CONTENTS preface a Listof Symbols and Abbroviations a CHAPTER 1: Systems Components Gnd thelr Representation 447 Control System: Terminology and Basle Structure 4,1 tA Open Loop System 4.4 1B Closed Loop System 1.1 1.4.3 Feed Forward and Feedback Contiol Theory 4.2 1.1.4 Examples of Control Systems 1.4 4.2 Mathematical Models of Control System 1.7 4.3. Electrical Transfer Function Models 1.8 1.3.1 Transfer Function of Armature Controlled DC Motor 1.8. 132 Transfer Function of Field Controlled DC Motor 1.11 WG Mechanical Transfer Function Models 1.14 1.41 Mechanical Translational Systems 1.14 1.4.2 Mechanical Rotational Systems 1.22 WS Electrical Analogous of Mechanical Translational Systems 1.27 6 _Electrical Analogous of Mechanical Rotational ‘Systems 1.42 “UT, Block Diagram Models 1.54 <1 signal Flow Graph Models 1.72 1.9. Automatic Control System 1.91 1.9.1 DC Servo System 1.93 1.9.2 AC Servo System 1.93 1.10 Components of Control System 1.94 1.10.1 Potentiometer 1.94 1.10.2. Servomotor 1.96 1.103 DC Servometor 1.97 1.104 AC Servomotor 1.99 1.40.8 Synchronous 1.104 1.11. Multivariable Control Systems 1.109 1.12 Short-Answer Questions 1.112 WAT Excorcises 1.119 11-1126 CHAPTER 2: Time Response Analysis 2.1-2.82 2.1 Time Respone 2.1 244 Order of a System 2.4 2.4.2 Impulse Response 2.2 2.1.3. Time Response from Transfer Function of the System 2.2 2.1.4 Transient and Steady State Response 2.3 2.1.5. Types of Test Signals (Time Domain Specifications) 2.4 2.2 First Order System 2.6ss i Control Systems, Engineey in of First Order Systom for Unit Stop Input 2.6 rea Necnaes of Performance of Standard First Order System 2.7 lem 2.7 Second ea of Undamped Socond Order System for Unit Stop Input 2.8 Response of Underdampod Second Order System for Unit Stop Input 2.10 Rosponso of Critically Dampod Second Ordor System for Unit Step Input 2.12 Response of Over Damped Second Order System for Unit Step Input 2.13 Measures of Performance of a Standard Second Order System 2.15 (Time Domain Specifications) 2.3.6 Expression for Time Domain Specifications 2.16 2.4 Effect on an Additional Zero and an Additional Pole 2.20 2.5 Review of Partial Fraction Expansion 2.20 2.6 Steady State Error 2.36 Static Error Constants (or Steady Error Constants) 2.37 ‘System Type Number 2.37 ‘Steady State Error When the Input Is Unit Step Signal 2.37 ‘Steady State Error When the Input Is Unit Ramp Signal 2.38 ‘Steady State Error When the Input Is Unit Parabolic Signal 2.39 Generalized Error Coefficients 2.40 Evaluation of Generalized Error Coefficients 2.42 Correlation Between Static and Dynamic Error Coefficients 2.43 Alternate Method for Generalized Error Coefficients 2.44 PID Control 2.52 2.7.1. Components of Automatic Control System 2.52 2.7.2. Controllers 2.53 2.7.3. Response with P, Pl, PD and PID Controllers 2.57 2.8 Analytical Design of PD, Pl and PID Control Systems 2.60 2.8.1 Procedure for Design of PD/PI/PID Controller 2.62 2.9 Short-Answer Questions 2.67 2.10 Exercises 2.78 2 eo 2 ey CHAPTER 3: Frequency Response and System Analysis 3.1. Frequency Response 3.1 3.1.1 Open Loop Frequency Response 3.2 3.1.2 Closed Loop Frequency Response 3.2 3.2 Performance Specification in Frequency Domain 3.3 3.3 Frequency Response of Standard Second Order System 3.4 3.3.1 Correlation between Time and Frequency Response 3.7 3.4 Bode Plot 3.9 3.4.1 Basic Factors of G(Jw) 3.10 3.4.2 Procedure for Magnitude Plot of Bode Plot 3.17 3.4.3 Procedure for Phase Plot of Bode Plot 3.19 34.4 Determination of Gain Margin and Phase Margin from Bode Plot 3.19 3.4.5 Gain Adjustment in Bode Plot 3.20 3.5 Polar Plot (Nyquist Plot) 3.37 35:1. Determination of Gain Margin and Phase Margin from Polar Plot 3.40 3.5.2 Gain‘Adjustment using Polar Plot 3.41 . 3.6 Control System Design using Compensators 3.62 / 3.7 Design of Compensators using Bode Plot 3.63 3.8 Cascade Lead Compensation 3.64 38.1 s-Plane Representation of Lead Compensator 3.64 382 Realization of Lead Compensator using Electical Network 3.65 3.1-3.1163.8.3 Frequency Rosponso of Load Com 3.8.4 Procedure for Design of Load Cor Pe ray MPonsator using Bode Plot 3.64 3.9.1 s-Plane Representation of La 19 Compensator 3.80 3.9.2 Realization of Lag Compensator using Electtical Network 3 3.9.3 Frequency Response of Lag Componsator 3,81 omens 3.9.4 Procedure for the Design of La g Com 3,10 Lag-Lead Compensation 3,94 reaeenan earmeeiael 3.10.1 _s-Plane Representation of Lag. 3.10.2 Realization of Lag. Ponsator 3.66 -Lead Compensator 3.94 -Lead Compensator using Electr 1g Electrical 3.10.3 Frequency Response of Lag-Lead Compensator 308 Network 3.94 3.10.4 Procedure for Design of La: g-Lead Compensat 3.11 Short-Answer Questions 3.104 pensator using Bode Plot 3.97 3.42 Excercises 3.115 CHAPTER 4: Concepts of Stability Analysis : —— 4,1-4.102 4.4 Concept of Stability 4.1 4.1.1 Definitions of Stability 4.1 4.1.2 Impulse Response of a System 4.1 4.1.3 Bounded-Input Bounded-Output (BIBO) Stability 4.2 4.1.4 Location of Poles on s-Plane for Stability 4.3 4.2 Routh Stability Criterion 4.8 4.2.1. Construction of Routh Array 4.9 4.3 Relative Stability 4.26 4.3.1 Gain Margin and Phase Margin 4.27 Root Locus Concept 4.32 4.4.1 Guidelines for Sketching Root Locus 4.35 4.5 Mathematical Preliminaries for Nyquist Stability Criterion 4.67 46 Nyquist Stability Criterion 4.70 4.6.1 Procedure for Investigating Stability using Nyquist Criterion 4.73 4.7 Short-Answer Questions 4.96 48 Excercises 4.100 4A B CHAPTER 5: Control System Analysis using State Variable Methods 5.1-5.114 5.1. State Space