SYSTEM SCHEMATIC DIAGRAM Fig. LINEAR SYSTEM SIMULATOR 4, OBJECT To study the time response of a variety of simulated linear systems und to correlate the sues with theoretical results, 2, EQUIPMENT DESCRIPTION ‘The pretent set up has been designed to provide 2 convenient means of studying the transient response of linea systems. Special attention has been given at every stage to make the system operationally simple and straightforward. Instead of bothering the students with the reuit details the participation ofthe student is limited to only choosing’ wiring the tes signal, ‘system configuration, disturbance points et. Block diagram approach has been employed as 2 Sandad technique, with Fig depicting the features available tothe user. A description ofthe 4] various subsystems is presented next, an understanding of which is necessary for both conducting the routine and designing more alvanced ones 2.1 Signal Sources : ‘There are three builtin sources in the unit with the folowing nominal specifications | Actual values may vary somewhat from itt unit without easing any limitations to the scope | sen 4 (a) Square Wave: Frequency 20-80 Hz. (variable) * ep amplitude 0-2 Volt (variable) (b) Triangular = “Frequency 20-80 Hz, (variable) -p amplitude 0-2 Volt (variable) © (e) Trigger Frequency 20-80 Hz (variable) ‘Amplitude 5 Volt (approx ) |All the shove sources are derived fom the same basic circuit and are therefore ronised. They are uncalibrated both in frequency and ampliude, ae zero balanced and fed toa common earth. The actual frequency in 2 panicular experiment could be easily red on the CRO. ‘er Building Blocks ‘A dynamic system of the desired configuration may be constructed by a suitable “Gyerconnection ofthe basic blocks available. To avoid unnecessary complications. these blocks BAR a pre-wired; they all bave fixed transfer funetions and handle signals eeferred to» common “Gground: These are therefore easily identified withthe familar pictrial representation ofa block am, with one aiference viz all blocks in this system have transfer function with 3 “tieeative sgn. Following types of blocks hae been included inthe system TecHNo WSTRUMENTS : sn1s0 0: 260 Cons, “BI Cuno, Roce(a) Error Detector-Cun-Gain: The block has three inputs (e, €2,e3) and one output (e0) which ate related by the expression ey = Kies Hen Hes) 5 where K is the gain, The value of K may be varied ffom 0 to 10 by a ten-tum potentiometer having a calibrated dial. This block may be used as a simple error detector (vith one signal inverted) jn a multiple loop system or simply as an adder () Integrator: The integrator block has an approximate transfer function ofthe form -K fs and ‘is used in simulating type-I systems having a pole at the origin. Nominal value of Ky (Ge) Time Constant; The two time constant blocks inthe system have transfer functions of the form -Ky(ST+1) each, The second block has an xS option which results in a higher gain if ‘necessary. Nominal values of gains are Ky = Ks =10 and of time constants are T} = T2=10 see. | (a) Disturbance Adder: This is a two input ( ‘equation ofthe form 2), one output (eo) block having a defining = (ere) “The block can have applications similar to the error detector. i +(e Uncommined Amplifier: While completing the feedback path, one might need to inven the Sign ao tha te tesling system is 2 negative feedback stem. The unconimied Srplifei used specify for his purpose. 