BEEA 2383 Control System Fundamental

Objectives
Students should be able to:
 Determine modeling and transfer function
of electrical system.
 Determine modeling and transfer function
of mechanical system.
 Understand modeling and transfer function
of electromechanical system.
CONTROL SYSTEMS MODELING
 Electric network
 Translational mechanical system
 Rotational mechanical system
 System with gear
 ELECTRIC NETWORK MODELING
 For basic electrical circuit modeling, only Passive RLC
Network and Op-Amp circuit are considered.
 Equivalent circuits for the electric networks consist of
three passive linear components: resistors, capacitors
and inductors.
 Table 3.1 summarizes the components and the
relationships between voltage and current and between
current and charge under zero initial conditions.
 From these relationships, obtain differential equations
for the circuit using Kirchhoff’s laws.
 Next, Laplace transforms the differential equations and
finally solve for the transfer function.
Voltage-current, voltage-charge, and impedance relationships for
capacitors, resistors, and inductors.
Table 3.1
Component Voltage-Current Current-voltage Voltage-charge Impedance Admittance
 For the capacitor, V ( s )  1 I ( s )
Cs
 For the resistor, V ( s)  RI ( s )

 For the inductor, V ( s )  LsI ( s )

V (s)
 Now define the following transfer function:  Z ( s)
I ( s)
 [Sum of impedances] I(s) = [Sum of applied voltages]
Simple, Single-loop Electrical Network

 mesh analysis
◦ via the differential equation (Ex 3.1)
◦ via transform method (Ex 3.2)
 nodal analysis
◦ via transform method (Ex 3.3)
Example 3.1
 Find the transfer function relating the capacitor voltage, VC(s)
to the input voltage, V(s), in Figure below using mesh analysis
and transform methods.
Solution:
Single loop via the differential equation.

t
di (t ) 1
L  Ri (t )   i ( )d  v (t )
dt C 0
Changing variables from current to charge using i(t) = dq(t)/dt

d 2 q (t ) dq (t ) 1
L 2
R  q (t )  v (t )
dt dt C
Solution:
From the voltage-charge relation in Table 3.1:
1
v c (t )  q (t ) q (t )  Cv c (t )
C

d 2 v c (t ) dv c (t )
LC 2
 RC  v c (t )  v (t )
dt dt
Taking the Laplace transform
LCs 2V c ( s )  RCsV c ( s )  V c ( s )  V ( s )
Solution:

LCs 2Vc ( s )  RCsV c ( s )  Vc ( s )  V ( s )

Rearrange terms and simplifying yields

( LCs  RCs  1)V c ( s )  V ( s )

2

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

VC ( s ) 1 / LC
G (s)  
V (s) s 2  R s  1
L LC
So, the block diagram of series RLC electrical network:

Summary of steps of single loop transform method:

1. Redraw the original network showing all time variables, such
as v(t), i(t) and vc(t), as Laplace transforms V(s), I(s) and Vc(s)
respectively.
2. Replace the component values with their impedance values.
Example 3.2
Repeat example 3.1 using mesh analysis and transform methods
without writing a differential equation. (Single loop via transform
methods).

t
di (t ) 1
L  Ri (t )   i ( )d  v (t )
dt C 0

1
( Ls  R  ) I (s)  V (s)
Cs
 1
( Ls  R  ) I (s)  V (s)
Cs
Solving for I(s)/V(s) I (s) 1

V ( s ) ( Ls  R  1 )
Cs
But the voltage 1
across the capacitor Vc ( s )  I ( s ) Vc ( s )Cs  I ( s )
Cs
 Solving I(s) into equation:

I (s) 1
I ( s )  Vc ( s )Cs 
V ( s ) ( Ls  R  1 )
Cs
Vc ( s ) 1 Vc ( s )Cs 1
 
V ( s ) ( Ls  R  1 )Cs V (s) ( Ls  R 
1
)
Cs Cs
Answer:

Vc ( s ) 1

V ( s ) ( Ls  R  1 )Cs
Cs

VC ( s ) 1 / LC

V (s) R 1
s  s
2

L LC
Example 3.3
Repeat example 3.1 using nodal analysis and transform
methods without writing a differential equation.

