Dynamic System Modeling and
Analysis
Introduction
What do we learn in this course?
Model dynamics of a system through ODEs.
Determine the response of the system by solving the
ODEs.
Understand the dynamic nature of a system and
improve the systems performance.
The knowledge base studied in this course can be
applied to mechanical, electrical, pneumatic,
thermal, hydraulic systems, as well as other systems
such as economic systems and biological systems.
System: a system is a combination of components acting together to
perform a specific objective.
A system is called dynamic if its present output depends on past input;
if its current output depends only on current input, the system is known
as static.
Mathematical Model
Mathematical description of a physical system.
Lithium ion battery electrodes
A positive electrode of a lithium ion battery during discharge.
ionic resistive heat in electrolyte
(unit: W / mm3)
resistive heat in cathode particles
(unit: W / mm3)
1. Electrolyte: charge and mass conservation
C2
( D2C2 )
t
RT
i2 V2
1 t0 ln C2 0
F
2. Current collector and active particles:
charge and mass conservation
C1
( D1C1 ) 0
t
i1 1V1 0
3. Energy conservation
C PT
T q
t
U i
q j Li T
V V kV V
T
2kRT ln f
0
Li
c
V2
2
Li
Fc2 ln c2
4. Electrochemical kinetics
Butler-Volmer equation
in i0
F
F
exp A exp C
F F
RT
RT
V1 V2 U ocp
j
i0 Fk (C1,s ) A (C1,max C1,s ) A (C2 )C
Multi-Lobed Mixer in a gas turbine engine
Contours of Mach number (left) and Total Temperature, R, (right) at symmetry planes
Mechanical System a mass-springdamper system
b
b
Electrical System
Dynamic Robot
Differential equations
Differential equations: equations containing derivatives or
differentials
Differential equations
Partial differential equations: a relation involving an unknown function
(or functions) of several independent variables and their partial
derivatives with respect to those variables.
Differential equations
Ordinary differential equations: a relation that contains functions of only
one independent variable, and one or more of their derivatives with
respect to that variable.
Linear and nonlinear ODEs
A linear differential equation is an equation of the form
where the ai(x) are functions of x only. It is an equation in
which each term is of first degree in the dependent variable and
its derivatives.
Linear ODE does not contain powers , products, or other functions of
the dependent variables or its derivatives.
Time invariant and time-varying
ODES
If the coefficients of terms in a linear ODE involve independent
variable, it is a linear, time-varying ODE
d2x/dt2 + 5dx/dt + 10x = 0
d2x/dt2 + (1 cos 2t)x = 0
In this class, we solve linear, time-invariant ODEs.
Homogeneous linear ODEs
A linear differential equation is an equation of the form
where the ai(x) are functions of x only. It is an equation in
which each term is of first degree in the dependent variable and
its derivatives.
If f(x) = 0, the ODE is a homogeneous linear ODE.
Solutions of linear ODEs
General solution: A general solution of an n-th order equation is a solution
containing n arbitrary variables.
Particular solution: A particular solution is derived from the general solution
by setting the constants to particular values, often chosen to fulfill set initial
conditions or boundary conditions.
Singular solution: A singular solution is a solution that can't be derived from
the general solution.
Example:
Consider the differential equation
A one-parameter family of solutions to this equation is given by
Another solution is given by
Solutions of linear nonhomogeneous ODEs
General solution = complementary solution + particular solution
yg = yc + yp
Set f(x) =0
Solve the equation
Linear systems
For linear system, the equations that constitute the model are linear.
Superposition theory: A principle holding that two or more solutions to
a linear equation or set of linear equations can be added together so
that their sum is also a solution.
homogeneity,
Included in superposition theory
Nonlinear systems
For nonlinear systems, the principle of superposition is not applicable. It is
very difficult to find the solutions for nonlinear systems.
Linearize a nonlinear system near the operating condition.
Tools
Modeling dynamic systems:
Physical laws
Transfer function
State space method
Solving ODEs:
Laplace transform
Other techniques
Mathematical modeling procedure
Analysis and design of dynamic
systems
function Y = myfun(x)
%UNTITLED Summary of this function goes here
% Detailed explanation goes here
Y(:,1) = 5 * exp(-2*x(:))*((1/3)*sin(6*x(:))+cos(6*x(:)));
end
fh = @myfun;
fplot(fh,[0 3])