2.8 Power Supply “The setup has an intemal £12V IC regulated power supply, which is permanently onnecied to ll the cicuts The power supply and al the eres ate short eicat protected will ot get damaged under normal operation. No extemal supply shouldbe connected forte unit With he help of the above sub-systems a ery large variety of simulted systems, canbe tracted. Besides single-output systems this would ielode muli-inpt systems with feed- path and systems with minor loops a8 well. Considering the time contain inthe eiory class 2 Timid number of basic experiments have been proposed in the following Wich ate compauble withthe average course content ofthe subj. good quality dual trace measuring oscilloscope is the only extemal equipment Abypire forthe experiments. “Psccxanomn syauar = thorough understanding of transient response analysis is a pre-requisite for this Cyc e eS cua wekeeeeeat ocr ln te one crt eae TECHNO INSTRUMENTS 0180 901; 2000 Compa ‘eivt6, Cw Lines, Roorkee 2ve cw a ' Cl =Kt rit) L Sted UNIT STEP_ RESPONSE OF FIRST ORDER TRANSFER FUNCTIONS « FIG. 2(0) st po FIG. 2(b) SQUARE WAVE RESPONSE OF FIRST ORDER TRANSFER FUNCTIONS-YNSFER description below refers tothe standard form of transfer functions as found in books and do not include the phase inversions (negative signs) of the blocks inthe experimental unit 3.1 First Order System ‘Those are characterised by one pole and/or a zero. A pure integrator and a single time constant, having transfer function ofthe form Kis and Ki(sT+1), are the ewo commonly studied representatives of this class of systems. Many thermal systems and electrical systems with R CLR element are the examples of first order systems. Unit step response ofthe systems are computed as follows and are shown in Fig, 21a) IFC(S}Rs) = Gis) = Kis then for Ris) = Us (5) = Kis and e()= Kt o Again if G(s) = KST+1) then with Os) = Us C(s) = K/s (sT#1), and oft) = KC e7) e) ‘Time constant ofthe system is defined ftom Bq, (2) as t= T which gives o(T) = K(1-€") = 0632K ‘This is an important characteristics ofthe system which is also defined in terms of the slope of the response curve att = 0 tect a For a proper viewing on @ CRO, the step input needs tobe replaced by a square wave of « pufficiently low Feequency (Lo allow c(t) in Eq. (2) to reach upto 99% of its final value). Ths is ‘shown in the second sketch of Fig. (0). However in the first sketch of Fig. 2(b) a triangular “wave output results since a pure integration block does not saturate, It may further be seen that if athe square wave is of frequency f and peak-to-peak input amplitude is IV, the peak-to-peak «amplitude of the triangular wave at the output of the pure inteyrator is given as Ki4f, 1» {app.t 1.1] (2 Second Order Systems “These systems are characterised by two poles and upto two zeres. For the purpose of | wansient response studies, zeros are usually not considered primarily because of simplicity in ® calculations and also because the zerat do not affect the internal modes ofthe systems. A great ‘deal of analytical results regarding second order systems are availabe in the texibooks. This Forms the basis of studying higher order systems many ef which can be approximated to second {A second order system is repfesened inthe standard form as GO aaa? TECHNO INSTRUMENTS ‘iso a0 2000conoon 2808, Canes, Raoes 3epee conju wu “ wo oo DECISION MAKING SYSTEM i —_ + i REFERENCE cs) i 65) > oR COMMAND + = EASUREMENT———> FIG.3 BLOCK DIAGRAM OF A CLOSED LOOP SYSTEM.where & is called the damping ratio and @, the undamped natural frequency. Depending upon the value of 8, the poles of the system may be real, repeated or complex conjugate, which is reflected in the nature of its step response. Results obtained far various (a) Underdamped case (0<5< 1) sit} gt tan de ‘ where 04 =@, (0-8) is termed the damped natural frequency. A sketch of the unit sep response for various values of 6 is available inthe textbooks. o. co) () Critically damped case (5" 1) elt) = Le 4agt) . o (€) Overdamped case (5> 1) ee fet et ayaty pee} Ney where 51 = (6+ 118? —D og and 52 = (5 - Yl6*= 1), 4.3 Closed loop systems: Closed loop or feedback systems involve a ‘measurement’ ofthe ouput of the system dnd generation of conta signal, which are based on decison making” under te influence of <4 eommand or ‘eference’and the measured val of ouput (Fig 3) Sich systems are of great fpfie io consul enginccs due ts Rares ke suomate concen, datance ron atiounty to noise and paremcler variation ele A sty ofthe performance ef closed loop {pyfem ite base ajetive of hs experiment. H may be exiy apreciated tht tough he ‘hathematial description of a closed loop system is no different from that discussed in sections || and 3.2, the fact that variation of forward path gain shifts the pole location, changes the ton tasty and makes diet computation of respons of lille vale. Reteving Fig he closed loop transfer function for different open toop functions are shown below: Co) Kt R@ eK 5 K 6 {ig} For ow a © which gives a step response similat to Eq, (2) with time constant decreasing as K ipieases. For Gis) kK cw KK) | Tal RG) THR Tee “which has a step response similar in nature as obtained above TECHNO INSTRUMENTS ‘ts0 901: 200 company ‘21115, Cua Lines Roose 4TOLERENCE BAND | | eo iy es pe exp gst o wo,x oe SStD! RO) PT ese Pee T+KIT “which gives response similar to Eqs (3), (4) or (S) depending upon the value of K. (iy For G(s) = "Thus the response ofa closed loop system asa consequence it should be possible to choose K to obain a ‘suitable ‘The above lead to the concept of performance characterises as defined on the stp response of an underdamped second order system in Fig. 4. It must be noted that these specifications are not restricted to second order systems, although the mathematical texpressions/dfinitions given below are valid and computationally practicable for second order systems only, (p Delay rime, tis defined as the time needed fo the responde to reach $0% ofthe Final value. (i) Rise time, is the time taken forthe response to reach 100% of the final value for the first time. This is given by CE BAND |) Maximum Overshoot, Mis defined by t al vipa Sede), ogo4 ne a0 lis value indicates the relative stability ofthe system, a 4 a ee ee ae wa ok ae npaanoe Aj, Slama ety st te en se Re Negron tnt 3m, ie Sinemet i "Ab sats i ‘Anaer inpoant calico osedlop sytem i ih se ae ear 2) eu. For unity feedback systems, exis defined as Techno aestaUMeNTS A sesso sc0carsony nite, cut Lines, RookeK K ii) For Gta) =, SS. KR» (i For OO)" FSD RG) Test F4s/THRIT “which gives response similar to qs. (3), (4) or (8) depending upon the value of K. “Ths the rexponse of a closed loop system can be altered by varying the open loop gain K and as a consequence it should be possible to choose K to obtain a “suitable” performance. The above lead to the concept of performance characterisles as defined on the step response of an underdamped second order system in Fig. 4, It must be noted that these specifications ate not restricted to second order systems, although the mathematical ‘xpresions/defiitions given below are valid and computationally practicable for second order systems only, (i Delay time, tis defined asthe time needed for the responie to reach 50% ofthe final value. (i Rise time, ti the tine taken forthe response to reach 100% ofthe final value forthe fist time. This is given by j i RB where Patan! CE BANO 1 {iy Peak time, ty isthe timne taken forthe response to reach the fist peak of the overshoot and : 2 is given by. tsa inde he ative sabi fe ye iy seni tie, the ine equ by teste reponse 0 eh and sy win se cutee band whichis way akon wes or 2M. An pyrene erance band) = 4/60 ‘Another important characteristic of a closed loop system isthe steal stare error, ‘ex For unity feedback systems, ey is defined as INSTRUMENTS. s a peis0.