Analysis 5.1 5.1.1. State Variable Representation 5.1 5.1.2 State Model 5.2 5.1.3 State Diagram 5.4 5.2 Conversion of State Variable Models to Transfer Functions 5.6 5.3. Conversion of Transfer Function to State Variable Models 5.11 53.3.1. State Space Representation using Phase Variables 5.11 5.3.2 State Space Representation using Canonical Variables 5.21 - 5.3.3 Transformation of State Model 5.29 5.4. Solution of State Equations 5.35 5.4.1. Solution of State Equations in Time Domain 5.35 5.4.2. Solution of State Equations in Laplace Transform 5.36 5.5 Concepts of Controllability and Observability 5.42 5.6 Stability of Linear Systems 5.49 5.7 Equivalance between Transfer Function and State Variable Representations 5.51coe xiv Control Systems Enging, 7 eri 5.8 Discrete Time Signals and Systems 5.56 ~ 5.8.1 Discrete Time Signal 5.56 5.8.2. Discrete Time System 5.58 5.8.3 Transfer Function of Linear Discrete Time System 5.60 5.9 State Space Representation of Discrete Time Systems 5.61 (Gtate Space Representation of Digital Control Systems) State Diagram of Discrete Time System 5.64 Phase Variable Form of State Model 5.65 Canonical Form of State Model 5.67 ‘Transfer Function of Discrete Time System from State Model 5.69 5.9.5 Solution of Discrete Time State Equations 5.70 5.10 Discrete (or Digital) Control System Design via Pole Placement by State Feedback 5.80 5.11. Short-Answer Questions 5.94 5.12 Excercises 5.108 ‘APPENDICES Al-AI3) Appendix 1: Laplace Transform Pairs and Properties A.1 Appendix 2: Roots of Aigebric Equation by Lin's Method A3 Appendix 3: Matrix Fundamentals A4 Appendix 4: Z-Transform A.7 INDEX VIR1.5,A LIST OF SYMBOLS ND ABBREVIATIONS SS symbols os TS Sw = oS OSS = FRR FR RI Ff CORK Fe 27x78 ez Viscous friction coefficie, Back emf, v Steady state error Applied force, N Opposing force offered bi body, N Y Mass of the Opposing force offered b of the body, N Opposing force offered by the friction of the body, N Sampling frequency, Hz Conductance, mho ‘Transformation or operator Armature current, A Field current, A Moment of inertia, kgom'/rad Stiffness of the spring, Nem / rad Acceleration error constant Back emf constant, V / (rad/sec) Derivative constant or gain Integral constant or gain Gain Margin Motor gain constant Proportional gain Torque constant, Nam/A Torgue constant, Nm / A Velocity error constant Armature inductance, H Field inductance, H Mass, kg Resonant peak Onder of the system ‘Type aumber Pole of 8 system Pole of compensator nt, N-sec/m, y the clasticity \ PXDDD | wo ne nade 2 < * a e/g oS x . Forward path gain of K" forward path Charge Armature resistance, Q Field resistance, Q Complex variable Dominant pole Applied torque, N-m Electrical time constant Opposing torque due to friction, N-m Delay time Derivative time Field time constant Integral time Opposing torque due to moment of in- ertia, Nem. Opposing torque due to clasticity, N-m Mechanical time constant Peak time Rise time Settling time Normalized resonant frequency Armature voltage, V Field voltage, V Displacement, m Zero of a system Zero of compensator Angular displacement, rad Angular velocity, rad/sec Angular acceleration, rad/sec? Undamped natural frequency, rad/secxvi Control Systems Engine i “4 ©, Comer frequency Q Composite matrix for Observabili, ©, Damped frequency of oscillation U(t) Input ee ; a Phase angle U(k) Input vector of discrete time SY¥stem, ®, Frequency of maximum phase lag/lead X(t) State variable vector 6. Maximum lag/lead angle x, Initial condition vector 6. Angle of asymptotes X(k) State vector of discrete time system $ Angle of departure Y(t) Output vector ; x Eigen value Y(k) Output vector of discrete time s¥stem, 5, Impulse train A Grammian matrix Standard Input/Output signals c(t) Response in time domain ck) Response of discrete signal e(t) Error signal f(kT) Digital error signal g(kT) Digital control signal r(t) Input in time domain rk) Discrete time input signal u(t) Control signal (Analog) 5(t) Impulse signal Matrices and Vectors A System matrix AY State transition matrix of discrete system B Input matrix c Output matrix D ‘Transmission matrix “ State transition matrix I Identity matrix J Jordan matrix Transform Operators and Functions A(s) Auxiliary polynomial E(s) Error signal in s-domain G(s) Open loop transfer function G(s)H(s) Loop transfer function H(s) Feedback transfer function iG Laplace transform cl Inverse Laplace transform M(s) Closed loop transfer function T(s) Transfer function of the system zZ Z:transform 2 Inverse Z-transform Abbreviations BIBO Bounded Input Bounded Output LDS Linear Discrete Time System LT Linear Time Invariant System ROC Region of convergence ZO Zero Order HoldCHAPTER 1 SYSTEM COMPONENTS AND THEIR REPRESENTATION ————— 1.1 CONTROL SYSTEM: TERMINOLOGY AND BASIC STRUCTURE Control system theory evolved as an engineering discipline and due to universality of the principles involved, it is extended to various fields like economy, sociology, biology, medicine, etc. Control theory has played a vital role in the advance of engineering and science, The automatic control has become an integral part of modern manufacturing and industrial processes. For example, numerical control of machine tools in manufacturing industries, controlling pressure, temperature, humidity, viscosity and flow in process industry, When a number of elements or components are connected in a sequence to perform a specific function, the group thus formed is called a system. In a system when the output quantity is controlled by varying the