Industrial Control: Assignment II

M. I. Eduardo Pérez Careta

Longoria Vázquez, Omar Alejandro

Number List: 18
NUA:311309
[email protected]
5 de marzo de 2018

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1. Series RLC Network
Find the transfer function relating the capacitor voltage, Vc (s), to the input voltage, V (s).

Figura 1: Series RLC Network

As it can be seen in Figure 1 , summing the voltages around the loop, asumming zero initial conditions, yields
the integro-differential equation for this network as

1 t
Z
di(t)
L + Ri(t) + i(τ )dτ = v(t) (1)
dt C 0
Changing variables from current to charge using i(t) = dq(t)/dt yields

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 d2 q(t) dq(t) 1
L +R + q(t) = v(t) (2)
dt2 dt C
From the voltage-charge relationship for a capacitor

q(t) = Cvc (t) (3)

Substituting 3 into 2 yields

d2 vc (t) dvc (t)

LC 2
+ RC + vc (t) = v(t) (4)
dt dt
Taking the Laplace transform assuming zero initial conditions yields

d2 vc (t)
 
dvc (t)
L LC + RC + v c (t) = L [v(t)]
dt2 dt

LCs2 + RCs + 1 Vc (s) = V (s)

(5)
Solving for the transfer function, Vc (s)/V (s), we obtain

Vc (s) 1/LC
= 2 R 1
(6)
V (s) s + Ls + LC

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2. Multiple Loops: Parallel RLC Network
Find the transfer function I2 (s)/V (s)

Figura 2: Parallel RLC Network-Multiple Loops

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 Figura 3: Parallel RLC Network-Multiple Loops

The Figure 2 shows the network. The variables are redrawn as Laplace transforms. Summing voltages around
each mesh through which the assumed currents, I1 (s) and I2 (s), flow, will lead to two simultaneous equations to
solve for the transfer function.

Around Mesh 1, where I1 (s) flows

R1 I1 (s) + LsI1 (s) − LsI2 (s) = V (s) (7)

Around Mesh 2, where I2 (s) flows

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 1
I2 (s) − LsI1 (s) = 0
LsI2 (s) + R2 I2 (s) + (8)
Cs
Combining terms, Eqs. 7 and 8 become simultaneous equations in I1 (s) and I2 (s):

(R1 + Ls) I1 (s) − LsI2 (s) = V (s) (9)

 
1
−LsI1 (s) + Ls + R2 + I2 (s) = 0 (10)
Cs

Using Cramer’s rule to solve Eqs. 9 and 10 simultaneously for I2 (s)

 
(R1 + Ls) V (s)
 
 −Ls 0  LsV (s)
I2 (s) = = (11)
∆ ∆
where
 R1 LCs2 + R1 R2 Cs + R1 + R2 LCs2 + Ls
 
(R + Ls) −Ls
∆ =  1 1 =

 (12)
−Ls Ls + R2 + Cs Cs
Substituting Eq. 12 in 11 and forming the transfer function G(s) = I2 (s)/V (s)

I2 (s) Ls LCs2
G(s) = = = 2
(13)
V (s) ∆ (R1 + R2 )LCs + (R1 R2 C + L)s + R1

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3. Mass, spring and damper system
Find the transfer function, X(s)/F (s), for the system of Figure 4.

Figura 4: Mass, spring and damper system

The mass is traveling toward the right. Thus, only the applied force points to the right; all other forces impede
the motion and act oppose it. Hence, the spring, viscous damper, and the force due to acceleration point to the left.
The differential equation of motion using Newton’s law to sum to zero all of the forces is:

d2 x(t) dx(t)
M 2
+ fv + Kx(t) = f (t) (14)
dt dt
Taking the Laplace transform, assuming zero initial conditions

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 d2 x(t)
 
dx(t)
L M + fv + Kx(t) = L [f (t)]
dt2 dt
M s2 X(s) + fv sX(s) + KX(s) = F (s)
M s2 + fv s + K X(s) = F (s)


(15)

Solving for the transfer function yields

X(s) 1
G(s) = = (16)
F (s) M s2 + fv s + K

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4. Rotational Mechanical System
Find the transfer function, θ2 (s)/T (s), for the rotational system shown in Figure 5.

Figura 5: Rotational Mechanical System

The differential equations of rotation are

d2 θ1 (t) dθ1 (t)

J1 + D1 + Kθ1 (t) − Kθ2 (t) = T (t) (17)
dt2 dt
d2 θ2 (t) dθ2 (t)
−Kθ1 (t) + J2 + D2 + Kθ2 (t) = 0 (18)
dt2 dt

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 Taking the Laplace transform, assuming zero initial conditions

d2 θ1 (t)
 
dθ1 (t)
L J1 + D1 + Kθ1 (t) − Kθ2 (t) = L [T (t)]
dt2 dt
J1 s2 + D1 s + K θ1 (s) − Kθ2 (s) = T (s)


(19)
d2 θ2 (t)
 
dθ2 (t)
L −Kθ1 (t) + J2 + D2 + Kθ2 (t) = L [0]
dt2 dt
−Kθ1 (s) + J2 s2 + D2 s + K θ2 (s) = 0


(20)

Where


 J1 s2 + D1 s + K T (s)

 −K 0  KT (s)
θ2 (s) = = (21)
∆ ∆



 J1 s2 + D1 s + K −K
 = J1 J2 s4 + (J1 D2 + J2 D1 ) s3 + (J1 K + D1 D2 + J2 K) s2 + D1 Ks

∆=
 2
−K J2 s + D2 s + K 
(22)
Hence, the transfer function G(s) = θ2 (s)/T (s) is

θ2 (s) K
G(s) = = (23)
T (s) J1 J2 s4 + (J1 D2 + J2 D1 ) s3 + (J1 K + D1 D2 + J2 K) s2 + D1 Ks

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5. Systems with Gears
Find the transfer function G(s) = θ2 (s)/T1 (s for the system with Lossless Gears shown in Figure 6.

Figura 6: System with Lossless Gears

As it can be seen in Figure 6 , The impedance (J1 and D1 ) and torque (T1 ) are reflected on the input shaft to
the output, where the impedances are reflected by (N2 /N1 )2 and the torque is reflected by (N2 /N1 ). The equation
of motion can now be written as

d2 θ2 (t)
 
dθ2 (t) N2
Je + De + K2 θ2 (t) = T1 (t) (24)
dt2 dt N1

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Where

2
N2
Je = J1 + J2
N1
 2
N2
De = D1 + D2
N1
Ke = K2

Takiing the Laplace transform , assuming zero initial conditions

d2 θ2 (t)
    
dθ2 (t) N2
L Je + De + K θ
2 2 (t) = L T1 (t)
dt2 dt N1
N2
Je s2 + De s + Ke θ2 (s) = T1 (s)


(25)
N1
Hence, the transfer function is

θ2 (s) N2 /N1
G(s) = (26)
T1 (s) Je s2 + De s + Ke

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