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Control System Chapter2

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40 views21 pages

Control System Chapter2

Uploaded by

Sujin Prajapati
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Components Modelling of

Control System

Prepared by Radhika Kumari sah


Mathematical Modelling of Electrical
Components

 Taking the Laplace transforms of both the Equations

Applying KVL to the electrical circuit  If ei is assumed to be the input and eo the output, then
the transfer function of this system is found to be

VL+VR+Vc = ei
Remember
Find Transfer Functions following Elements.

Taking Laplace Transform of three eqns

KVL to mesh 1

Eliminating I1(s) from Equations (4)&(5) and writing


Ei (s) in terms of I2(s)
KVL to mesh 2

Output is given by:


Recall of Operational Amplifier
In early days when digital computers were not evolved, at that time the
different mathematical function were performed using amplifier by
connecting few resistors and capacitors.
Operational amplifier:
we know that an ideal op amp has infinite input
impedance due to which the currents flowing
into its input terminals are zero
Thus,
Iin = If.

As Vx = 0 (Virtual ground)

=
Find Transfer function e0/ei of the following circuit
Find Transfer function e0/ei of the following circuit

-----------(ii)

Dividing (ii) by (i)

---------------(i)
Analogous system
Two systems are said to be analogous to each other if the following
two conditions are satisfied.

The two systems are physically different


Differential equation modelling of these two systems are same
Using KVL,

----(1)
Substitute, i=dq/dt in Equation -----(3)

-----(2)
F-V analogy
Force (F-I) Current Analogy

Using KCL,

Substitute, V=dΨ/dt
F-I Current Analogy
Procedure for Conversion from Mechanical to Electrical
F-V analogy
• Each junction in the mechanical system corresponds to a closed loop
which consists of electrical elements.
• All points on a rigid mass are considered as the junction.

Short trick:
• Number of mass (L) corresponds to junction = number of loops
• Series B&K are represented as parallel R&C
• Parallel B&K are represented as series R&C
Examples F-V analogy
F-I analogy
• Each junction in the mechanical system corresponds to a node which joins
electrical elements analogous to the mechanical elements connected to the
junction.
• All points on a rigid mass are considered as the same junction and one
terminal of the capacitance analogous to a mass is always connected to the
ground.

Short Trick:
• Parallel B&K are represented as parallel R&L
• Series B&K are represented as series R&L
• Capacitance are always grounded.
Examples F-I analogy
Armature controlled Dc servo motor In Armature control dc
motor armature input
Where, voltage controls the motor
shaft output while the
field remains constant
Flux is proportional to field current Back emf is proportional to speed

Torque is proportional to ϕ x Ia Using KVL circuit to motor armature

Torque equation can be writtrn as


In armature control field remains
constant
Transfer function calculation of the system
Taking Laplace transform of (1), (2) and (3)

Transfer function of motor is:


Block diagram of Armature controlled DC motor

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