Welcome to e-learning session

on
CONTROL ENGINEERING (ME 55)

1
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
 By

Dr. B.K. Sridhara

Head
Department of Mechanical Engineering
The National Institute of Engineering
Mysore – 570 008
2
 Session – 15
CHAPTER II
MATHEMATICAL MODELING
(continued)

&
CHAPTER III
SYSTEM RESPONSE

3
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Recap of Session VII
Chapter II: Mathematical Modeling

• Mathematical Modeling of Mechanical systems

•Mathematical Modeling of Electrical systems
• Models of Hydraulic Systems
Liquid Level System
Fluid Power System

4
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
 Mathematical Modeling:
Thermal Systems
Tov
Tamb
qin = heat inflow rate Oven
qout
Parts
Tov = Temperature of the oven

Tamb = Ambient Temperature qin

Example: Heat treatment oven

T = Rise in Temperature
= (Tov - Tamb)
5
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
From Law of Conservation Energy

qin = heat inflow rate

qin = qs + qout --- (1)

qout = heat loss through the walls of the oven

qs = Rate at which heat is stored (Rate at which heat is

absorbed by the parts)
6
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
 T
Thermal Resistance: R=
q out

T
 q out  --- (a)
R

Thermal Capacitance = C = Q/T

 dT 
Heat stored = q s  C  dt  --- (b)
 

7
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Substitute (a) and (b) in (1)

qin = qs + qout --- (1)

dT T
qin  C. 
dt R

dT
 RC  T  Rqin Model
dt

8
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Chapter III: System Response

• Prediction of the performance of control systems

requires
1. Obtaining the differential equations
2. Solutions
System behaviour can be expressed as a function of time
Such a study: System response or system analysis in
time domain
9
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
System Response in Time Domain
System Response: The output obtained corresponding to
a given Input.
Total response: Two parts
•Transient Response (yt)
•Steady state response (yss)

•Total response is the sum of steady state response and

transient response
y = yt + yss
10
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Transient Response (yt):

•Initial state of response and has some specific

characteristics which are functions of time.

•Continues until the output becomes steady.

•Usually dies out after a short interval of time.

•Tends to zero as time tends to ∞

11
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Steady State Response (yss)

• Ultimate Response obtained after some interval of

time

• Response obtained after all the transients die out

• It is not independent of time

• As time approaches to infinity system response

attains a fixed pattern
12
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
• When the weight is added the deflection
abruptly increases
•System oscillates violently for some time
(Transient)
•Settles down to a steady value (Steady state)

Transient SS

Transient and Steady-state Response of a spring system

13
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Steady State Error

• Steady State Response may not agree with Input

• Difference is called steady state error

Steady state error = Input – Steady state response

Input

Input or Response Steady state error

Response

t ∞
t =0 Time

14
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Test Input Signals

• Systems are subjected to a variety of input signals

(working conditions)

• Most cases it is very difficult to predict the type of

input signal

• Impossible to express the signals by means of

Mathematical Models

15
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
• Common Input Signals

- Step Input
- Ramp Input
- Sinusoidal
- Parabolic
- Impulse functions, etc.,

16
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
• In system analysis one of the standard input signal
is applied and the response produced is compared
with input

• Performance is evaluated and Performance index is

specified

• When a control system is designed based on

standard input signals – generally, the performance
is found satisfactory
17
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Common System Input Signals
a) Step Input K

i (t)

t=0 time

 Input is zero until t = 0

 Then takes on value K which remains constant
for t > 0
 Signal changes from zero level to K instantaneously
18
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Mathematically

i (t) = K for t > 0

= 0 for t < 0

for t = 0, step function is not defined

When a system is subjected to sudden disturbance

step input can be used as a test signal

19
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Examples

 Angular rotation of the Shaft when it starts from

rest

 Change in fluid flow in a hydraulic system due to

sudden opening of a valve

 Voltage applied on an electrical network when it is

suddenly connected to a power source

20
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
 b) Ramp Input

Input

i (t)
K*t
 Signals is linear function of time
t=0 time
 Increases with time

 Mathematically i (t) = K*t for t > 0

= 0 for t < 0
Example: Constant rate heat input in thermal system
21
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
c) Sinusoidal Input Input
k Sin t
Mathematically
i (t)
ime
i (t) = k Sin t
i (t) = k Sin t

System response in frequency domain

Frequency is varied over a range

Example: Voltage, Displacement, Force etc.,

22
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Order of the System
 The responses of systems of a particular order are
Strikingly similar for a given input

 Order of the system: It is the order of the highest

derivative in the ordinary linear differential equation
with constant coefficients, which represents the
physical system mathematically.
dy
 C.  ky  kx
dt
23
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
 Illustration: First order system
.
Cy + ky = kx x (t) i/p

dy K
 C.  ky  kx y (t) o/p
dt
C

Order: Order of the highest derivative = 1

First order system

24
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
Illustration: Second order system
.. .
my  cy  ky  kx
x (t)

d 2 y cdy K
m. 2   ky  kx y (t)
dt dt m

Order: Order of the highest derivative = 2

Second order system

25
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
 Response of First Order
Mechanical Systems to
Step Input

26
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore
 THANK YOU

27
Dr. B.K. Sridhara, Head, Department of Mechanical Engineering, NIE, Mysore