Dynamic Characteristics

Lecture04 SME3242 Instrumentation

1
Static transfer function how the output related
to input if the input is constant

Dynamic transfer function also called time

response

Lecture04 SME3242 Instrumentation 2

FIGURE 1.27 The dynamic transfer function specifies how a
sensor output varies when the input changes instantaneously in
time (i.e., a step change).

Curtis Johnson
Process Control Instrumentation Technology, 8e] Copyright 2006 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
3
Lecture04 SME3242 Instrumentation
All rights reserved.
2.1.3: Mathematical model structure
Input and output relationship of a linear measurement
system - ordinary differential equation (ODE):
-
dny d n 1y dy
an n + an-1 n-1 +K+ a1 + a0 y
dt dt dt
m m-1
d u ud du
=bm + bm-1 +K+ b1 + b0 u
m-1
dt m dt dt

where,
u = input, y = output; u and y varies with t
n>m
a, b = constant coefficients
Lecture04 SME3242 Instrumentation 4
 : Transfer
Function of An Accelerometer
xi Applying 2nd Newtons
xo Law: F = ma
k Fs ma
m
=
FD
c

Differential equation:
dxi dxo d 2 xo
k ( xi - xo ) + c( - )=m 2
dt dt dt
2
d xo c dxo k c dxi k
2
+ + xo = + xi
dt m dt m m dt m
Lecture04 SME3242 Instrumentation 5
Dynamic characteristic
- the output response of the instrument against
time when the input is varied
- the relation between any input and output for
nth order system can be written as:
n n-1
d y d y dy
an n +an-1 n-1 +K+a1 +a0 y = b0 u
dt dt dt

- 3 types of response: zero order response, first

order response and second order response
Lecture04 SME3242 Instrumentation 6
Dynamic response of zero order instrument
(i.e. n = 0)

- the zero order instrument is represented by

a0y=b0u or y=Ku
or
y/u = K
(y=output, u=input, K=b0/a0=static sensitivity)

- the output responses linearly to the input

Lecture04 SME3242 Instrumentation 7
Eg: potentiometer

Lecture04 SME3242 Instrumentation 8

Dynamic response of first order instrument
(i.e. n = 1)
dy
a1 + a 0 y = b0u
dt

- dividing the equation by a0, and apply D-operator

a 1 dy + = b0
y u ; ( TD + 1 ) y = Ku
a 0 dt a0

- T=a1/a0=time constant, K=b0/a0=static sensitivity

Lecture04 SME3242 Instrumentation 9

- the operational transfer function

y K
=
u (1 + TD)

u(t) y(t)
Sensor

- The time constant; T, represents the time taken for

the output to reach 63% of the final value and it
reaches its final value (99%) at around 5T.
Lecture04 SME3242 Instrumentation 10
Eg.: Thermocouple

Lecture04 SME3242 Instrumentation 11

Characteristic first-order time response of
a sensor.

t y(t) %
T 0.63212 63.212
2T 0.86466 86.466
3T 0.95021 95.021
4T 0.98168 98.168
5T 0.99326 99.326
10T 0.99995 99.995

Lecture04 SME3242 Instrumentation 12

Characteristic first-order time response of
a sensor.

Lecture04 SME3242 Instrumentation 13

General equation as function of time following a
step input is given as:

-t /T
y(t ) = yi + ( y f - yi )[1 - e ]
where,
yi = initial output from static transfer
function and initial input
yf = final output from static transfer function
and final input
T = time constant = 63% time

Lecture04 SME3242 Instrumentation 14

Characteristic first-order exponential time response of a sensor
to a step change of input.

yf

yi

Copyright 2006 by Pearson

Curtis Johnson Education, Inc.
Process Control Instrumentation Technology, Upper Saddle River, New Jersey
8e] Lecture04 SME3242 Instrumentation 15 07458
All rights reserved.
A sensor measures temperature linearly with a static
transfer function of 33 mV/0C and has a 1.5-s time
constant. Find the output 0.75 s after input changes
from 200C to 410C. Find the error in temperature this
represents.

* Time response analysis always applied to the output

of the sensor because it is only the output of the
sensor that lagged

Lecture04 SME3242 Instrumentation 16

Given static transfer function:
V = (33mV/C)T

Hence, initial and final output of the sensor are:

yi = (33mV/C)(20C)
= 660mV
yf = (33mV/C)(41C)
= 1353mV

Lecture04 SME3242 Instrumentation 17

Time response of first-order system,
-t / T
y (t ) = yi + (y f - yi )[1 - e ]

Substitute the value of yi and yf,

- 0.75 /1.5
y 0.75 = 660 + (1353 - 660)[1 - e ]
= 932.7 mV

Lecture04 SME3242 Instrumentation 18

The corresponding temperature for sensor output of
932.7 mV,
932 .7 mV
T=
33 mV / oC
= 28 .3o C
Since the actual temperature is 41C, hence the error
in temperature is:

error = (true value instrument reading)

= (41C 28.3C)
= 12.7C
Lecture04 SME3242 Instrumentation 19
When t = 5T i.e. t = 5(1.5) = 7.5 s,
- 7.5 /1.5
y 7.5 = 660 + (1353 - 660)[1 - e ]
= 1348.3 mV
The corresponding temperature for sensor output of
1348.3 mV is:
1348.3 mV o
T= o
41 C
33 mV / C

which is the exact measured temperature

Lecture04 SME3242 Instrumentation 20
Dynamic response of second-order instrument
(i.e. n = 2)
d2y dy
a2 2
+ a1 + a 0 y = b0u
dt dt

Applying D operator

b0u
y =
(a 0 + a1D + a 2 D 2 )

Lecture04 SME3242 Instrumentation 21

Applying Laplace Transform (with all initial
conditions equal to zero) and rearranging the
equation:

K 2
y = n
u
s 2
+ 2 n s + 2
n

where,
= damping ratio
n= natural frequency

Lecture04 SME3242 Instrumentation 22

The time response is given as:
q0(t) qe-atsin(nt)

where q=amplitude and a= n is output

damping ratio

Eg.: Accelerometer

Lecture04 SME3242 Instrumentation 23

Lecture04 SME3242 Instrumentation 24
 FIGURE 1.29 Characteristic second-order oscillatory time response
of a sensor.

Copyright 2006 by Pearson

Curtis Johnson Education, Inc.
Process Control Instrumentation Upper Saddle River, New Jersey 07458
Technology, 8e] Lecture04 SME3242 Instrumentation All rights reserved.25
 undamped (=0)

under damped (1>>0)

over damped (1)

Lecture04 SME3242 Instrumentation 26

Lecture04 SME3242 Instrumentation 27