%01 2000 Company se Lines Rooneeime(t) = im iet) et) A simpler way to caleulate steady state error without actually computing the time respouse is Srallable inthe complex fiequeney domain. Applicaton ofthe final value theorem of Laplace ‘Franson to unity feedback system gives = tim 280 es = Him (1) = limsE(s) = lim Es Steady state error may be obtained for various inputs (step, ramp, parabolic) and systems of various type numbers (number of poles at origin). A summary of the results of the above caleuations is given inthe Table I below. Tablet i ‘Type No. Step input | Ramp input | Parabolic Input ° ek) 2 ° i 1 ° a eS ; 2 ° 11K 4 | Tofitate the caleulations, enor coefficients ae defined 35 Postion enor coefficient, Ky = lim G(s) Velocity ero coeficient, K, = limsGi(s) “HE Acceleration ero coefficient, K, = lims*G(s) ready state errors may be obtained in terms ofthese eror coefMicents jERIMENTAL WORK Some of the experiments, which may be performed on the unit, are detailed below. The unt of time available in the laboratory has been kept in mind while listing these nhs. Suggestions have also been included for additional laboratory work as a second fpecial problem or project work. Bpen Loop Response [As a frst step, the open loop transfer funetion of all the blocks viz. integrator time uncommitted amplifier and error detector/adders are to be determined experimentally ieasurements are carried out with the help of a measuring oscilloscope and the signal INO INSTRUMENTS. ‘n'80 9012360 Comosny U6; Cwiines, Reonee 6svc Ris) a “Je cs), ‘ouilein ays Poet ae Ki, Ko, indicate (a) Bere Res) is cts) . +, « | -tta ae fe 5 di F168 CLOSED Loop oprons FoR Fr OnE sISTEMS._ tne FIG.6 STEADY-STATE ERROR FOR MP INPUT.source ig the: builtein-square Eynchronised waveform, especial tualtin tigger source while Keeping the CRO in “extemal ti @ fave yonerator in each case, Furiher, 0 yet a yropety for small values of signa, i wil be convenient use the sting” mode. A double beam {CRO forthe simultaneous viewing of inp and output it recomended. Note thatthe vale of Kis Kn Ks and Ty, Ts blaine experimentally may differ somewhat fram their nominal values indicated in Section 22 due to component tolerances and experimental error. tu) Error Detector Cum Variable Gain : i ‘+ Apnly 4 100 mV square wave signal to any of the thee inputs 1+ Set the gain seting potentiometer to 10.0, + Measure the p-p output voltage and note its sign, Calculate the gain. This isthe » avimun value of gain possible for this block. + Repeat for the other two inputs one by one. Write the equation of this block and verify by connecting the signal to all thee inputs (0) Disturbance Adder ‘This section may be tested exaelly in the same manner 3b (2) except that thore are ‘nly two inputs an there is no gain setting potentiometer. sTeMS. j © Uncommitied Amplifier # + Applya | volt p-p square wave input + Measure the p-p output voltage and note its sign ‘Record the equation ofthis block for ater use. ioptmegrarr + Apply | volt psp squate wave input of known frequency (feguency measured by the CRO). ‘Measure the p-p output voltage ofthe integrator block, which isa triangular wave sen algo notes phase Calculate the gain constant K ofthe integrator as discussed in section 31. and write the transfer Function of his block. Apply # 100 mV pep square wave of known frequency (measured bythe CRO\. For tins experiment, the frequency shouldbe selected towards th lower en to cnsine that soudy stat ie neslyeeached. The waveform on the CRO be traced ona tracing paper or his analysis, INSTRUMENTS S090 zn Conny ‘Gol tne onee tiaie | 8) =e co), fy Ss Str ob 42 Ris) F1G.7 CLOSED LOOP OPTIONS FOR SECOND ORDER SYSTEMS es || sr 16. 