NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

Dynamic Response of First Order Systems

Dr. Bishakh Bhattacharya

y

Professor, Department of Mechanical Engineering

IIT Kanpur

Joint Initiative of IITs and IISc - Funded by MHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

This Lecture Contains

 A Few Examples of First Order Mechanical & Electrical Systems

Response of a First Order system

Unit Step Response 

Unit Ramp response

Assignment Problem to Solve

Joint Initiative of IITs and IISc - Funded by MHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

Leaking Tank: A First Order System

Considering Incompressible Fluid, 
the Governing EOM :
the Governing EOM :
h
d/dt (A h(t)) = ‐Qout = (1/R)h(t)
d/dt (h) = (1/AR) h 
In standard form:
X=h, Xo = ho,   d/dt (X) = K X

MFR = 1/R  (p1 – p2)1/
A= Cross sectional    
 = 1 for Re <1000 area of tank

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

A Low‐Pass RC Filter

d/dt (V2) = 1/RC (V1 – V2)
V1 = 0
d/dt (V2) = (‐1/RC) V2

Low Pass RC Filter

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

Free‐Response of a First Order System
p y

= eat xo
x(t) = e
x(t)
a= 0, Open circuit condition
T= 1/a time constant, time taken to 
reach 1/e of the initial value

Graph of eat for ranges of a

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

Forced Excitation (Unit Step)

d/dt (x(t)) = a x(t) + b u(t)
(t) = to e a(t‐τ) 
xf(t) =  ( ) b u(τ) dτ
b u(τ) dτ

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

Forced Response (Unit Step)

xf(t) = (bu0T)[1‐e‐t/T] Us(t)

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

Forced Excitation (Ramp Input)

xf(t) = buoT2(e‐t/T + t/T – 1)

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

Forced Response
p (Pulse
( Input)
p )

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

Pulse Response as sum of Step Responses
p p p

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

First Order Systems
A first order system has a differential equation of the form 
A first order system has a differential equation of the form
dy
  ykr
dt
 
 
 1 
Y ( s )  G ( s ) R ( s ), G ( s )    
 s  1 
 
 
y (t )  k 1  e  t /  
 
Example: Traditional Thermocouple Measurement
A thermocouple which has a transfer function linking its voltage output   V 
and temperature input of T as
and temperature input of T as
30  10 6 0
G(s) = V/ C
10 s  1
Determine the response of the system when it is suddenly immersed in a 
Determine the response of the system when it is suddenly immersed in a
water bath at 100o C
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

The output as an  ‘
The output as an  ‘s’
s’ function 
function is
is

V (s) = G (s) * input

i t (s)

Sudden immersion of the thermometer gives a step input of size 
100o C
and so the input as an s function as 100/s. Thus
30  10 6 100 30  10 4 30  10 4  0.1
V=  = =
10 s  1 s 10 s s  0.1 s s  0.1

The fraction element of the form a/s(s+a) and so the 
output as a function of time is :
p

V  30 10 4 1  e 0.1t  
The same is plotted in the following Figure. You may note 
The same is plotted in the following Figure You may note
the nature of the first order response. The Thermocouple 
took about a minute to reach close to the final value 
(about 3mv).

Joint Initiative of IITs and IISc ‐ Funded by MHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

Assignment
g

Consider a first order system which can be simply modeled as a combination of a

spring of stiffness k and damper with damping constant c connected in parallel.
Find out the response of the system when it is subjected to an unit impulse
excitation.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 9

Special
p References for this lecture

 System Dynamics for Engineering Students: Nicolae Lobontiu,

Lobontiu Academic

Publisher

 Feedback Control of Dynamic Systems: Frankline,

Frankline Powell and Emami
Emami-Naeini,
Naeini

Pearson Publisher

 Control
C lSSystems Engineering:
E i i N
Norman S Ni
Nise, J
John
h Wil
Wiley & Sons
S

 Systems Dynamics and Response: S. Graham Kelly, Thomson Publisher

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