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2 Modeling

This document provides an overview of modeling mechanical and electrical systems. It discusses modeling mass, springs, dampers and gears in mechanical systems and their analogous components in electrical systems like inductors, capacitors and resistors. Transfer functions are introduced as a way to represent the input-output relationship of linear time-invariant systems using Laplace transforms. Examples are provided of modeling electro-mechanical systems and analyzing system properties from the locations of zeros and poles in the s-plane.

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30 views18 pages

2 Modeling

This document provides an overview of modeling mechanical and electrical systems. It discusses modeling mass, springs, dampers and gears in mechanical systems and their analogous components in electrical systems like inductors, capacitors and resistors. Transfer functions are introduced as a way to represent the input-output relationship of linear time-invariant systems using Laplace transforms. Examples are provided of modeling electro-mechanical systems and analyzing system properties from the locations of zeros and poles in the s-plane.

Uploaded by

s-tasneem.attia
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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UST

Control Systems

Modeling

Prof. Abdel-Latif Elshafei

CIE 318: Introduction A. L. Elshafei 1


UST

Outline

• Modeling Mechanical

• Modeling Electrical Systems

• Transfer functions

CIE 318: Introduction A. L. Elshafei 2


UST

Mechanical Systems:

• Mass 𝑚𝑥ሷ = σ forces in the acceleration direction

• Spring 𝑓 = 𝐾 × ∆𝑥
where ∆𝑥 is the relative displacement.

• Damper/Friction 𝑓 = 𝑏 × ∆𝑥ሶ
where ∆𝑥ሶ is the relative velocity

CIE 318: Introduction A. L. Elshafei 3


UST

Springs and Dampers

Parallel and series springs

𝐹 = 𝑘2 𝑥 − 𝑘2 𝑦 𝑘1 𝑘2
𝑘2 𝑦 − 𝑥 + 𝑘1 𝑦 = 0 𝐹= 𝑥
𝑘2 𝑘1 + 𝑘2
𝑦= 𝑥
𝑘1 + 𝑘2

Parallel and series dampers

𝑏1 𝑏2
𝑏𝑒𝑞 =
𝑏1 + 𝑏2
CIE 318: Introduction A. L. Elshafei 4
UST

Example

y
𝑘 𝑦−𝑢
m
𝑏 𝑦ሶ − 𝑢ሶ
Free body diagram

CIE 318: Introduction A. L. Elshafei 5


UST

Example

𝑥1
𝑢 𝑏 𝑥ሶ 1 − 𝑥ሶ 2
𝑚1
𝑘1 𝑥1 𝑘2 𝑥1 − 𝑥2

𝑏 𝑥ሶ 2 − 𝑥ሶ 1 𝑥2

𝑚2
𝑘3 𝑥2
𝑘2 𝑥2 − 𝑥1

CIE 318: Introduction A. L. Elshafei 6


UST

Example

CIE 318: Introduction A. L. Elshafei 7


UST

Mechanical Systems:

𝑇 = 𝐾∆𝜃

𝑇 = 𝐷∆𝜃ሶ

𝑇 = 𝐽𝜃ሷ

CIE 318: Introduction A. L. Elshafei 8


UST

Mechanical Systems:

Torque is analogous to voltage in transformers


Rotational angle is analogous to current in transformers

CIE 318: Introduction A. L. Elshafei 9


UST

Example

Rotational system
with gears

Reflection of
Reflection of D,
input torque
K, and J.
𝑁2
𝑇1 − 𝐷𝑒𝑞 𝜃ሶ1 − 𝐾𝑒𝑞 𝜃1 = 𝐽𝑒𝑞 𝜃ሷ1 𝑇1 − 𝐷𝜃ሶ2 − 𝐾𝜃2 = 𝐽𝜃ሷ2
𝑁1

CIE 318: Introduction A. L. Elshafei 10


UST

Electric Circuits

CIE 318: Introduction A. L. Elshafei 11


UST

Electrical Circuits

1
𝐿𝑠 + 𝑅 + 𝐼 = 𝐸𝑖
𝐶𝑠
1
𝐼 = 𝐸𝑜
𝐶𝑠

CIE 318: Introduction A. L. Elshafei 12


UST

Example of a Electro-mechanical System

𝑑𝑖𝑎
𝑒𝑎 = 𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝑣𝑏
𝑑𝑡
𝑇𝑚 = 𝑘𝑚 𝑖𝑎
𝐽𝜃ሷ𝑚 = 𝑇𝑚 − 𝐵𝜃ሶ𝑚
𝑣𝑏 = 𝑘𝑏 𝜃ሶ𝑚

CIE 318: Introduction A. L. Elshafei 13


UST

Transfer Functions

CIE 318: Introduction A. L. Elshafei 14


UST

Transfer Functions

𝑢 𝑡 𝑦 𝑡
Linear Time-invariant System
ℎ 𝑡

The output, 𝑦 𝑡 , is related to the input, 𝑢 𝑡 , and the impulse


response, ℎ 𝑡 , through the convolution relation
𝑡
𝑦 𝑡 = න ℎ 𝑡 − 𝜏 𝑢 𝜏 𝑑𝜏
0

Using the Laplace transform, it is possible to write 𝑌 𝑠 = 𝐻 𝑠 𝑈 𝑠

𝒀 𝒔
The transfer function is defined as 𝑯 𝒔 = .
𝑼 𝒔

CIE 318: Introduction A. L. Elshafei 15


UST

Transfer Functions
𝑁 𝑠
Let 𝐻 𝑠 =
𝐷 𝑠

The roots of the numerator polynomial, 𝑁 𝑠 , are called the zeros


of the system.

The roots of the denominator polynomial, 𝐷 𝑠 , are called the poles


of the system.

The equation 𝐷 𝑠 = 0 is called the characteristic equation of the


system.
𝑠+1
Example: Let H 𝑠 =
𝑠+2 𝑠+3
𝑁 𝑠 =𝑠+1=0 → The zero is at 𝑠 = −1
𝐷 𝑠 = 𝑠 + 2 𝑠 + 3 = 0 → The poles are at 𝑠 = −2 and 𝑠 = −3

CIE 318: Introduction A. L. Elshafei 16


UST

The s-plane
𝑗ℐ𝓂 𝑠
zero
× pole 𝐿. 𝐻. 𝑆 𝑅. 𝐻. 𝑆
ℛℯ 𝑠 𝜎-axis

𝑗𝜔-axis

Systems that have poles in the RHS are called nonminimum phase
systems.

Systems that have poles in the RHS are called unstable systems.

CIE 318: Introduction A. L. Elshafei 17


UST

Inverse Laplace Transform

CIE 318: Introduction A. L. Elshafei 18

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