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Learning Outcomes
After this lecture you should be able to .
Explain what we mean by the word dynamic
List the three different types of input to a system
Compare Zero, First and Second Order systems
Recognise the equation for a first order system
Give an example of a first order system
Write the equation for a first order system
Sketch the step response of a first order system
Explain what is meant by a time constant
Dynamic
Dynamic means that something is changing (with time)
Dynamic only relates to the period of time when the oven was
heating up
We use differential equations to explain the behaviour of
something like oven temperature that is changing with time
Steady state = no change
Steady state = oven temperature is constant
At steady state, differential equations are not needed
dHeight
+ Height = K Temp
dt
Time
In General
The differential equation that describes the first order system is:
d o
+ o = K i
dt
This equation is easily solved using Laplace transforms. The solution looks like this:
o = Ki (1 e
o = Ki K i e
exp(-t/t )
1 exp(-t/t )
t
2t
3t
4t
5t
Time
Activity - Thermometer
Determine the time constant of a system
A thermometer was placed in beaker of water and left for a while to reach steady state.
A reading of 25C was obtained. The thermometer was then quickly placed in a beaker
of boiling water and the changing reading was recorded in the table below.
Determine the time constant
Time t =
Temp C
2
4
6
10
14
18
62
80
90
97
99
100
Time
Step Response
The typical response of the first order system to a step input is shown below:
? o,final
Output
? o,initial
Time
An alternative equation that relates the output to time is shown below (slightly different
to the last equation which had both the output and the input). The initial and final
values of the output must be known to use this equation but knowledge of the input is
not necessary.
Critically damped
Overdamped
nt
The differential equation that describes the system is second order and has more
variables than the first order one. Hence, the variations in damping.
Ramp Input
Sinusoidal Input
Step Input
This is a an abrupt change from one steady input value to another. The response of the
system to it is called the transient response and is a measure of how well the system
can respond to sudden changes.
Think of the situation where a thermometer is suddenly moved from a beaker of ice and
water into a bath of boiling water.
Is this a step change in the input?
Describe what happens to the reading on the thermometer.
Does it take a long time to get to the new value?
Step Input
Input
Temp
Time
Ramp Input
The ramp input varies linearly with time and the ramp response of the system is
observed to give the steady state error between the output and the input.
For example a thermometer is placed in a bath of water and ice and a constant heat is
applied to the bath. The thermometer reading is recorded as the bath temperature is
ramped from 0 to 100degC.
Ramp Input
Input
Time
Input
Time
Classification of Systems
A measuring system can be characterised by examining its behaviour to each of the
three test inputs.
What has been found is that different systems can produce identical forms of response.
For example, the response of the thermometer to the step change in temperature might
have an identical pattern to a pressure sensor that is exposed to a step change in
pressure.
Measurement systems can be classified based on their response into one of three groups
Zero Order
First Order
Second Order
Each type of system has a different response to each of the three types of input we have
mentioned.
We will next look at these three groups.
Zero Order
The zero order system is one whose output is proportional to the input no matter how
the input varies. The equation that describes this behaviour is:
Output o = k x Input i
o = ki
o is the output
i is the input
k is a proportionality constant (= sensitivity)
Another way to describe a zero order system is that a new steady state output is
immediately provided when the input is changed.
Input
where
Output
o
Time
First Order
Many systems take time to reach a new steady state value. The definition of Steady
State exists is that the output stops changing - Important definition!
If the behaviour when a step input is applied is such that the output responds quickly
and then slackens as it reaches the new steady state value the system is first order.
The term first order is used because the relationship between the output and the input for
these systems is described by first order differential equation:
d o
a
+ b o = c i
dt
d o
+ o = K i
dt
100%
63.2%
Output
Time
Time