2
s 2 s 1 s
Overdamped response
Two distinct real roots
t
t /
2
2
y (t ) K 1 e
cosh 1
sinh 1
2
Chapter 2
CONTINUE
Case B: 1
Critically damped response
Two equal real roots
t
y (t ) K 1 1
t /
e
CONTINUE
CONTINUE
Overdamped response
Resembles a little the response of a 1st order to
a unit step change.
increase.
Critically damped
CONTINUE
Case C: 0 1
Underdamped response
Complex roots
= 1
/
1 2
1 2
CONTINUE
Chapter 2
Chapter 2
CONTINUE
Underdamped response
Response faster than critically damped and
overdamped.
But, oscillating with progressively decreasing
amplitude.
More pronounced with smaller .
Large values of yield a sluggish (slow)
response.
The fastest response without overshoot is obtained
for =1.
Chapter 2
CONTINUE
CONTINUE
1. Rise time: tr, Time to first reach the new steady-state
value.
2. Time to first peak: tp, Time to reach its first maximum
value.
CONTINUE
a.
Overshoot
Chapter 2
exp
2
b
1
b.
tp
1 2
c.
c
exp
d.
2
1
a2
2
2
1
CONTINUE
Chapter 2
Small overshoot
short rise time
small decay ratio
short response time.
and
values, so