Solution:
From I(s)=V(s)/Z(s),

VC ( s ) Vc ( s )  V ( s )
 0
1 R  Ls
Cs
Solution:
VC ( s ) Vc ( s )  V ( s )
 0
1 R  Ls
Cs

Vc ( s )  V ( s )
VC ( s )Cs  0
R  Ls

Vc ( s ) V (s)
VC ( s )Cs  
R  Ls R  Ls
 Solution:

Vc ( s ) 1
VC ( s )Cs ( R  Ls )  Vc ( s )  V ( s ) 
V ( s ) ( Ls  R  1 )Cs
Cs
(Cs ( R  Ls )  1)Vc ( s )  V ( s )
VC ( s ) 1 / LC

V (s) R 1
s  s
2

L LC
Complex Circuit (having more than one loop)

 mesh analysis
◦ via transform method (Ex 3.4)
 nodal analysis
◦ via transform method (Ex 3.5)
Example 3.4

I 2 ( s)
Given the network below, find the transfer function, .
V (s)
Solution:
Solution:

Around mesh 1,
R1 I1 ( s )  LsI 1 ( s )  LsI 2 ( s )  V ( s )

( R1  Ls ) I1 ( s )  LsI 2 ( s )  V ( s )
Around mesh 2,
1
LsI 2 ( s )  R2 I 2 ( s )  I 2 ( s )  LsI 1 ( s )  0
Cs

1
( Ls  R2  ) I 2 ( s )  LsI 1 ( s )  0
Cs
Solution:

Combining these equations to find answer:

( R1  Ls ) I1 ( s )  LsI 2 ( s )  V ( s )

1
( Ls  R2  ) I 2 ( s )  LsI 1 ( s )  0
Cs

1 1
( Ls  R2  ) I 2 ( s )  I1 ( s )
Ls Cs
 Solution:

1 1
( Ls  R2  ) I 2 ( s )  I1 ( s )
Ls Cs

R2 1
(1   2
) I 2 ( s )  I1 ( s )
Ls LCs
Combining these equations to find answer:

R2 1
(1   2
) I 2 ( s )  I1 ( s )
Ls LCs

( R1  Ls ) I1 ( s )  LsI 2 ( s )  V ( s )
Solution:

R2 1
( R1  Ls )(1   2
) I 2 ( s)  LsI 2 ( s )  V ( s )
Ls LCs
R1 R2 R1 LsR2 Ls
( R1   2
 Ls   2
) I 2 ( s)  LsI 2 ( s )  V ( s )
Ls LCs Ls LCs
R1 R2 R1 LsR2 Ls
( R1   2
 Ls  Ls   2
) I 2 ( s)  V ( s)
Ls LCs Ls LCs
R1 R2 R1 LsR2 Ls
( R1   2
  2
) I 2 ( s)  V (s)
Ls LCs Ls LCs
Answer:

I 2 ( s) 1

V ( s) R1 R2 R1 LsR2 Ls
( R1   2
  2
)
Ls LCs Ls LCs

I 2 (s) LCs 2
G (s)  
V ( s ) ( R1  R 2 ) LCs 2  ( R1 R2 C  L ) s  R1
Notice that we can also use these equations:

Sum of Sum of Sum of

Impedances I1(s) _ Impedances I2(s) = applied
around common to voltages
Mesh 1 the two around Mesh
meshes 1

Sum of Sum of Sum of

_ Impedances I (s) + Impedances I (s) = applied
1 2
common to around voltages
the two Mesh 2 around Mesh
meshes 2
Example 3.5

Find the transfer function, VC(s)/V(s), for the circuit below

(multiple nodes)
Solution:

Example 3.5

V L ( s )  V ( s ) V L ( s ) V L ( s )  VC ( s )
  0
R1 Ls R2

G1=1/R1 and G2=1/R2

VC ( s )  V L ( s )
CsV C ( s )  0
R2
G1=1/R1 and G2=1/R2

VL (s)
G 1 (V L ( s )  V ( s ))   G 2 (V L ( s )  V C ( s ))  0
Ls

CsV C ( s )  R 2 (V C ( s )  V L ( s ))  0
Example 3.6

Find the transfer function, VC(s)/V(s), for the circuit in Figure

2.4.
Answer:

G 1G 2
s
VC (s) C

V (s) G 1G 2 L  C G2
(G 1  G 2 ) s 
2
s
LC LC
where G1 = 1/R1 and G2 = 1/R2
where G1 = 1/R1 and G2 = 1/R2

Sum of Sum of
_ admittances V (s) Sum of applied
admittances VL(s) C =
currents at
connected to common to the Node 1
Node 1 two nodes

Sum of Sum of Sum of applied

_ admittances V (s) + admittances VC(s) =
L currents at
common to the connected to Node 2
two nodes Node 2
Example 3.6

Write the mesh equations for the network shown below.