8 CONNECTION FOR THIRD ORDER SVSTEM~‘+ From the trace calculate the time t= T at which the response reaches 63.2%. This the time constant, 1+ From the trace determine the steady state value ofthe response. The value of Kis siven by the ratio of p-p steady-state output tothe p-p input amplitude 4+ Write transfer function ofthe bloek as discussed in section 3.1 Appendix 2 shows the actual output waveforms of different open loop system as obtained through a Digital Storage CRO, Tektronies, TDS-210, 4.2 Closed Loop Response - First Order System "+ Two forms of first order closed loop system, as shown in Fig. 5 are possible. Make proper connections forthe configuration chosen 4+ Apply a 1 volt p-p square wave input and trace the output waveform on # tracing ; paper for K= 05, 1.0, 1.5. Caleulte the time constant in each case and compare ‘with theoretical results of section 3.3 [Also calculate the steady state errors for the above cases and compare with ‘eoretical results If the open loop transfer funetion in the chosen configuration was of type-t. the steady state eror above would be zero fora step input. To find steady state eror for ramp input, apply a | volt p-p tiangular wave input. Keeping the CRO in X-Y ‘mode, connect system input to the X input and the system output to the ¥ input. A {race ts shown in Fig.6 wil be zoen on the CRO in which the verical displacement ‘between the wo curves is the steady state error. Repeat the measurement for steady state ertor for diferent values of K and compare ‘the result with theoretical caleulations. Choose and wire a suitable second order system configuration from Fig. Apply a 1 volt p-p square wave input and trace the oviput waveform on a tracing paper for different values of K. Obtain peak percent overshoot. settling time, rise Time and steady state errs from the tracing, and calculate 8 and wy, Compare with theoretical results | Inthe case of a type-t system, obtain steady-state eror to ramp input as suggested in seston 42 ‘oss0 901: 200 Coney Gt ines Roortee 8hus) 44 obttine | Asi Nils) ts)" fe] =e Lt ae Shel Shed FIG. 9. CONFIGURATION FOR DISTURBANCE RETECTION STUDIES.@ 444 Closed Loop Response - Third Order System + Connect the third order system shown in Fig, § and appty a square wave input o 1p). + Sketch the Root Locus diagram, and, for 8 = 0.2, ealeulate the Value of K and «og Repeat for 5 = 0 sustained oscillations case). + Verify the above by siting the gain potentiometer at calculated value of K, and ‘applying momentarily a square wave input Apperdix-2 shows the actual outpu waveform of vatious closed foop system as huined through a Digital Storage CRO, Tektronics, TDS-210 48 Disturbance Rejection ‘© Connect he second order system of Fig. 9 ha(s) + Apply a ow fequency disturbance, gal (sine wave of 1 Vip) fom some gy 7 extemal eure aed ses eft ont stp ‘Taji o» Now apy te same dsurance signal at Nand observe is et onthe ouput hati evens litfonal Experiments ee other complex systems with fend fowaid branches, minor op or mulile pi ca alto be unused inthis up and sae. Howene thee ay oa oe athe hai lvl, A sac experiments nay rq exter ow Fey etna HA ype: F0-01 orqunaten anda erage CLO. iGAL RESULTS Boye pial reste for lose lop estes are given net resus one oa les lop I oe pe syste (second dag of ip) UDIES . own in table 2. ee ae * Square wave, | volt p-p, max, frequency (88H2) ‘Table2 mie Cle)pp.volis | x= Fela), vols 08 02 08 06 03 07 os os os 03 07 03 02 08 02 negligible a9 o1() Typical results fora closed loop 2™ order typeI system areas shown in table 3. Input Square wave, 1 volt pp Time in meee and @ in raises ‘Tabes i No] K T | wo | oi | ae [36 | 10 | 487 | 999] osi0 | | 2 | 7 | or | 32 | 44 | «to | 0559] 861 | 0609 | 919 ‘© Calculated fiom experimental valus of Mp and ty 1 Caloulted form open loop transfer