input quantity, the system is called control system. The output quantity is called controlled variable or response and input quantity is called command signal or excitation. mA OPEN LOOP SYSTEM Any physical system which does not automatically correct the variation in its output, is called an open loop system, or control system in which the output quantity has no effect upon the input quantity are called open-loop control system. This means that the output is not fedback to the input for correction, Disturbance Input_| Open toop | Output | system (Plant) ) Fig 1.1 : Open loop system. In open loop system the output can be varied by varying the input, But due to external disturbances the system output may change. When the output changes due to disturbances, it is not followed by changes in input to correct the output. In open loop systems the changes in output can be corrected by changing the input manually. 2 CLOSED LOOP SYSTEM Control systems in which the output has an effect upon the input quantity in order to maintain the desired output value are called closed loop ystems, Dist ! Error Detector . ° Output Reference +{Conile Open oop syten|_Ouirs Input tt) 1) Feedback} Fig 1.2 : Closed loop system.a“ 12 Control Syatemg Engineer, ln, The open loop systein can be modified as closed loop system by Providing a feedback, provision of feedback automatically corrects the changes in output due to disturbances, Hence the ck The loop system is also called automatic control system. The general block diagram of an automatic system is shown in fig 1.2, It consists of an error detector, « controller, plant (open loop system) ‘a feedback path elements, The reference signal (or input signal) corresponds to desired output. The feedback Path elemen samples the output and converts it to a signal of same type as that of reference signal. The feedbacy signal is proportional to output signal and it is fed to the error detector. The error signal generated error detector is the difference between reference signal and feedback signal. The controller modifies ang amplifies the error signal to produce better control action. The modified error signal is fed to the Plant 1p correct its output. Advantages of open loop systems 1. The open loop systems are simple and economical. 2. The open loop systems are easier to construct. 3. Generally the open loop systems are stable. Disadvantages of open loop systems 1. The open loop systems are inaccurate and unreliable. 2. The changes in the output due to external disturbances are not corrected automatically. Advantages of closed loop systems 1. The closed loop systems are accurate. 2, The closed loop systems are accurate even in the presence of non-linearities, 3. The sensitivity of the systems may be made small to make the system more stable. 4. The closed loop systems are less affected by noise. Disadvantages of closed loop systems + The closed loop systems are complex ‘and’ costly) ‘ : . The feedback in closed loop system’ may lead to oscillatory response. . The feedback reduces the overall gain of the system": \.1 »i ‘ . Stability is a major problem iin.closed:loop system and more care:is needed. to design a stable closed loop system... ait ; ken a ae . Hust acl) In automatic control systems, the changes in-the controlled output variable due to disturbances-are usually corrected automatically by feedback control. An alternative apprddeh fr aitorhatic coireetion'oF changes in output variable due,to disturbances is yt tat HO) i In feedforward control the disturbance is measured beforé:it eriter the plant: Appropriate cortéction’? to bemade at the input are determined using the measured disturbance and input is corrected automaticaly, So that the corrected input and disturbance enter the plant almost simultaneously. This help in eliminating the effect of disturbance in the output-imuch faster than feedback control, and.also reduce the transient error. The feedforward control cannot be implemented alone, because it will not make corréctions for non- measurable disturbances. Therefore, a system with feedforward control will also have a feedback control.Chapter 1 - Systems Components and their Representation 1.3 Consider the unity feedback control system with an error correction controller in series with the plant as shown in fig 1.3, Let, G(s) = Open loop transfer function G,{s) = Controller transfer function - Disturbance RG) EG) Gol Output Feedback control Fig 1.3: Feedback control system Let, N(s) = Disturbance or Noise input G,(s) = Disturbance transfer function Now, a feedforward transfer function G(s) can be designed and implemented in the system as shown in fig 1.4. NG) . NG)G(s) [Disturbance G(s) Feedforward control GA) RG) Oey Ga EI Gy CLOG) Input Feedback control Fig. 1.4: Feedforward and feedback control system The feedforward transfer function can be derived in terms of G(s), G(s) and G(s) as shown below. With reference to fig 1.4, the equation for error signal E(s) can be written as shown below, E(s) = ROS)—C(S)# NGG) ae (Ll) With reference to fig 1.4, the equation for output C(s) can be written as shown below. C(s) = E(s) G(s) G(s) + N(s) G(s) ‘On substituting for E(s) from equation (1) in the above equation we get, C(s) = [R(s) — Cs) + N(s) GAs) ] G(s) G(s) + NGS) G(s) ~. C(s) = [R(s) -— C(s)] G.