Experiment No.

03:
Mathematical Modeling of Physical
System
CHUM Pharino
Department of Electrical and Energy Engineering
Institute of Technology of Cambodia

March 9, 2021

Objective
1. To understand the role of mathematical models of physical systems in design and analysis of
control systems.

2. To learn MATLAB functions in solving and simulating such models.

The representation of a system provides complete knowledge of all variables of the system at any
t > f0 As an example, for a linear, time-invariant, second-order system with a single input v(t), the
state equations could take on the following form:
dx1
= a11 x1 + a12 x2 + b1 v(t) (1)
dt
dx2
= a21 x1 + a22 x2 + b2 v(t) (2)
dt
where x1 .x2 are the state variables. If there is single output, the output equation coult take on the
following form:
y = c1 x1 + c2 x2 + d1 v(t) (3)
The choice of state variables for a given system is not unique. The requirement in choosing the state
variables is that they be linearly independent and that a minimum number of them be chosen.
A system is represented in state space and a state vector space by the following equations:

ẋ = Ax + Bu (4)
y = Cx + Du (5)

• A is system matrix.

• B is input matrix

• C is output matrix

• D is feedforward matrix.

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 Figure 1: Mass-spring system model.

Part I: Mechanical System: Mass-Spring System Model

a) Derive the second order differential equation of the above mass-spring system.

b) Write the transfer function of the system X(s)/F (s).

c) Write the state space equation of the above system.

d) Construct a SIMULINK diagram to calculate the response of the Mass-Spring system. The input
force increases from 0N to 8N at t = 1s. The parameter values are M = 2kg, K = 16N/m,
and B = 4N.s/m (Draw a block diagram to represent this equation and draw the corresponding
SIMULINK diagram before implementing it on SIMULINK).

Part II: Electrical System: RLC circuit

Figure 2: RLC circuit A

a) Derive the differential equation of the above systems.

b) Write the transfer function of the systems.

c) Write the state space equation of the above system.

d) Construct a SIMULINK diagram to calculate step and impulse responses of the above systems.
Use R = 3, L = 4 and C = 2 (Draw a block diagram to represent the equations and draw the
corresponding SIMULINK diagram before implementing it on SIMULINK).

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Lab Assignment
I. Inverting Operational Amplifier Circuit
For figure 3 find the following:

Figure 3: Inverted amplifier circuit.

a) Find the transfer function Vo (s)/Vi (s)

II. DC Motor
A permanent magnet dc motor is a mechanism which converts electrical power to mechanical power via
magnetic coupling. The electrical power is provided by a voltage source, while the mechanical power is
provided by a spinning rotor. A very basic dc motor is constructed of two main components: the rotor
or armature and the stator. The armature rotates within the framework of the stationary stator. A
simple illustration of a dc motor is shown in figure below:

(a) DC motor structure (b) DC motor equivalent electrical diagram

The voltage across the inductor is proportional to the change of current through the coil with respect
to time. DC-motor mchanical equation could be written as follow:
dωm
J = Te − bv ωm − TL (6)
dt
Where J moment of inertia of a rotor, and bv is motor shaft viscous friction constant. Electrical
part of system coud be model by equation:

dia
Va = Ra ia + La + ea (7)
dt

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Assumpt that negletible field dynamic, constant ea = k1 ωm and Te = k2 ia , where k1 and k2 are assumed
motor constants. Assume that we know all parameters:

• J: moment of inertia of rotor 0.01K.gm2

• bv : motor viscous friction constant 0.1N.m.s

• k1 : motor torqe constant 0.01V /rad/s

• k2 : linearization constant 0.001N.m/Amp

• Ra : armature circuit resistance 1Ω

• La : armature circuit inductance 0.1H

a) Find the differential equation of the motor, transfer function and state space equations.

b) Make the block diagram of the transfer function and implement it in MATLAB SIMULINK. You
can reduce the block diagram according to your understanding and you are required to explain
each step of reduction in detail.

c) Write detailed analysis on the step response of the DC motor. State the assumptions in your
report.

Reference Formula
Video Material:
• How does an Electric Motor work? (DC Motor): https://youtu.be/CWulQ1ZSE3c

formula:

Figure 5: Voltage-current, voltage-charge, and impedance relationships for capacitors, resistors, and inductors.

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Figure 6: Force-velocity, force-displacement, and impedance translational relationships for springs, viscous
dampers, and mass.

Figure 7: Torque-angular velocity, torque-angular displacement, and impedance rotational relationships for
springs, viscous dampers, and inertia.