Solution :

Sum of Sum of
Sum of Sum of applied
impedances impedances
impedances I1(s) _ I2(s) _ I (s) = voltages around
common to common to 3
around Mesh 1 Mesh 1
Mesh 1 and Mesh 1 and
Mesh 2 Mesh 3

Sum of Sum of
Sum of
impedances Sum of applied
_ common to I1(s) impedances I2(s) _ I3(s) = voltages around
+ common to
Mesh 1 and around Mesh 2
Mesh 2 and Mesh 2
Mesh 2
Mesh 3
Sum of
Sum of impedances Sum of
Sum of applied
_ common to I1(s) _ common to I2(s) impedances
+ I (s) = voltages around
Mesh 1 and Mesh 2 and around Mesh 3 3
Mesh 3
Mesh 3 Mesh 3
 Answer :

+(2s+2)I1(s) – (2s+1)I2(s) – I3 (s) = V(s) (1)

–(2s+1) I1(s) + (9s+1) I2(s) – 4s I3 (s) = 0 (2)
– I1(s) – 4s I2(s) + (4s+1+1/s) I3 (s) = 0 (3)

Solve the equation to obtain the transfer function of any of the currents
versus the supply voltage.
 It has been shown that electrical networks can
be modeled by a transfer function.
 The same also can be done for mechanical
systems through Newton’s Laws. .
 Mechanical systems, like electrical network
have 3 passive, linear components.
 Two of them
o spring
energy storage elements
o mass
another one
o viscous damper - dissipates energy
 These mechanical elements are shown in Table 2.4.
 In the table, K - spring constant
fv - coefficient of viscous friction
M - mass
 There are three categories of mechanical system
 translational system

 rotational system

 system with gear

 We now create analogies between electrical and

mechanical systems by comparing Table 2.3 and
2.4.
TABLE 2.4: Force-velocity, force-displacement, and impedance
translational relationships for springs, viscous dampers, and
mass.
 Steps to obtain transfer function for TMS:
Mechanical system requires just ONE differential equation,
called the equation of motion, to describe it.
1. Begin by assuming a positive direction of motion
(eg. to the right)
2. Using the assumed direction of position motion, we
first draw a free-body diagram.
3. Placing on the body all forces that act on the body
either in the direction of motion or appropriate to it
4. Use Newton’s law to form a differential equation of
motion, by summing the forces and setting the sum
equal to zero.
5. Take the Laplace transform of the differential
equation.
 This system involves the movement of an object along a
straight line.
 Three elements that usually exist in a system involving this
movement are mass, spring and damper.
 Figure 2.10(a) shows an analogy to the simple RLC network.
 This simple mechanical system requires just one differentiate
equation, called the equation of motion.
 Figure 2.10(b) shows the block diagram.

Figure 2.10
 Another way to find the transfer function is using
Laplace transform method.
 First, we take the Laplace transform from force
displacement column in Table 2.4, we obtain:
◦ for the spring, F(s) = KX(s)
◦ for the viscous damper, F(s) = fvsX(s)
◦ for the mass, F(s) = Ms2X(s)
 This approach is simpler rather than to write the
differentiate equation.
Example 3.9 (one equation of motion)
Find the transfer function, X(s)/F(s), for the system below using
the differentiate equation. Repeat the question without writing
the differentiate equation first.
Example 3.10 (one equation of motion)
Solution:
Step 1: Draw the free-body diagram shown in figure below

Step 2: write the differential equation of motion using Newton’s

law to sum all the forces.
Step 3: Solving the transfer function.
 Example 3.11 (one equation of motion)
Solution:

d 2 x(t ) dx(t )
M 2
 fv  Kx(t )  f (t ) Ms2 X (s)  fv sX (s)  KX (s)  F (s)
dt dt
Example 3.12 (one equation of motion)
Solution:

Ms X (s)  f v sX (s)  KX (s)  F (s)

2

(Ms  f v s  K ) X (s)  F (s)

2

X ( s) 1

F (s) Ms  f v s  K
2
Example 3.13
Find the transfer function given: K=1, fv=1.
Ex 2.20 (2 degrees of freedom)
Find the transfer function, X2(s)/F(s), for the system of Figure
shown below.
Ex 2.20 (2 degrees of freedom)
Solution:
 First, we take the Laplace transform of force displacement.

 Then, find all forces on M1. We can draw the transformed

free-body diagram as shown below.