(s) G(s) + N(s) Gs) G(s) G(s) + N(s) G(s) ~*. C(s) = [R(s) - C(S)] G(s) G(s) + [ GAs) G(s) G(s) + G,(s)] N(s) In the above equation, if, G(s) G(s) G(s) + G(s) =0, then the effect of disturbance in the output will be zero.1.4 Control Systems Engin, ey Therefore, the feedforward transfer function is designed such that, G(s) G(s) G(s) + G(s) =0 P Gals) * GO=-EE)GH From the above equation it is clear that, feedforward transfer function G(s) can be designed on from the knowledge of disturbance transfer function G,(s). . y The advantage of feedforward control is that it reduces the transient error and so it performs ve, fast corrections but this control is applicable only if the disturbances are measurable. But, the feedbag control can be employec for both measurable and non-measurable disturbances. 1.1.4 EXAMPLES OF CONTROL SYSTEMS EXAMPLE 1 : TEMPERATURE CONTROL SYSTEM OPEN LOOP SYSTEM The electric furnace shown in fig 1.5. is an open loop system. The output in the system is the desired temperature The temperature of the system is raised by heat generated by the heating element. The output temperature depents on the time during which the supply to heater remains ON. . The ON and OFF of the supply is governed by the time setting of the relay. The temperature is measured bya sensor, which gives an analog voltage corresponding to the temperature of the furnace. The analog signal is converted to digital signal by an Analog - to - Digital converter (A/D converter). Sensor Electric | ND Fumace Converter; —> Interface oe ‘Heating element teal Relay [—2 Control | _AC supply Circuit_ [—? Fig 1.5 : Open loop temperature control system. ‘The digital signal is given to the digital display device to display the temperature. In this system if there Is 8" change in output temperature then the time setting of the relay is not altered automatically, CLOSED LooP SYSTEM The electric fumace shown in fig 1.6 is a closed loop system. The output of the system is the desired temperatu’® ‘and it depends on the time during which the supply to heater remains ON.Chapter 1 - Systems Components and thelr Reprenentation 1,5 Sonsor 5 Digital control AD reult Fi ‘umacel [Converter —o Meee |_Fcontoier (or) PT ComputariMicro Heating element ee | Ampitier DA |, Reference input Ke ad [Converter] (Desired temperature) Acé ‘Supply Fig 1.6 : Closed loop temperature control system. The swit 19 ON and OFF of the relay is controlled by a controller which is a digital system or computer. The desired temperature is input to the system through keyboard or as a signal corresponding to desired temperature via ports. The actual temperature is sensed by sensor and converted to digital signal by the A/D converter. The computer reads the actual temperature and compares with desired temperature. Ifit finds any difference then it sends signal to switch ON or OFF the relay through D/A converter and amplifier. Thus the system automatically corrects any changes in output. Hence itis a closed loop system, EXAMPLE 2 : TRAFFIC CONTROL SYSTEM OPEN LOOP SYSTEM Traffic control by means of traffic signals operated on a time basis constitutes an open-loop control system. The sequence of control signals are based on a time slot given for each signal, The time slots are decided based on a traffic study. The system will not measure the density of the traffic before giving the signals. Since the time slot does not changes according to traffic density, the system is open loop system, CLOSED LOOP SYSTEM Traffic control system can be made as a closed loop system if the time slots ofthe signals are decided based on the density of traffic. In closed loop traffic control system, the density of the traffic is measured on all the sides and the information is fed to a computer. The timings of the control signals are decided by the computer based on the density of traffic, Since the closed loop system dynamically changes the timings, the flow of vehicles will be better than open loop system. EXAMPLE 3 : NUMERICAL CONTROL SYSTEM OPEN LOOP SYSTEM Numerical controls @ method of controling the motion of machine components using numbers. Here, the position ‘of work head tool is controlled by the binary information contained in a disk. Output - Servo Reader > DIA > Amplifier} —>) >. FM pulse| motor (Too! T position) Magnetic disk Fig 1.7 : Open loop numerical control system.Control Systems Engineer, a ‘A magnetic disk is prepared in binary form representing the desired part P (P is the metal part to be Machine, The too! will operate on the desired part P. To start the system, the disk is fed through the reader to the D/A conven, The D/A converter converts the FM(frequency modulated) output of the Teader to a analog signal, It is amplified any fed to servometer which positions the cutter on the desired part P. The position ofthe cutter head is controlled angular motion of the servometer, This is an open loop system since no feedback path exists between the output a input. The system positions the tool for a given input command, Any deviation in the desired Position is not checkeg and corrected automatically, CLOSED LOOP SYSTEM A magnetic disk is prepared in binary form representing the desired Part P (P is the metal part to tg machined). To start the system, the disk is loaded in the reader. The controller compares the frequency Modulateg the input of the servomotor. The transducer attached to the cutterhead converts the motion into an electrical signal. The analog electrical signal is converted to the digital pulse signal by the A/D Converter. Then this signal is compared with the ‘input pulse signal. If there is any difference between these two, the controller ‘sends a signal to the servomotor to reduce it Thus the system automatically corrects any deviation in the desired output