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Experiment No. - 3
AIM: To find out the dynamic response of a second order (critically damped) system to a step change in input variable [impulse] and compare it with theoretical predications. APPARATUS: A constant level overhead tank with two outlets, for supplying a steady flow of fluid to the rest tank. Two test tanks, with one outlet each, for attaching a linear resistance. Collection tank for collecting liquid coming out from the second test and sending it back to liquid reservoir. A liquid reservoir for storage and supply of test liquid to the constant level overhead tank. Pump for pumping test liquid from reservoir to the constant level overhead tank. A digital stopwatch. A measuring cylinder of 100cc capacity to measure flow rate of liquid.
PROCEDURE: 1. Attach the given linear resistance [s1 and s 32] to the constant level overhead tank. 2. Attach a suitable linear resistance R311 to first test tank and R 312 to the second test tank [similarly R321 and R322, or R331 and R332 can also be used. Along with R321 and R322 central piece C.P 32 will have to be fixed in the coupling of the overflow line of the constant level overhead rank. Similarly along with R331 and R332 central piece C.P> 33 will have to be fixed in the coupling of the constant level head tank]. Arrange two test tanks such that outlet from the first tank falls freely into the second tank. And outlet from the second tank falls freely into the collection tank. 3. Fill the liquid reservoir with the given test liquid. 4. Start the pump and fill the constant level overhead tank just up to the level of over flow. Regulate the liquid flow rate from the pump with the help of speed controller to just maintain the condition of over flow in the tank. 5. Fill both the test tanks up to the height of 25 centimeters. Filling the test tanks to the heigh ensures faster attainment of steady state in the test tanks. 6. Allow sufficient time for the steady state to be attained in both the tanks.
OBSERVATION: Input flow rates: Initial flow rate to the first Initial steady-state height in the first tank: h11 Initial steady- state height in the second tank: h21 Cross- sectional area of the second tank: [A2]:
Observation TablesTank 1 Time from the beginning of impulse input (s) 0 61.24 89.21 118.3 148.21 180.77 214.65 250.02 288.77 331.96 373.58 425.68 479.74 541.05 611.96 691.93 791 917.38 1079 1205.52 1341 1542 Height in first tank (Cms) (Observed) 21.5 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1.5 1 0.5
Tank - 2
Time from the beginning of impulse input (s) 0 86 157 249.58 290.5 363 430.18 492 556.33 617.61 744 811 884 958.11 1035 1121 1219 1341 1397 1461 1541 1625 1722 1834 1974 2144
Height in second tank (Cms) (Observed) 22.2 22 21.5 20.5 20 19 18 17 16 15 13 12 11 10 9 8 7 6 5.5 5 4.5 4 3.5 3 2.5 2
Height in second tank (Cms) (Predicted) 22.20 21.93 21.38 20.35 19.82 18.80 17.79 16.83 15.83 14.88 12.99 12.03 11.04 10.09 9.16 8.20 7.21 6.11 5.66 5.17 4.62 4.10 3.56 3.02 2.45 1.89
20.00
5.00
CALCULATIONS:
Initial input flow rate to the first tank [q]: Initial steady state height in the first tank: [h11]: Initial steady state height in the second tank: [h11]: Resistance of first tank (initial) Resistance of second tank (initial) Time constant of the first tank Time constant of the second tank Average time constant 4.14 21.5 22.2 C.C/Sec Cms Cms
R1= (h11/q1) = (21.5/4.14)= 5.1932 Cms R2= (h21/q1) = (22.2/4.2) =5.2857 Sec/Cm2 1=A1*R1= 100*5.1932 = 519.32 Sec 2= A2*R2= 100*5.2857 = 528.57 Sec = (1* 2)1/2= 523.92 Sec
*
qi- q1 = A1* dh1/dt q1- q2 = A2* dh2/dt
0.
1+
[1] [2]
The flow-head relationship for these two tanks, provided the resistance R1 and R2 are linear, and is given by q1= h1/R1 And q2=h2/R2 [3] [4]
combining equation [1] and [3] in exactly the same manner as was done for first order dynamics and introducing the deviation variables gives the transfer function for first tank as Q1(s) ------- = Q2(s) 1 -------------(1*S) +1 [5]
In the same manner combining equation [2] and [4] the transfer function for second tank in terms of deviation variables is given by H2(s) ------- = Q1(s) R2 -------------(1*S) +1 [6]
Combining equation [5] and [6] we get the transfer function relating height in the second tank to input flow-rate to the first tank as
( ) ( ) ,( ) - ,( ) -
[7]
( )
,(
- ,(
[8]
} [(
)]]
( )
( )
GRAPHS: Plot the graph of height in the second tank versus time. On the same graph plot theoretical relation between height and time given by equation [10] [11] above
RESULTS: Graph shows that the predicted heights of the tank-2 from the equation of Second order critically damped system dynamics closely matches with experimentally observed Heights.
CONCLUSION: The second order critically damped system dynamics model correctly applies to the Experimental model.