Combined controlled system elements

Parameters of elements with higher order time delay

System of more complexity (e.g. controlled systems) are normally elements of a
higher order. However, these can frequently be formed by combining (series
connection) of basic elements of a lower order. The systems cumulative order is
results from the sum order of the subsystems. If one of the transfer elements
contains an I-action component, the result is a system without compensation. The
subsequent graph shows two examples of combined elements.

Which of the combined elements is shown in the following Figure? Enter your
answer in the following answer box.

Combined elements can be specified by their type (i.e. PT 3 for example) and the
parameters of their fundmental components. However, in reality this proves to be
very difficult because it entails manipulating all of the internal variables of the system
(i.e. intermediate variables). Therefore, in actual practice such systems are
described particularly by their "basic", i.e. steady-state response (system with and
without compensation) and by so-called "surrogate" parameters, which can be
derived directly from the system's step response. The following Figure illustrates the
meaning of these parameters for systems with compensation (left) and without
compensation (right).
Controlled systems with compensation are expressed by:

The proportional coefficient KS (also frequently termed KP ). This corresponds to

the final steady-state value of the step response for an input step change to a
height of 1.

The delay time Tu. This corresponds to the intersecting point of the inflectional
tangent applied to the step response and dropped down to the time axis. The
delay time is a measure for how long it takes for the output variable to respond
noticeably to the input step change.

The compensation time Tg. To determine this you drop the intersecting point of
the inflectional tangent with the final steady-state value to the time axis and
subtract from this the delay time previously obtained. The compensation time is a
measure for how long it takes until the transient process has been completed.

Naturally controlled systems without compensation have no compensation time

because a final steady-state is never reached. Thus two parameters suffice for their
characterisation:

The integral-action coefficient KIS. It corresponds to the steady-state slope of the

step response.

The delay time Tu. It is found from the point of intersection of the straight lines,
towards which the step response tends for prolonged time periods with the time
axis.

It remains to be said that a system capable of oscillating can not be described by

these parameters! Equally impossible to describe in this way are controlled systems
without compensation comprising more than one I element.

Experiments
In the first experiment the step response is to be determined from a system made up
of the series connection of the two PT1 elements on the experiment card "controlled
system simulation" (SO4201-5U). Based on the step response resolve the
proportional coefficient KS, the delay time Tu and the compensation time Tg.
First set up the following experiment circuit.

Activate the step response plotter and configure it as shown in the following
Table.

Settings Input
Channel A Meas. range: 10 V Coupling: DC
Kanal B Meas. range: 10 V Coupling: DC
Other Range: 100 Offset: 0
Settings Output
Step change from ... to
0 50%
...
Delay time/ms 0
Measurements 300
Settings Diagram
Display Channel A
x-axis from ... to ... 0 0.3 s
y-axis from ... to ... 0 100

Now determine the step response and copy the plot into the space reserved for it
below.
 100

%
x1:
0.00408
90
y 1:
0
x2:
80
0.0871
y 2:
49.8
70
dx:
0.083
dy :
60
49.8
dy /dx:
600
50

40

30

20

10

0
0
t/s

Step response of the series connection for the two PT 1 elements

Now reverse the sequence of the two PT1 elements and repeat the experiment!
Determine the parameters of the series connection for both cases. How do the
results differ? How can this be explained? Enter your findings and answers into
the answer box below.

In the second experiment a series connection comprising P element, Integral-

action element and the left-hand PT1 element (time constant T1) is to be
investigated. Set up the following experiment circuit. Adjust the potentiometer of
the P element to the medium setting and the potentiometer of the I element to far
left limit.
Activate the step response plotter and configure it as shown in the following
Table.

Settings Input
Channel A Meas. range: 10 V Coupling: DC
Channel B Meas. range: 10 V Coupling: DC
Other Range: 100 Offset: 0
Settings Output
Step change from ... to
0 100%
...
Delay time/ms 0
Measurements 300
Settings Diagram
Display Channel A
x-axis from ... to ... 0 0.1 s
y-axis from ... to ... -10 100

Reset the I element by pressing the reset button, then determine the step
response of the given circuit and copy the plot into the space reserved for it.
 100

%
x1:
0.00952
90
y 1:
-0.126
x2: 80
0.095
y 2:
79.8 70
dx:
0.0855
60
dy :
79.9
dy /dx: 50
935

40

30

20

10

-10
0
t/s

Step response of the series connection comprising the P element, I element and left-hand PT1
element

What kind of controlled system is this series connection? Is it a controlled system

with or without compensation? Determine the system parameters and enter your
results in the answer box below.