QUBE-Servo 2 - Second Order Systems Workbook (Student)

SECOND-ORDER SYSTEMS
Topics Covered
• Underdamped secondorder systems.
• Damping ratio and natural frequency.

• Peak time and percent overshoot timedomain specifications.
Prerequisites
• Hardware Interfacing laboratory experiment.

• Filtering laboratory experiment.
QUBESERVO 2 Workbook Student v 1.2

1 Background
1.1 Second-Order Step Response
The standard secondorder transfer function has the form
Y (s) ωn2
= 2 , (1.1)
R(s) s + 2ζωn s + ωn2
where ωn is the natural frequency and ζ is the damping ratio. The properties of its response depend on the values
of the parameters ωn and ζ.
Consider a secondorder system as shown in Equation 1.1 subjected to a step input given by
R0
R(s) = ,
s
with a step amplitude of R0 = 1.5. The system response to this input is shown in Figure 1.1, where the red trace is
the output response y(t) and the blue trace is the step input r(t).
Figure 1.1: Standard secondorder step response
1.2 Peak Time and Overshoot

The maximum value of the response is denoted by the variable ymax and it occurs at a time tmax . For a response
similar to Figure 1.1, the percent overshoot is found using
100 (ymax − R0 )
PO = . (1.2)
R0
From the initial step time, t0 , the time it takes for the response to reach its maximum value is
tp = tmax − t0 . (1.3)
QUBESERVO 2 Workbook Student 2

This is called the peak time of the system.
In a secondorder system, the amount of overshoot depends solely on the damping ratio parameter and it can be
calculated using the equation ( )
− √ πζ
1−ζ 2
P O = 100e . (1.4)
The peak time depends on both the damping ratio and natural frequency of the system and it can be derived as:
π
tp = √ . (1.5)
ωn 1 − ζ 2
Generally speaking, the damping ratio affects the shape of the response while the natural frequency affects the
speed of the response.
1.3 Unity Feedback

The unityfeedback control loop shown in Figure 1.2 will be used to control the position of the QUBEServo 2.
Figure 1.2: Unity feedback loop
The QUBEServo 2 voltagetoposition transfer function is
Θm (s) K
P (s) = = . (1.6)
Vm (s) s(τ s + 1)
where K is the model steadystate gain, τ is the model time constant, Θm (s) = L [θm (t)] is the motor / disk
position, and Vm (s) = L [vm (t)] is the applied motor voltage. The default values for the model parameters are
K = 22.4 rad/s/V and τ = 0.15 s.
The controller is denoted by C(s). In this lab, we are only going to use unity feedback therefore
C(s) = 1. (1.7)
The closedloop transfer function of the QUBEServo 2 position control from the reference input R(s) = Θd (s) to the
output Y (s) = Θm using unity feedback as shown in Figure 1.2 is
K
Θd (s)
= 2 1τ K
. (1.8)
Vm (s) s + τs+ τ

2 In-Lab Exercises
Design a SIMULINKr model similar to Figure 2.1. This implements the unity feedback control given in Figure 1.2 in
SIMULINKr . A step reference (i.e. desired position or setpoint) of 1 rad is applied at 1 second and the controller runs
for 2.5 seconds.
Figure 2.1: Unity feedback position control of QUBEServo 2
1. Given the QUBEServo 2 closedloop equation under unity feedback in Equation 1.8 and the default model
parameters given above or, preferably, using more precise model parameters found by going through one of
the modeling experiments (e.g. Step Response Modeling laboratory experiment), find the natural frequency
and damping ratio of the system.
2. Based on your obtained ωn and ζ, what is the expected peak time and percent overshoot?
3. Build and run the QUARCr controller. The scopes should look similar to Figure 2.2.
(a) Position (b) Voltage
Figure 2.2: Unity feedback QUBEServo 2 step response
4. Attach the QUBEServo 2 position response showing both the setpoint and measured positions in one scopes
as well as the motor voltage.
Hint: For information on saving data to MATLABr for offline analysis, see the QUARCr help documentation
(under QUARC Targets | User’s Guide | QUARC Basics | Data Collection). You can then use the MATLABr
plot command to generate the necessary MATLAB figure.

5. Measure the peak time and percent overshoot of the response and compare that with expected results.
Hint: Use the Cursor Measurements tool in the SIMULINKr Scope to take measure points off the scope directly.
6. Name one possible reason why the expected peak time and percent overshoot calculated do not match the
measured values exactly?
7. Make sure the QUARCr controller is stopped.

8. Power off the QUBEServo 2 if no more experiments will be ran in this session.

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SECOND-ORDER SYSTEMS

• Underdamped second­order systems.

• Damping ratio and natural frequency.

• Hardware Interfacing laboratory experiment.

QUBE­SERVO 2 Workbook ­ Student v 1.2

Figure 1.1: Standard second­order step response

1.2 Peak Time and Overshoot

QUBE­SERVO 2 Workbook ­ Student 2

1.3 Unity Feedback

Figure 1.2: Unity feedback loop

The QUBE­Servo 2 voltage­to­position transfer function is

QUBE­SERVO 2 Workbook ­ Student v 1.2

Figure 2.1: Unity feedback position control of QUBE­Servo 2

(a) Position (b) Voltage

Figure 2.2: Unity feedback QUBE­Servo 2 step response

QUBE­SERVO 2 Workbook ­ Student 4

7. Make sure the QUARCr controller is stopped.

QUBE­SERVO 2 Workbook ­ Student v 1.2

Printed in Markham, Ontario.

QUBE­SERVO 2 Workbook ­ Student 6

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• Underdamped secondorder systems.

QUBESERVO 2 Workbook Student v 1.2

Figure 1.1: Standard secondorder step response

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Figure 2.1: Unity feedback position control of QUBEServo 2

Figure 2.2: Unity feedback QUBEServo 2 step response

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