The LT of the equation of motion can be written as:

(M1s2 + (fv1 + fv2)s + (K1 + K2)) X1(s) – (fv3s + K2)X2(s) = F(s)
Ex 2.20 (2 degrees of freedom)

 Then, find all forces on M2. We can draw the transformed

free-body diagram as shown below.

 The LT of the equation of motion:-

– (fv3s + K2)X1(s) + ((M2s2 + (fv2 + fv3)s + (K2 + K3))X2(s) = 0
 Then to find the TF, X(s)/F(s), we use Cramer’s rule.
Ex 2.20 (2 degrees of freedom)
Notice again, the equations are similar to electrical mesh equation.

Sum of Sum of
Impedances Impedances Sum of applied
_ X2(s) =
connected to X1 (s) between X1 forces at X1
the motion at and X2
X1

Sum of Sum of Sum of applied

_ Impedances X1(s) + Impedances X2(s) = forces at X2
between X1 connected to
and X2 the motion at
X2
 A mechanical system that undergoes rotation and no
translation.
 Handled the same way as translational mechanical system
with replacements below:
Rotational mechanical systems Translation mechanical systems
Torque, T(s) Force, F(s)
Angular displacement, (s) Translational displacement, X(s)
Inertia, J Mass, M

 Table 2.5 shows the components along with the

relationships between torque and angular velocity, as well as
angular displacement.
 The parameters K, D and J are called spring constant,
coefficient of viscous friction and moment of inertia,
respectively.
Table 2.5
Example 3.14
Find the transfer function, for the rotational system shown
below. The rod is supported by bearings at either end and is
undergoing torsion. A torque is applied at the left, and the
displacement is measured at the right.
Example 3.14
Solution:
Assume
Next draw a free body diagram of J1,

Torque on J1 when:
a. J2 still, J1 rotated
b. J1 still, J2 rotated
c. Final FBD for J1

( J1s  D1s  k )1 ( s )  k 2 ( s )  T ( s )

2
Then draw a free body diagram of J2,

Torque on J2 when:
a. J1 still, J2 rotated
b. J2 still, J1 rotated
c. Final FBD for J2

 k1 ( s )  ( J 2 s  D2 s  k ) 2 ( s )  0
2
From these figures, we obtain the equations of motion,

( J1s  D1s  K )1 ( s )  K 2 ( s )  T ( s )

2
(1)

 K1 ( s )  ( J 2 s  D2 s  K ) 2  0
2
(2)

 2 (s) K Where (J1s  D1s  K)

2
K
 
T (s)  K (J 2 s 2  D2 s  K)
Notice that, the obtained equations can be written in the form:-

Sum of 
 impedances  Sum of 
   impedances  Sum of 
 connected  1 ( s )    ( s )   applied torques 
   between  2  
 to the motion     at  1 
 at  1   1 and  2 

 Sum of 
Sum of   impedances 
 impedances    Sum of 
   1 ( s )   connected  2 ( s )   applied torques 
 between     
   to the motion   at  2 
  1 and  2   at  2 
Example 3.15
Write but do not solve the Laplace transform of the equations of
motion for the system shown in Figure 2.14.

Answer:

( J1s 2  D1s  k )1 ( s )  k 2 ( s )  0 3 ( s )  T ( s )

 k1 ( s )  ( J 2 s  D2 s  k ) 2 ( s )  D2 3 ( s )  0
2

 01 ( s )  D2 s 2 ( s )  ( J 3 s 2  D3 s  D2 s ) 3 ( s )  0
 Most systems with rotational mechanical system are usually
combined with gears with certain ratios.
 Gears provide mechanical advantages to rotational system
as high-speed rotation can be produced with low
torque and vice versa.
 The linearized interaction between two gears is depicted in
figure below.
an input gear with radius r1 and
N1 teeth is rotated through
angle 1 (t) due to torque, T1 (t).

an output gear with radius r2 and N2

teeth responds by rotating angle 2
(t) and delivering a torque, T2 (t).
Relationship between the rotation of Relationship between the input
gear 1, 1 (t) and gear 2, 2 (t) torque, T1 and the delivered torque,
T2

r11 = r22 r11 = r22

 2 r1 N1 T2 1 N 2
   
1 r2 N 2 T1  2 N1
Represent as equivalent system at 1 without the gears.
(reflect the mechanical impedance from the output to the
input ..)

63
reflect the mechanical impedance from the input to the
output …

64
Example 3.16
Find the transfer function, 2(s) / T1(s), for the system of figure
below.

65