tool position. An advantage of numerical Control is that complex parts can be produced with uniform tolerances at the maximum milling speed, Output (Tool position) DIA Reader |— + Controller —reon yer >} Cutter pulse Magnetic © | Maar Feedback signal [ap] Feedback signal (Digital) convener (Analog) Fig 1.8 : Closed loop numerical control system, EXAMPLE 4 : POSITION CONTROL SYSTEM USING SERVOMOTOR Posi Shown in fig 1.9 is a closed loop system. The system consists of a servomotor Se _ Soot rieiaed whose foeton has to be controlled is connected to motor shaft through gear eater Jometers are used to convert the mechanical moton to electrical signals. The desired load position (i) tet on the potentiometer and the actual load position (@,) is fed to feedback potentiometer. The Aifrencs toes joan te eo Sng Positions generates an error signal, which is amplified and fed to generator field ate Knced emf ofthe generator crves the motor. The rotation of the motor stops when the error signal is zero, |.8. The ind onerat the Gested ood as ; lied servomechanisms. The servo or servomechanisms are ee Mins oO ore CotpatTs mechanical position (or me derivatives of pesiion e.g, veloc and ecceeraion contro! systems ;chapter 1 - Systema Componente and their Reprenentation “7 Chapter" > Ste tlio @ Gears Input Feedback potentiometer potentiometer - Fig 1.9: A position control system (servomechanism). 1.2 MATHEMATICAL MODELS OF CONTROL SYSTEM ‘A control system is a collection of physical objects (components) connected together to serve an objective. The input output relations of various physical components of a system are governed by differential equations. The mathematical model of a control system constitutes a set of differential equations. The response or output of the system can be studied by solving the differential equations for various input conditions. The mathematical model ofa system is linear if it obeys the principle of superposition and homogenity. This principle implies that if a system model has responses y,(t) and y,(t) to any inputs x,(t) and x,(t) respectively, then the system response to the linear combination of these inputs a,x, (t) + a, x, (0) is given by linear combination of the individual outputs a, y,(t) +a, y,(), where a, and a, are constants. The principle of superposition can be explained diagrammatically as shown in fig 1.10. ar r() fc} c(t) nr fa] System System an* oy oe 5; The =ae()+ act) (1) —fe}> eo) 0) fa] an) then system G is ia ] ‘System Fig 1.10 : Principle of linearity and superposition. ‘A mathematical model will be linear if the differential equations describing the system has Constant coefficients (or the coefficients may be functions of independent variables). If the coefficients of the differential equation describing the system are constants then the model is finear time invariant. If the coefficients of differential equations governing the system are functions of time then the model is linear time varying.ae Control Systems Engineering The differential equations of « linear time invariant system can be reshaped into different form “the convenience of analysis, One such mode for single input and single output system analy. function of the system. The frangfer function of a ‘System is defined as the ratio of Laplace output to the Laplace transform of input with zero initial conditions, ; Transfc f output Transfer function = L2place Transform of output Laplace Transform of input wit seroinita conditions te t Sis is transfep transform of. The transfer function can be obtained by taking Laplace transform of the differential equations governing the system with zero initial conditions and rearranging the resulting algebraic equations to get the ratio of output to input. ' 1,3 ELECTRICAL TRANSFER FUNCTION MODELS The models of electrical systems can be obtained by using resistor, capacitor and inductor. The current. voltage relation of resistor, inductor and capacitor are given in table-1. For modelling electrical systems, the electrical network or equivalent circuit is formed by using R, L and C and voltage or current source, The differential equations governing the electrical systems can be formed by writing Kirchoft's current law equations by choosing various nodes in the network or Kirchoff’s voltage law equations by choosing various closed paths in the network. The transfer function can be obtained by taking Laplace transform of the differential equations and Tearranging them as a ratio of output to input. Table- Current-Voltage Relation of R, L and C Element Voltage across the element Current through the element i oR + ms v(t) = Ri(t) v(t) i L =L4; ij=t {OH v()sL ai) i(t)= LJ vit) at v(t) i Cc -1f; iy = cLVO it vo t fiw at im=cX v(t) 1.3.1 TRANSFER FUNCTION OF ARMATURE CONTROLLED DC MOTOR The speed of DC motor is directly proportional to armature voltage and inversely proportional to flux in field winding. In armature controlled DC motor the desired speed is obtained by varying the armature voltage. This speed control system is an electro-mechanical control system, The eleewieol system consists ofthe armature and the field circuit but for analysis purpose, only the armature circuit is considered because the field is excited by a constant voltage. The mechanical system consists of the rotating part of the motor and load connected to the shaft of the motor. The armature controlled DC motor speed control system I$ shown in fig 1.11. : (Output) Fig 1.11 : Armature controlled DC motor,»Chapter 1 - Systems Components and thelr Representation Let, R,= Armature resistance, 0 L,= Armature inductance, H i, = Armature current, A y, = Armature voltage, V ¢, = Back emf, V K = Torque constant, N-nvA T = Torque developed by motor, N-m. 6 = Angular displacement of shaft, rad = Angular velocity, rad/sec J = Moment of inertia of motor and load, Kg-m?