Control Systems (CS)

Lecture-2
Mathematical Modeling of Dynamic Systems
Dr. Imtiaz Hussain
Associate Professor
Mehran University of Engineering & Technology Jamshoro, Pakistan
email: [email protected]
URL :http://imtiazhussainkalwar.weebly.com/

6th Semester 14ES (SEC-I)

Note: I do not claim any originality in these lectures. The contents of this presentation are
mostly taken from the book of Ogatta, Norman Nise, Bishop and B C. Kuo and various other
internet sources. 1
 Outline
• Introduction
• Types of Models
• Mathematical Modeling of
– Electrical Systems
– Electronic Systems
– Mechanical Systems
– Electromechanical Systems

2
 Types of Systems
•
Static System: If a system does not change
with time, it is called a static system.
•
Dynamic System: If a system changes with
time, it is called a dynamic system.

3
 Dynamic Systems
• A system is said to be dynamic if its current output may depend on
the past history as well as the present values of the input variables.
• Mathematically,

y(t ) [u( ),0  t ]

u : Input, t : Time
Example: A moving mass
y
u
M
Model: Force=Mass x Acceleration

My u
 Ways to Study a System

System

Experiment with Experiment with a

actual System model of the System

Physical Model Mathematical Model

Analytical Solution

Simulation

Frequency Domain Time Domain Hybrid Domain

5
 Model
•
A model is a simplified representation or
abstraction of reality.
•
Reality is generally too complex to copy
exactly.
•
Much of the complexity is actually irrelevant
in problem solving.

6
 What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
 Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or
unknown.

Input Output

• Easy to Model

8
 Grey Box Model
• When input and output and some information
about the internal dynamics of the system is
known.

u(t) y(t)
y[u(t), t]

• Easier than white box Modelling.

9
 White Box Model
• When input and output and internal dynamics
of the system is known.

dy(t ) du(t ) d 2 y(t )

u(t) 3  y(t)
dt dt dt 2

• One should know have complete knowledge

of the system to derive a white box model.
10
Modeling of Electrical Systems

11
 Basic Elements of Electrical Systems
V-I Relation
V-I Relation
Component Symbol (Frequency
(Time Domain)
Domain)

Resistor
v R (t ) i R (t )R VR (s )  I R (s )R

Capacitor
1 1
vc (t )  ic (t )dt Vc (s )  I c (s )
C Cs
Inductor
di L (t )
v L (t )  L VL (s )  LsI L (s )
dt 12
 Example#1
• The two-port network shown in the following figure has vi(t) as
the input voltage and vo(t) as the output voltage. Find the
transfer function Vo(s)/Vi(s) of the network.

vi( t) i(t) C vo(t)

1
vi (t ) i(t )R  i(t )dt
C
1
vo (t )  i(t )dt
C
13
 Example#1
1 1
vi (t ) i(t )R  i(t )dt vo (t )  i(t )dt
C C
• Taking Laplace transform of both equations, considering initial
conditions to zero.

1 1
Vi (s )  I (s )R  I (s ) Vo (s )  I (s )
Cs Cs

• Re-arrange both equations as:

1
Vi (s )  I (s )(R  ) CsVo (s )  I (s )
Cs

14
 Example#1
1
Vi (s )  I (s )(R  ) CsVo (s )  I (s )
Cs
• Substitute I(s) in equation on left

1
Vi (s ) CsVo (s )(R  )
Cs

Vo (s ) 1

Vi (s ) 1
Cs( R  )
Cs

Vo (s ) 1

Vi (s ) 1  RCs
15
 Example#1
Vo (s ) 1

Vi (s ) 1  RCs

• The system has one pole at

1
1  RCs 0  s 
RC

16
 Example#2
• Find the transfer function G(S) of the following
two port network.

vi(t) i(t) C vo(t)

17
 Example#2
• Simplify network by replacing multiple components with
their equivalent transform impedance.

Z
Vi(s) I(s) C Vo(s)

18
Transform Impedance (Resistor)

iR(t) IR(S)
+ +
Transformation
vR(t) ZR = R VR(S)

