Scribd
Upload
27 views

Control Systems-Part-3

This document discusses mathematical modeling and transfer functions for control systems. It provides examples of: 1. Modeling physical systems using transfer functions which relate the input and output signals. 2. Deriving transfer functions for common electrical and mechanical systems like DC motors, mass-spring-dampers, and automotive suspensions. 3. The process of linearizing nonlinear system models to analyze and design linear control systems. Linearization examples are given for systems like water tanks and pendulums.

Uploaded by

Engr. Muhammad Ikhlaq
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
27 views

Control Systems-Part-3

This document discusses mathematical modeling and transfer functions for control systems. It provides examples of: 1. Modeling physical systems using transfer functions which relate the input and output signals. 2. Deriving transfer functions for common electrical and mechanical systems like DC motors, mass-spring-dampers, and automotive suspensions. 3. The process of linearizing nonlinear system models to analyze and design linear control systems. Linearization examples are given for systems like water tanks and pendulums.

Uploaded by

Engr. Muhammad Ikhlaq
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 45

1

MEC 410 – CONTROL SYSTEMS


Course Name: Control Systems
Course Number: MEC 410
Instructor: Dr. Khaled Al-Aribe
Part 3
Mathematical Modeling and Transfer function
Controller design procedure
2

 What is the “mathematical model”?


 Transfer function
 Modeling of electrical & mechanical systems
Mathematical model
3

 Representation of the input-output (signal) relation


of a physical system
 A model is used for the analysis and design of
control systems
Important remarks on models
4

 Modeling is the most important and difficult task in control system


design.
 No mathematical model exactly represents a physical system.
 Do not confuse models with physical systems!
 In this course, we may use the term “system” to mean a mathematical
model.
Transfer function
5

 A transfer function is defined by

 A system is assumed to be at rest. (Zero initial


condition)
Impulse response
6

 Suppose that u(t) is the unit impulse function and system is


at rest.

 The output g(t) for the unit impulse input is called impulse
response.
 Since R(s)=1, the transfer function can also be defined as
the Laplace transform of impulse response:
Models of electrical elements
7
Modeling example
8
Modeling example (cont’d)
9
Impedance computation
10
Translational mechanical elements
11
Mass-spring-damper system
12
Automobile suspension system
13
Automobile suspension system (Cont’d)
14
Torsional pendulum system
15
Example
16
Example (Cont’d)
17
What is DC motor?
18

 An actuator, converting electrical energy into rotational


mechanical energy
Why DC motor?
19

 Advantages
 High torque
 Speed controllability
 Portability, etc.
 Widely used in control applications: robot, tape drives,
printers, machine tool industries, radar tracking system, etc.
 Used for moving loads when
 Rapid (microseconds) response is not required
 Relatively low power is required
How does DC motor work?
20
Model of DC motor
21
Modeling of DC motor: time domain
22
Modeling of DC motor: s-domain
23
DC motor: Block diagram
24
Transfer functions with feedback
25
Ex: Derivation of transfer functions
26
DC motor: Transfer functions (TF)
27
DC motor: Transfer functions (TF) (Cont’d)
28
What is a linear system?
29
Why linearization?
30

 Real systems are inherently nonlinear. (Linear systems do


not exist!) Ex. f(t)=Kx(t), v(t)=Ri(t)
 TF models are only for linear time-invariant (LTI, see next
slide) systems.
 Many control analysis/design techniques are available for
linear systems.
 Nonlinear systems are difficult to deal with mathematically.
 Often we linearize nonlinear systems before analysis and
design. How?
Time-invariant & time-varying
31

 A system is called time-invariant (time-varying) if


system parameters do not (do) change in time.
 Example: Mx’’(t)=f(t) & M(t)x’’(t)=f(t)
 For time-invariant systems:
Linearization of water tank model
32
Linearization of water tank model (Cont’d)
33
Linearization of water tank model (Cont’d)
34
Linearization of water tank model (Cont’d)
35
Linearization of water tank model (Cont’d)
36
Linearization of a pendulum model
37
Linearization of a pendulum model around general
operating point
38
Time delay examples
39
Time delay transfer function
40

 The more time delay is, the more difficult to control


Ex: Mechanical accelerometer
41
Ex: Mechanical accelerometer (Cont’d)
42
Ex: Mechanical accelerometer (Cont’d)
43
Some simple mechanical examples
44
Summary
45

 Modeling
 Modeling is an important task!
 Mathematical model
 Transfer function
 Modeling of electrical & mechanical systems

You might also like