/rad B = Frictional coefficient of motor and load, N- ‘mi/(rad/sec) K,= Back emf constant, V/(rad/sec) + The equivalent circuit of armature is shown in fig 1.12. By Kirchoff’s voltage law, we can write, iRiLoeseey, wwe(1.2) L9 R, u FW 7008 ik, di 4 4 dt Torque of DC motor is proportional to the product of fiux and current. Since flux is constant inthis system, the torque is proportional to i, alone, Toi, <. Torque, T=K, i, sne(13) Fig 1.12 : Equivalent circuit of armature. \ Par eT The mechanical system of the motor is shown in fig 1.13. The differential equation governing the mechanical system of motor is given by, #6, p do _ ae BGT wee.) The back emf of DC machine is proportional to speed (angular velocity) of shaft. ceo and o= 42 ; » ca or Back emfe,=K, 2 (1.5) The Laplace transform of various time domain signals involved in this system are shown below. L{v,} =V(s) 5 L{e,} = ES) 5 L{T} = Ts) 5 Lfi.} = las) ; £0} = 0(s) The differential egatons governing the armature controlled DC motor vow control system are, 128, Bier ; LR, Leh +ey=¥, 3 T=Kia 5 Kt Taking Laplace transform of the above equations vith zero initial ae we get, Ls) R,+ LsI(s) + E,(9) = V6) TS) =KI(s) Js°6(s) +B s @(s) = T(s) Es) = K,s0 (s)__Controt we Bete On equating equations (1.7) and (1.8) we get, ve K1,(8) = (is? + Bs) 0(8) 2 169 = USER ag 1 “4 Equation (1.16) can be written as, (R, + sL,) (8) + E(s) = Vs) Substituting for E,(s) and 1,(s) from equation (1.9) and (1.10) respectively in equation, ®+sL,) ogee 0(s) + K,s0(8) = V,(s) a, +sh joe Bs) +K,K,s 0(6) = V,66) The required transfer function is V,(s) 8s) _ K, oa “VQ ~ (R,+sL,)0s?+Bs)+K,K,s a K, . © RJs?+R,Bs+L,Js°+L,Bs’+K,K,s K, = ‘ ~ s[JL.s?+(R,+BL,)s + (BR, +K,K)] K/L, al ; fora The transfer function of armature controlled de motor can be expressed in another standard shown below. From equation (1.12) we get, Os) _ K, = VO) Ri +sL)Gs+B)+K Ks R (fn Bi “RY ip ae eee . s| (1 +sT,)(1 +sT,) + 3 | L, where, Rg = T, = Electrical time constant $ =T,, = Mechanical time constantChapter 1 - Systems Components and their Representation TAL} 1.3.2. TRANSFER FUNCTION OF FIELD CONTROLLED DC MOTOR The speed of a DC motor is directly proportional to armature voltage and inversely proportional to fiux. In field controlled DC motor the armature voltage is kept constant and the speed is varied by varying the flux of the machine. Since flux is directly proportional to field current, the flux is varied by varying field current. The speed control system is an electromechanical control system. The electrical system consists of armature and field circuit but for analysis purpose, only field circuit is considered because the armature is excited by a constant voltage. The mechanical system consists of the rotating part of the motor and the eae ae to the shaft of the motor. The field controlled DC motor speed control system is shown in fig 1.14. - Load J,B 6 (Output) Fig 1.14 : Field controlled DC motor: Let, R, = Field resistance, Q L, = Field inductance, H i, = Field current, A v, = Field voltage, V T = Torque developed by motor, N-m K,,= Torque constant, N-n/A J = Moment of inertia of rotor and load, Kg-m*/rad B = Frictional coefficient of rotor and load, N-m/(rad/sec) The equivalent circuit of field is shown in fig 1.15. By Kirchoff’s voltage law, we can write aaa Fig 1.15 : Equivalent se (1.15) circuit of field. : di, Ryirt Ly t= vy The torque of DC motor is proportional to product of flux and armature current. Since armature current is constant in this system, + + J the torque is proportional to flux alone, but flux is proportional to ee B field current. Fig 1.16, Toi, “Torque. T=Kyip “The mechanical system of the motor is shown in fig 1.16. The differential equation governing the mechanical system of the motor is given by, #0, dd. O94 B aT ‘The Laplace transform of various time domain signals involved in this system are shown below. Ltip=Ys) 3 ATV=T) os Ltd = VAS) £{0} = 0(5)Control Systems Engineering The differential equations governing the field controlled DC motor are, 4 di . eK i, + 30, _d0 ie Rei by ge Ye 3 TaKyl $3 +B aT On taking Laplace transform of the above equations with zero initial condition we get, RAs) + Lsl,(8) = Vs) ser (1.18) T)=K,(6) sll Js*0(s) + B s6(s) = T(s) A L.29) Equating equations (1.19) and (1.20) we get, K (8) = Js°0(s) +B s0(s) L(@)=s GseB) 06), 7 ‘The equation (1.18) can be written as, RALYW=Vy (12 On substituting for Is) from equation (1.21) in equation (1.22) we get, R,+sL)s ES*B) g¢y - vs) Ke O(s) _ Ky V6) s(R,+sL,)B+s) K, 4: K, 2n,(1+ 2) +3) s(+sT)(I+sT,) Ky, _ . where, K,,= 3° = Motor gain constant seve(1-23) oe Field time constant rR = Mechanical time constant EXAMPLE 1.1 Obtain the transfer function of the electrical network shown in fig 1. SOLUTION Inthe alven network, iputis e(t) and outputis v(t). Cry + 0 Let, Laplace transform of et) = x(e(t)) = E(s) Cet) c, Gy ‘ Laplace transform of vit) = (v(t) = V,(s) _Chapter 1 - Systems Components and their Representation The transfer function of the notwork Is i Transform the voltage source In sorlos with resistance Ri, Into equivalent current source as shown In figure 2. The notwork has two nodes. Let the node voltages bo v, and v,. Tho Laplace transform of node voltages v, and