- -

19
Transform Impedance (Inductor)

IL(S)
iL(t)
+ +

vL(t) ZL=LS VL(S)

LiL(0)
-
-

20
Transform Impedance (Capacitor)

ic(t) Ic(S)
+ +

vc(t) ZC(S)=1/CS Vc(S)

- -

21
 Equivalent Transform Impedance (Series)
• Consider following arrangement, find out equivalent
transform impedance.

L
ZT  Z R  Z L  Z C
C
1
Z T  R  Ls  R

Cs

22
Equivalent Transform Impedance (Parallel)

1 1 1 1
  
ZT Z R Z L ZC L

1 1 1 1 C
  
ZT R Ls 1
R
Cs

23
 Equivalent Transform Impedance
• Find out equivalent transform impedance of
following arrangement.
L2

L2
R1 R2

24
 Back to Example#2

L
Z

Vi(s) I(s) C Vo(s)

1 1 1
 
Z ZR ZL

1 1 1
 
Z R Ls

RLs
Z
1  RLs
25
 Example#2
RLs
Z
1  RLs
L
Z

Vi(s) I(s) C Vo(s)

1 1
Vi (s )  I (s )Z  I (s ) Vo (s )  I (s )
Cs Cs

26
Modeling of Electronic Systems

27
 Operational Amplifiers

Vout Z2 Vout Z2
 1 
Vin Z1 Vin Z1

28
 Example#3
• Find out the transfer function of the following
circuit.

Vout Z2

Vin Z1
29
 Example#4
• Find out the transfer function of the following
circuit.

v1

30
 Example#5
• Find out the transfer function of the following
circuit.

v1

31
 Example#6
• Find out the transfer function of the following
circuit and draw the pole zero map.

100kΩ

10kΩ

32
Modeling of Mechanical Systems

•Part-I: Translational Mechanical System

•Part-II: Rotational Mechanical System

•Part-III: Mechanical Linkages

33
Basic Types of Mechanical Systems
• Translational
– Linear Motion

• Rotational
– Rotational Motion

34
Part-I

TRANSLATIONAL MECHANICAL SYSTEMS

35
Basic Elements of Translational Mechanical Systems

Translational Spring
i)

Translational Mass
ii)

Translational Damper
iii)

36
 Translational Spring
• A translational spring is a mechanical element that
can be deformed by an external force such that the
deformation is directly proportional to the force
applied to it.

Translational Spring
i)

Circuit Symbols
Translational Spring

37
 Translational Spring
• If F is the applied force
x1
x2

• Then x1 is the deformation if x 2  0 F

• Or ( x1  x2 ) is the deformation. F

• The equation of motion is given as

F  k ( x1  x2 )
k
• Where is stiffness of spring expressed in N/m 38
 Translational Mass
• Translational Mass is an inertia Translational Mass
element. ii)

• A mechanical system without

mass does not exist.

• If a force F is applied to a mass x(t )

and it is displaced to x meters
then the relation b/w force and F (t )
M
displacements is given by
Newton’s law.

F  Mx
39
 Translational Damper
• When the viscosity or drag is not
negligible in a system, we often
model them with the damping
force.

• All the materials exhibit the Translational Damper

iii)
property of damping to some
extent.

• If damping in the system is not

enough then extra elements
(e.g. Dashpot) are added to
increase damping.
40
 Common Uses of Dashpots
Door Stoppers
Vehicle Suspension

Bridge Suspension
Flyover Suspension

41
 Translational Damper

F Cx F C ( x 1  x 2 )

• Where C is damping coefficient (N/ms-1).