function determined in section 4.1 BiNliown actors sche prosen ighator: Given a 1V p-p square wave input of time period s, the integrating capaciter in jk charges from a constant current of 0./R, and hence the pp amplitude of the lar outp is given by He osx ele pp 2955 ELA EK), sothark, = EE Bee" RIC "aRC "4 © fasured value of Vpg for = 25 mae is 60 mV. Hence Ky is 2.6. F danstant: The block has a transfer fnetion of the form KillT +1). Opes-oop Hay or 8° and 04": The maximum overshoot Me a a faction of teady-rate val is p9(-r5/ =p stat = & eur) mL B34 for Mp~0.12, the value of damping coefficient & by measurement is 0.559. Using ety ad CON) aacificeay INSTRUMENTS: ‘A150 9001 * 2000 Company‘Closed loop tranfer funtion Ge) is then written as 6r2x10? OO" Fyiotsworax ‘Comparing coefficients in the denominator ofthe expression for Gis) 2 = 67210, or op! = 819 rad/see 20}, =10?, or” = 0609 ) et cet nie «cst nop 3. orer stem Fig) aa shown in we ¢ bi le 5 for two types of wave form et SEG BIO vote) sare wave saheei kK | Mr meee = os | 02s 7 403 ‘490 ‘09 | 050 s ois oa ii | 0060 ‘ 0.160 195 1g | 1.00 2s ° 1256 (Gystem osilates ato, > 1256 rad seo) ‘Tabies RV | eV enV 0 016 0.167 0 026 0238 0 038 0333 50 90 220 Conary‘Sample calculation for data at S.No, 2 : The data hete pertain to the measurement of the S2dipstate mor for ramp input. Since s ramp isnot practical, the measurement is being do thing ¢ triangular input. For a amp input rQJ°Ri, where R isthe elope. However for a ttupgulo inp, the elective slope is double due to change in slope sign so that e(Q)-2RI, Fora |W pe input ofa ime period of 25 msec 2s vse | steve slope = Re=28~ 160 ots {ame extn crew en by 1 | Se KK\K, 79610 ul nts mamnd oz a pe ying’ experi fir ac xr yet atin (8) above. {{dLaFAFIONS oF THE sysTem " THT fk esac or ens in an experimental aeasrement aby ited god to fer cnastatiectpnme te 38 mV Fane Some sch fairs limiting the performance ofthe ysems ae 1 measurement are doe sing a CRO which may not be beter then 25% {the sjtem uses [Campi and in all aati and elution, the bias erent apd effet enor voigecurents have been neglesed (hough the Gesign tends c j: Fniise tem, Fre, he frequency response of ll amplifiers has ben assumed 1 For which may bee fra ited Tow frequency ang nly. fain oferor decor cu gun Block i adjust inthe range 0-10. The range pb voo lage for some configurations (he syste stars oscillating for ean hilt may be abit co amall for some oles restricting the i$ FOR STUDENTS op the circuit configurations which simulate the ‘integrator’ and ime constant ‘Choose component values Lpieguish berween linear and non-linear systems, Determine experimentally ifthe afr and me-constart blocks ae linear or non-linear. how square wave and angular wave ae generated simultaneously. Hoes the 3 order sytem of Fig. oscillate at very low value of K? Explain ph theoretical computation fy the connections in Fig. 7 to result in postive feedback. Study the behaviour is ineeased. Explain, ENTS 460 9001280 Conpny8, REFERENCES, [1] Modern Control Engineering -K. Ogata Prentice Hall of India Pvt. Li [2] Automatic Control Systems - B.C. Kuo, Prentice Hall of India Pvt. Lid sa 90:20 CompanyAppendix 4 | 0h time constant block is an Op-Amp simulation a fot ener tansferfnctin.Refeing tthe + Tg Hee. anf fenton may be compat {3 | Xl) ReiR =e Xie) SOR, 1 STH The pupore of the experimen is 10 nine T and Kz trough the procedure showa in and 3 of the manual to the ideal inteyrator etcuit and its i volage waveforms itis clear that the current ofthe capacitor is ‘he voage developed stor the capacitor pds is then from ve * fiat; Appendix 2 OPEN LOOP STEP RESPONSE Ky is) oso ond 2s ot a een sret ra rse.on sinh. 250sjo CLOSED LOOP STEP RESPONSE‘nso set :220 Coney wvuovia TaNvd