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Tutorial 2

This tutorial document covers modeling physical systems using Laplace transforms and transfer functions in MATLAB. It contains 4 problems: 1) Build Simulink models of a DC motor and compare responses with and without inductance. 2) Take the Laplace transforms of 5 functions. 3) Derive and simulate the transfer function of a mass-spring-damper system. 4) Derive and simulate the transfer function of a torsional vibration system.

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Sam Stide
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36 views

Tutorial 2

This tutorial document covers modeling physical systems using Laplace transforms and transfer functions in MATLAB. It contains 4 problems: 1) Build Simulink models of a DC motor and compare responses with and without inductance. 2) Take the Laplace transforms of 5 functions. 3) Derive and simulate the transfer function of a mass-spring-damper system. 4) Derive and simulate the transfer function of a torsional vibration system.

Uploaded by

Sam Stide
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Control ENGD3113 2022/2023

Tutorial 2 – Modelling of physical systems and


introduction to Laplace transform
Dr. Yunda Yan

Objectives
The objective of this tutorial is to:

• learn how to build a mathematical model of physical systems in Simulink

• learn how to compute the Laplace transform and use its properties;

• understand the concept of transfer functions as a model to physical systems and


its implementation in Matlab.

• implement and analyse numerically transfer functions and time reponse using
Matlab.

Problem 1
1. Explain the working principle of a DC motor depicted in Figure 1.

Figure 1: Physical layout of a D.C. motor.

2. Explain the components and variables shown of the schematic diagram in Figure
2 and map them to the physical D.C. motor shown in Figure 1.

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Control ENGD3113 2022/2023

Figure 2: Equivalent schematic of the D.C. motor.

3. The mathematical model of the D.C. motor is represented by equations (1) and
(2).
Electrical Part:
dia Ra Kb 1
= − ia − ωm + ea (1)
dt La La La
Mechanical Part:
dωm Km b
= ia − ωm (2)
dt Im Im
where Kb is the back emf constant, Km is the motor constant and b is the friction
coefficient.

• Build a Simulink model of the D.C. motor, and simulate its behaviour for
the constant input voltage and the following values of the motor parameters:
Ra = 1, La = 1 mH, Im = 1 N.m.s2 /rad, b = 20 N.m.s/rad and Km = Kb =
5 N.m/A, ea = 10V .
• Build a Simulink model of the D.C. motor ignoring the inductance, simu-
late its behaviour and compare the results with the ones obtained in 3).

Problem 2
Find the Laplace transforms of the following functions:

• delayed unit-step function f1 (t) = u(t − T ), t ≥ 0.

• f2 (t) = δ (t) − 43 e−t u(t) + 31 e2t u(t), where δ (t) is the Dirac-delta function and
u(t) is the unit-step function.

• f3 (t) = e−at cos(ω t), t ≥ 0.

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Control ENGD3113 2022/2023

• f4 (t) = e−at sin(ω t), t ≥ 0.

• f5 (t) = e−2t u(t) + e−t cos(3t)u(t).

Problem 3
• Calculate the transfer function from ( f → x), assuming the input is the force
and the output is the mass’s displacement, of the rectilinear vibration system
described by the differential equation given below:

mẍ + cẋ + kx = f (t).

with x(0) = ẋ(0) = 0.

• Compare the calculated transfer function to the standard second order oscillatory
system transfer function,

Kωn2
G(s) = ,
s + 2ζ ωn s + ωn2
2

and evaluate parameters K, ωn , ζ as functions of the parameters m, c, k of the


physical system.

• By assuming numerical values for m = 0.5 kg, c = 5N.s/m, k = 300N/m calcu-


late K, ωn , ζ and define the transfer function of the system G(s) in Matlab.

• Simulate the step response of the system resulting from the sudden change of the
force f (t) using the command “step” in Matlab. Investigate how the response
changes for different values of c.

• Compare the final value of the response from the simulations to the final value
of the response obtained from the final value theorem.

Problem 4
• Calculate the transfer function from (τ → θ ), assuming the input is the torque
and the output is the angular position, of the torsional vibration system described
by the differential equation given below:

J θ̈ + cθ̇ = τ.

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Control ENGD3113 2022/2023

with θ (0) = θ̇ (0) = 0.

• Compare the calculated transfer function to the standard form,

K
G(s) = ,
s(sT + 1)

and evaluate parameters K, T as functions of the parameters J, c of the physical


system.

• By assuming numerical values for J = 0.0214, c = 0.086 (these values are com-
patible with the torsional laboratory apparatus) calculate K, T and define the
transfer function of the system in Matlab.

• Simulate the step response of the system resulting from a sudden change of
the torque using the command “step” in Matlab. Investigate how the response
changes for different J.

• Compare the final value of the response from the simulations to the final value
of the response obtained from the final value theorem.

Page 4

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