 Example-7
• Consider the following system (friction is negligible)

k
x
F
M

• Free Body Diagram

fk
M fM
F

• Where f k and f M are forces applied by the spring and

inertial force respectively.
43
 Example-7
fk
M fM
F

F  fk  fM
• Then the differential equation of the system is:

F  Mx  kx
• Taking the Laplace Transform of both sides and ignoring
initial conditions we get

F (s )  Ms 2 X (s )  kX (s )
44
 Example-7
F (s )  Ms 2 X (s )  kX (s )
• The transfer function of the system is

X (s ) 1

F (s ) Ms 2  k

• if
M 1000kg
k  2000Nm  1

X (s ) 0.001
 2
F (s ) s  2
45
 Example-7
X (s ) 0.001
 2
F (s ) s  2
• The pole-zero map of the system is

46
 Example-8
• Consider the following system

k
x
F
M

C
• Free Body Diagram
fk fC
M fM
F

F  f k  f M  fC
47
 Example-8
Differential equation of the system is:

F  Mx  Cx  kx
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get

F (s )  Ms 2 X (s )  CsX (s )  kX (s )

X (s ) 1

F (s ) Ms 2  Cs  k

48
 Example-8
X (s ) 1

F (s ) Ms 2  Cs  k

• if
Pole-Zero Map
2

1.5
M 1000kg 1

k  2000Nm  1 0.5

Imaginary Axis
1 0
C 1000N / ms
-0.5

-1

X (s) 0.001 -1.5

 2 -2

F (s) s  s  2 -1 -0.5 0
Real Axis
0.5 1

49
 Example-9
• Consider the following system
x2

x1 k B
F M

• Mechanical Network
x1 k x2

F ↑ M B

50
 Example-9
• Mechanical Network
x1 k x2

F ↑ M B

At node x1

F  k ( x1  x 2 )
At node x2

0  k ( x 2  x1 )  Mx2  Bx 2
51
 Example-10
x1 x2

k B3 B4
M1 M2
f (t )

B1 B2

x1 B3 x2

f (t ) ↑ k M1 B1 B2 M2 B4

52
Part-I

ROTATIONAL MECHANICAL SYSTEMS

53
 Basic Elements of Rotational Mechanical Systems

Rotational Spring

1
2

T k (1   2 )

54
 Basic Elements of Rotational Mechanical Systems

Rotational Damper

C
1
2 T

T C (1   2 )

55
 Basic Elements of Rotational Mechanical Systems

Moment of Inertia


J T

T  J

56
 Example-11

B1
1 k1 2 3 k2
T J1 J2

1 k1 2 B1 3

T ↑ J1 J2 k2

57
 Example-12

1 k1 2 B2 B4
3
T J1 J2

B1 B3

1 k1 2 B2 3

T ↑ J1 B1 B3 J2 B4

58
 Example-13

1
k1 2
T k2
B1 J1 J2
B2

59
Part-III

MECHANICAL LINKAGES

60
 Gear
• Gear is a toothed machine part, such
as a wheel or cylinder, that meshes
with another toothed part to
transmit motion or to change speed
or direction.

61
 Fundamental Properties
• The two gears turn in opposite directions: one clockwise and
the other counterclockwise.

• Two gears revolve at different speeds when number of teeth

on each gear are different.

62
 Gear Ratio
• You can calculate the gear ratio by using
the number of teeth of the driver
divided by the number of teeth of the
follower.

• We gear up when we increase velocity

Driver
and decrease torque.
Ratio: 3:1 Follower

• We gear down when we increase torque

and reduce velocity.
Ratio: 1:3

Gear Ratio = # teeth input gear / # teeth output gear

= torque in / torque out = speed out / speed in
63
 Mathematical Modeling of Gear Trains
• Gears increase or reduce angular velocity (while
simultaneously decreasing or increasing torque, such
that energy is conserved).
Energy of Driving Gear = Energy of Following Gear

N11  N 2 2

N1 Number of Teeth of Driving Gear

1 Angular Movement of Driving Gear

N2 Number of Teeth of Following Gear

2 Angular Movement of Following Gear

64
 Mathematical Modeling of Gear Trains
• In the system below, a torque, τa, is applied to gear 1 (with
number of teeth N1, moment of inertia J1 and a rotational friction
B1).
• It, in turn, is connected to gear 2 (with number of teeth N2,
moment of inertia J2 and a rotational friction B2).
• The angle θ1 is defined positive clockwise, θ2 is defined positive
clockwise. The torque acts in the direction of θ1.
• Assume that TL is the load torque applied by the load connected
to Gear-2.
N2
N1
B1