v, are V,(s) and V,(8) raspactivaly, The differential equations governing the network are given by the Kirchoft's currant law equations at these nodes, At node-1, by Kirchoff’s current law (refer fig 3) Mao, My MoM Rt Cra RR, On taking Laplace transform of above equation with zero initial conditions we get, Ms) M(s) _ Vo(s) _ E( “Ry Te) + RE RS = ELS) | 1,13 Note 1 Source transformation f — WM OQ rr o y, y, v% At node-2, by Kirchoff's current law (refer fig 4) YMG, We Roa =o On taking Laplace transform of above equation with zero initial conditions we get, AUS) .c,sV,(s)=0 Nels) _ Ys) Ro Ro Vis) R; +C,8V,(s)=| 1 +sC, V4(s) 2. Vi(s)=[1 +8C,R,} V,(6) ‘Substituting for V,(s) from equation (2) in equation (1) we get, (148R,C,)V4(s)[1-+3c,+ 1 ]- M28) Ee) R, R,} RR, Ry (1+5R,C,)(R,+R,+SC,R)R2)—Ry RiRa hats) =F) Fh a “VEG “TTFER,C)IR +R + 8CRRD- Py) sree)Control Systemy Engin 114 een LSI RESULT The (node basis) differential oquations governing tho oloctrical network are, Yh Mt MIEMR 6 0. 1 RC G RR, M16, Wee 2 HCG 70 The transfer function of the electrical network Is, Mis), OR, Els) “i FaR,CH RR, FSO RR) Ril 1.4 MECHANICAL TRANSFER FUNCTION MODELS 1.4.1. MECHANICAL TRANSLATIONAL SYSTEMS The model of mechanical translational systems can be obtained by using three basic elements mar, spring and dash-pot. These three elements represents three essential phenomena which occur in varing ways in mechanical systems. The weight of the mechanical system is represented by the element mass and it is assumed tote concentrated at the center of the body. The elastic deformation of the body can be represented by a spring The friction existing in rotating mechanical system can be represented by the dash-pot. The dash-potisa piston moving inside a cylinder filled with viscous fluid. When a force is applied to a translational mechanical system, it is opposed by opposing forces de mass, friction and elasticity of the system. The force acting on a mechanical body are governed by Newton second law of motion. For translational systems it states that the sum of forces acting on a body is ze( Newton’s second law states that the sum of applied forces is equal to the sum of opposing forces on bai} LIST OF SYMBOLS USED IN MECHANICAL TRANSLATIONAL SYSTEM x = Displacement, m vy = 4 = velocity, m/sec dt a= i os = Acceleration, m/sec? f = Applied force, N (Newtons) f,, = Opposing force offered by mass of the body, N £, = Opposing force offered by the elasticity of the body (spring), N £, = Opposing force offered by the friction of the body (dash - pot), N M= Mass, kg K = Stiffness of spring, N/m B = Viscous friction co-efficient, N-sec/m Note : Lower case letters are functions of timeChapter 1 - Systems Components and their Representation 1.15 Se FORCE BALANCE EQUATIONS OF IDEALIZE! EoRce Fee Consider an ideal mass element shown in fig 1.17 which has negligible friction and elasticity, Leta | force be applied on it. The mass will offer an opposing force which is proportional to acceleration of the body. Let, f = Applied force £, = Opposing force due to mass fee t—1 x x Here, f* or f,=Mo*X eres fa ge dt Reference Fig 1.17 : Ideal mass element. By Newton's second law, |f = f,, = M & seeee( 1.24) Consider an ideal frictional element dashpot shown in fig 1.18 which has negligible mass and elasticity. Let a force be applied on it. The dash-pot will offer an opposing force which is proportional to velocity of the body. I x Let, f = Applied force = £, = Opposing force due to friction 1—» —_ W~£ Here, fa 2% or f,-B& B Reference Fig 1.18 : Ideal dashpot with By Newton’s second law, | f= f, = B i na(125) one end fixed to reference. When the dashpot has displacement at both ends as shown in ae ee fig 1.19, the opposing force is proportional to difference between | velocity at both ends. y f> ———_{ +—— ay =B4(x,- a fa de (x,-x,) or {,=B at (x, -X,) 3 Reference: d Fig 1.19 : Ideal dashpot with -|f=f,=B Gr Gi—%y) s(1.26) displacement at both ends. Consider an ideal elastic element spring shown in fig 1.20, 18% which has negligible mass and friction. Let a force be applied on it. The spring will offer an opposing force which is proportional to, displacement of the body. K . Reference Let, f = Applied force Fig 1.20 : Ideal spring with one end f, = Opposing force due to elasticity fixed to reference. Hereflex or f=K see 1.27) By Newton’s second law, Kx When the spring has displacement at both ends as shown in hex, Lex Sg 1.21 the opposing fotee'iy propiortiondl'toldifferehes’ between isplacement at both ends. iea~ (ann = 8 fe(x,-x,) or f,=K(x,-x,) (@)X = PL» & ig nies Tdeal spring with (eastt:ngyya ~ x wielacernensag enh ends ©. f=f=K(,-x)1.16 Control Systemg Engin, Guidelines to determine the Transfer Function of Mechanical Translational Syston 1, In mechanical translational systen, the differential equations Governing the sy obtained by writing force balanice equations at nodes in the system. The nod point of elements, Generally the nodes are mass eléments in the system. In some cases, nodes may be without mass element. es are men” The linear displacement of the masses (nodes) are assumed 8 Xj, X,y Xy ete., and assi displacement to each mass(hode). The first derivative of the displacement is velocity andy second derivative of the displacement is acceleration. 