Department of Chemical Engineering I.I.T.
Bombay, India
Lectures 7: Dynamics of higher order
systems
Department of Chemical Engineering I.I.T. Bombay, India
Dynamic behaviour of second order systems
Number of dynamic elements are 2.
F
h1
h2
Second order systems can arise because of two first order
systems in interacting or noninteracting setups
Inherent dynamics in the system is of higher order
Interaction between the
U-tube manometer. holdups could give an
Presence of a controller in a closed loop even if the process oscillatory response.
is first order (such
(s ch as PI or PID controllers in a closed
loop) can give a second order system.
Department of Chemical Engineering I.I.T. Bombay, India
IIlustrative example: Interacting system of tanks in series
F0
h2
h1
First Principles Model dh1
A1 = Fo c1 (h1 h2 );
)
dt
dh2
A2 = c1 (h1 h2 ) c2 h2
dt
Department of Chemical Engineering I.I.T. Bombay, India
First Principles
p Model
A1 A2 1 c1
If 1 = ; 2 = ; K1 = ; K 2 =
c1 c2 c1 c2
K1 K 2
y2 ( s ) = u (s)
1 2 s + ( 1 + 2 + K 2 1 ) s + 1
2
The roots of the denominator (poles of the transfer function)
could be complex. They could give rise to oscillatory
behaviour for different u.
Department of Chemical Engineering I.I.T. Bombay, India
Second Illustrative example: Control of a first order
process
+
yd Plant y
controller
- u
1
t
0 ( y d y ) dt
dy
+ y = Ku and u ( t ) = K c ( y d y ) +
dt I
dy 1
t
Therefore,
dt
+ y = KK c ( y d y ) +
I 0
( y d y ) dt
d2y dy KK c
1 + (1 + KK ) + y = yd
I
2 c
dt dt
This is
Thi i a secondd order
d system
t andd will
ill give
i rise
i tto a secondd
order transfer function.
Department of Chemical Engineering I.I.T. Bombay, India
U-Tube Manometer
L d 2h 4 L dh 1
P1 P2 + + h= P
2 g dt 2
g R dt
2
2 g
L = length of fluid in the
h plane of manometer tube
initial rest
h h P = 0
when , = density and viscosity
of manometer fluid
R = radius of manometer
tube
P = P1 - P2
g = gravitation constant
Department of Chemical Engineering I.I.T. Bombay, India
General second order transfer function
y(s) K For the manometer
G (s) = = 2 2
(
u ( s ) s + 2 s + 1 ) =
L2
g3
=
R 2
6L
g
The value of (damping factor) determines the dynamic response of
second order systems. It represents viscous or dissipative forces.
If 0 < 1 (underdamped system) - oscillatory approach to steady
state
1 (critically damped, overdamped systems) - non-oscillatory
approach to steady state.
is also called the natural time constant of the system.
Department of Chemical Engineering I.I.T. Bombay, India
Step Response of Overdamped Second Order Systems
A 1 e t /1 2 e t / 2
u (s) = y (t ) = KA 1
s 1 2
dy e t / 1 e t / 2
= KA
dt 1 2
= 0 at t= 0
Initial Slope = 0. This is
in contrast to that of a
first order system
Department of Chemical Engineering I.I.T. Bombay, India
Step Response of Critically Damped Second Order Systems
A t t /
u (s) = y (t ) = KA 1 1 + e
s
dy t e t /
= KA 2
dt
= 0 at t= 0
Again the initial Slope = 0
Again,
Department of Chemical Engineering I.I.T. Bombay, India
Step Response of Underdamped Second Order Systems
1 2 1 2
A
u (s) = y (t ) = KA 1 e t / cos t + sin t
s 1 2
1 2
t /
e sin t
dy
= KA
dt 1 2
= 0 at t= 0
A i the
Again, h initial
i i i l Sl
Slope = 0
Department of Chemical Engineering I.I.T. Bombay, India
Step Response of Underdamped Second Order Systems
tr = ( cos 1 )
1 2
Rise time tr: Time at which
hich the output
o tp t
first hits the steady state value
tr
Department of Chemical Engineering I.I.T. Bombay, India
Peak time
Time to first peak tp: Time at which the output
hits the first maximum value
tp
Department of Chemical Engineering I.I.T. Bombay, India
a = max(y) - y
a b=y
Overshoot (OS) = a / b
b
OS = exp( )
1 2
Department of Chemical Engineering I.I.T. Bombay, India
Settling time
Time taken
to reach and
1.05 * b remain within
5% of the total
0.95 * b change in y
((95% response
p
time)
b=y
ts
Department of Chemical Engineering I.I.T. Bombay, India
a = value of first peak - y
c = value of second peak - y
a
c
Decay ratio (DR) = c / a
2
DR = [OS ] = exp(
2
)
1 2
Department of Chemical Engineering I.I.T. Bombay, India
Period of Oscillation, P
= time between successive peaks
p
= time between successive valleys
2
P=
P 1 2
1 2
t /
e sin t
dy
= KA
dt 1 2
Department of Chemical Engineering I.I.T. Bombay, India
Frequency Response
G ( s) =
y(s)
= 2 2
K with u ( s ) = A sin( wt )
(
u ( s ) s + 2 s + 1 )
It can be shown that the output y is also a sinusoid with the same frequency
as the
th input
i t andd is
i given
i by,
b
AK
y (t ) t > = sin(( wt + )
(1 w ) + (2w )
2 2 2 2
and
2w
= tan
1
2 2
(1 w )