B2 65
 Mathematical Modeling of Gear Trains
• For Gear-1

 a  J 11  B11  T1 Eq (1)

• For Gear-2

T2  J 22  B2 2  TL Eq (2) N1

N2

• Since B1

B2
N11  N 2 2
• therefore
N1
2  1 Eq (3)
N2 66
 Mathematical Modeling of Gear Trains
• Gear Ratio is calculated as
T2 N2 N1
  T1  T2
T1 N1 N2
• Put this value in eq (1) N2
N1
B1
  N1
 a  J 11  B11  T2
N2 B2
• Put T2 from eq (2)
  N1
 a  J11  B11  ( J 22  B22  TL )
N2
• Substitute θ2 from eq (3)
  N1 N1  N1 
 a  J11  B11  (J2 1  B2  2  TL )
N2 N2 N2 67
 Mathematical Modeling of Gear Trains
  N1 N1  N1 
 a  J11  B11  (J2 1  B2  2  TL )
N2 N2 N2
• After simplification
2 2
  N1     N1  N
 a  J11    J 21  B11    B21  1 TL
 N2   N2  N2
  N1 
2    N 
2  N1

 a  J 1     
 J 2 1  B1   1  
 B2 1  TL
  N2     N2   N2
   
2 2
 N   N 
J eq  J 1   1  J 2 Beq  B1   1  B2
 N2   N2 

  N1
 a  J eq1  Beq1  TL
N2 68
 Mathematical Modeling of Gear Trains
• For three gears connected together

2 2 2
 N1   N1   N3 
J eq  J 1    J 2      J 3
 N2   N2   N4 

2 2 2
 N1   N1   N3 
Beq  B1    B2      B3
 N2   N2   N4 

69
Modeling of Electromechanical
Systems

70
 D.C Drives

• Variable Voltage can be applied to the armature terminals of the DC

motor .
• Another method is to vary the flux per pole of the motor.
• The first method involve adjusting the motor’s armature while the
latter method involves adjusting the motor field. These methods are
referred to as “armature control” and “field control.” 71
 Example-14: Armature Controlled D.C Motor
Ra La
Input: voltage u B
ia
Output: Angular velocity  u eb T J

Electrical Subsystem (loop method):
tant
cons
V f=
dia
u  Ra ia  La  eb , where e b back-emf voltage
dt
Mechanical Subsystem

Tmotor  Jω  Bω

72
Example-14: Armature Controlled D.C Motor
Ra La
Power Transformation: B
ia
u eb T J
Torque-Current: Tmotor  K t ia 
Voltage-Speed: eb  K b ω
t
stan
n
=co
Vf

• Combing previous equations results in the following mathematical

model:

 dia
 La  Ra i a  K b ω  u
 dt
 Jω
   B-K t ia  0
73
Example-14: Armature Controlled D.C Motor

Taking Laplace transform of the system’s differential equations with

zero initial conditions gives:

La s  Ra I a(s)  K b Ω(s) U(s)


Js  B Ω(s)-K t I a(s)  0

Eliminating Ia yields the input-output transfer function

Ω(s) Kt

U(s) La Js 2  JRa  BLa s  BRa  K t K b

74
Example-14: Armature Controlled D.C Motor
Reduced Order Model
Assuming small inductance, La 0

Ω(s) Kt

U(s) JRa s  ( BRa  K t K b )

75
Example-14: Armature Controlled D.C Motor
If output of the D.C motor is angular position θ then we know

Ra La
d B
 or (s )  s (s ) ia
dt u eb T J
θ
t
stan
= con
Vf
Which yields following transfer function

(s) Kt

U(s) s[ JRa s  ( BRa  K t K b )]

76
 Example-15: Field Controlled D.C Motor
Rf Ra La

if
ef Lf Tm J ea
B ω

Applying KVL at field circuit

di f
e f i f R f  L f
dt
Mechanical Subsystem
Tm  Jω  Bω

77
 Example-15: Field Controlled D.C Motor

Power Transformation:

Torque-Current: Tm  K f i f

where Kf: torque constant

Combing previous equations and taking Laplace transform (considering

initial conditions to zero) results in the following mathematical model:


 E f (s )  R f I f (s )  sL f I f (s )

 Js(s )  B(s )  K f I f (s )

78
 Example-15: Field Controlled D.C Motor
Eliminating If(S) yields

Ω(s) Kf

E f (s) Js  B ( L f s  R f )

If angular position θ is output of the motor

Rf Ra La

if
ef Lf Tm J ea
B θ

(s) Kf

E f (s) s Js  B ( L f s  R f )
79
Example-16: Angular Position Control System

Ra La N1
+
JM
+ + + BM
ia BL
kp
r
e ea e b T θ JL
c
_ _ _
N2

if = Constant
-

80
 Numerical Values for System constants
ngular displacement of the reference input shaft
ngular displacement of the output shaft
ngular displacement of the motor shaft
gain of the potentiometer shaft = 24/π
amplifier gain = 10
armature voltage
back emf
armature winding resistance = 0.2 Ω
armature winding inductance = negligible
rmature winding current
back emf constant = 5.5x10-2 volt-sec/rad
motor torque constant = 6x10-5 N-m/ampere
moment of inertia of the motor = 1x10-5 kg-m2
iscous-friction coefficients of the motor = negligible
moment of inertia of the load = 4.4x10-3 kgm2 81
-2
 Example-16: Angular Position Control System
• Transfer function of the armature controlled D.C motor with load connected to it
is given by
𝜃 (𝑠) 𝐾𝑡
=
𝐸𝑎 (𝑠) 𝑠 [ ( 𝐽 𝑒𝑞 𝑅𝑎 + 𝐵𝑒𝑞 𝐿𝑎) 𝑠+ 𝐵𝑒𝑞 𝑅 𝑎 + 𝐾 𝑡 𝐾 𝑏 ]

• Where

( )
2
𝑁1
( )
2
1
𝐽 𝑒𝑞= 𝐽 𝑚 + 𝐽 𝐿 =1 ×10− 5+ × 4.4 ×10− 3=5.4 ×10− 5
𝑁2 10

( )
2
𝑁1
( )
2
1
𝐵𝑒𝑞 =𝐵𝑚 + 𝐵 𝐿= × 4 × 10− 2=4 ×10 −4
𝑁2 10

𝜃 ( 𝑠) 6
=
𝐸𝑎 ( 𝑠) 𝑠 (1.08 𝑠+ 8.33)
82
 Example-16: Angular Position Control System
• Error is difference between reference input and out calculated and can be calculated as

𝑒 (𝑡 )=𝐾 1 [ 𝑟 (𝑡 ) − 𝑐 (𝑡 ) ]
E (a)
• Output of amplifier is

𝐸 ( 𝑠 ) =𝐾 𝑝 𝐸 ( 𝑠 )=10 𝐸 (𝑠)
𝑎
• Merging eq (a) and eq (b) yields
(b)

• Relation between angular position of motor and angular position of load is given as

1
• or 𝐶 ( 𝑠 )= 𝜃 (𝑠 )
10
10 𝐶 ( 𝑠 )=𝜃(𝑠)

83
 Example-16: Angular Position Control System
𝜃 ( 𝑠) 6
=
𝐸𝑎 ( 𝑠) 𝑠 (1.08 𝑠+ 8.33)

• Final Closed loop transfer function of the system can now be written as

10 𝐶 ( 𝑠) 6
=
76.4 [ 𝑅 ( 𝑆 ) −𝐶 ( 𝑆) ] 𝑠 (1.08 𝑆+ 8.33)

𝐶 ( 𝑠) 42.3
= 2
𝑅 ( 𝑆 ) 𝑠 + 7.69 𝑠 +42.3

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END OF LECTURE-2

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