3. Draw the free body diagrams of the system. The free body diagram is obtained by draw each mass sepatately and then marking all the forces acting on that mass (node), Alway the opposing force acts in a dirééction opposite to applied force. The mass has to move inte direction of the applied force. Hence the displacement, velocity and acceleration of the mas; will be in the direction of the applied force. If there is no applied force then the displacement, velocity and acceleration of the mass will be ina direction opposite to that of ‘opposing force. 4, For each free body diagram, write on: forces to the sum of opposing forces, 5. Take Laplace transform of differential e Tearrange the s-domain e between output vatiable e differential equation by equating the sum of applied quations to convert them to algebraic equations. Then quations to eliminate the unwanted variables and obtain the ratio and input variable. This ratio is the transfer function of the system Note: Laplace transform of x(t) = L{x(t)} =X(s) Laplace transform of Sif £{ 4st} = X() (with zero initial conditions) BRD op a : Laplade transforin fA. 4 es o} 5? X(5) (with zero initial conditions) EXAMPLE 1.2 Write the dtferential equations governing the mechanical system shown in fig 1. and determine the transfer function. . . ae ty kK, B y TI] 4, Hu M, x65 0) = ve 8, ; 8, SOLUTION Fig. Inthe given system, applied force ()'is the Input and displacement ‘x's the output, Let, Laplace transform of f(t) = C(f(t)) = F(s) Laplace transform of x = £{x) = X(s) Laplace transform of x, = L{x,) = X,(s)Hence the required transfer function Is re iq Tho system has two nodos and thoy are mass M, and M,. The differential equations govarning the system are given by force balance equations at these nodos, Lot the displacement of mass M, be x,. The free body diagram of masa M, Ia shown in fig 2. The opening forces acting on mass M, aro marked a8 fff, and f, ax, dx, . bx, GM ga) Gs Bygtt tha Ke 5 . [+ K=BH =X) § =KO%)-%) Sie w foe By Newton's second law, — forth th thy th 20 f, | x, Fig 2 : Free body diagram 58 ig 187 eM, 224 7 $B) GL + BS Og —x) +K yx +KOq-¥)=0 “ofmass M, (node 1). On taking Laplace transform of above equation with zero initial conditions we get, M,s°X,(s) + B,SX,(s) + Bs[X,(s) - X(s)] + K,X,(S) + KIX,(s) - X(s)] = X,(s) [M,s?+ (B, + B)s + (K, + K)] - X(s) [Bs + K]=0 X,(s) [M,s*+ (B, + B)s + (K, + K)] =X(s) [Bs + K] . =X(s)=——;_Bs+kK __ - %l8)=X(9) = FFF (B+ B)s +(e K) ‘The free body diagram of mass M, is shown in fig 3. The opposing forces acting on M, are marked as ff f andf,. oom, 2X; ke dt? eC) §=BSG-x) 5 [$f M, le—fy By Newton's second law, ‘ }e—f en #—f, s q Fig 3 : Free body diagram : M, 2x as K+ By BBL (x—x) + K(K-X) =F) ‘ofmass M, (node 2). “On taking Laplace transform of above equation with zero initial conditions we get, M,sX(s) + B,sX(s) + Bs[X(s)] - X,(6)] + KIX(s) - X,(S)] = F(s) X(s)[M,s? + (B, + B)s + K] - X,(s)[Bs + K] = F(s) (2) ‘Substituting for X,(s) from equation (1) in equation (2) we get, 2 Bs+K) =F (s) X(s)[M,s?+(B, +B)s+K]-X(s) ig? ,+B)s+K eK) 1 e1.18 [Mys? + (By +B) + K)[My8? + (By + B)s + (Ky x(a] Mae nae Myo? (0) B)8 + (Kye K) K) x M8? (By) B)s (Kye K) — a # * Ts®+ (By B)s + (Ky + K)}[Mps” + (B, + B)s + K] - (Bs + K) eens! A ————___ RESULT The differential equations governing the system are, #3 oy VM Ga + Brat BG (=) + Kx HK (=x) =0 @: ax gp diy -x)= 2 MyGE + Bo Gt +B eX x) HK(K-X) = (1) The transfer function of the system is, (s) _ M,s?+(B,+B)s+(K,+K) (8) [M,s*+(B,+8)s + (K,+K)JIM,s+ (B,+B)s+K]-(Bs+K)? EXAMPLE 1.3 Determine the transfer function Ix a Yels) a Fey of the system shown in fig 1. Y SOLUTION M, Let, Laplace transform of f(t) = {f(t} = F(s) Laplace transform of y, = L{y,) = Y,(s) Laplace transform of y, = Ly,} = Y,(s) The system has two nodes and they are mass M, and M,, The differential Fig I. equations governing the system are the force balance equations at these nodes, The free body diagram of mass M, is shown in fig 2. The opposing forces are marked as ff, f,, and f, fe oy, dy, fo=Mi-aat i h=Bat i fu=Kiyy j fa=K(y,-y,) “ i By Newton's second law, fy, +f, +f, +f =f) ' 4 1 3 oY, : Ne Ba++ Ke(Y4-¥,)= f(t) anc( 1) i i On taking Laplace transform of equation (1) with zero initial condition we get, aoa Mys*Y (8) + BSY,(s) + KYu(8) + KLY(s) - ¥,(8)) = F(s) a YA(S)IMs? + Bs + (KK) — Y,8)K, = F(s) a The fi ree body coor of mass M, is shown in fig 3. The opposing forces acting on M, are fq 804 fe y: . faMa“ SR fa=Kue-y) By Newton's second iaw, 1,4 fa=0Chapter 1 - Systems Components and their Re + Mp Be 4 Kl¥y-y)e 0 On taking Laplace transform of above equation we got, M,s*Y,(8) + KLY,(8) = Y,(8)] © 0 Y,(s) IM,S? + K,]~ Y,(8) K,= 0 _Ys)=¥ (oy ‘Substituting for Y,(s) from equation (3) in equation (2) we get, Mae? ve | Me st Bs + (K+ K)}—Yel6) Kp=F (6) 2 2 vio | +K)IMys os 1 |r Yes). “OF @) ” [M,s?+Bs+(K,+K,)]IM,s7+K]— Ke RESULT ‘The differential equations governing the system are, d? 1 mS hee HK yy Ky(,-¥)= tt) 2. me 2 + K(¥p-¥)=0 The transfer ae of the system is, Yols) _ Ke F(S) ~ [M524 Bs + (K+ KIIM,5°+ KK 1.19 EXAMPLE 1.4 Determine the transfer function, ae and ao for the system shown in fig 1. f(0 f(t) (ad, — kK, Bi b M, 1 MM, 85S — o> K B, B, Fig I. [x SOLUTION >it) . le—tu Let, Laplace transform of fit) = L{ft)} = F(s) M, t, Fig? Laplace transform of x, = £%,) = %(6) foe = [| ke fs Laplace transform of x, = £0%)_ = X,(s)| 1,20 Control panama ———SDntrol Byatems Engin, Why Tho systom has two nodes and they are mass M, and M,. The differential equations gorrern the force balance equations at these nodos. The free body diagram of mana M, Is shown Inf 2 The op cosa a fre marked 98 fay. fy hy, ANA Ky. a -M 3 So Gt By Newton's second law, fay + fy + frat hy = M(0) fra Bird) 5 i= Kr woe +8, +B, OOD Kx, = 0) ‘On taking Laplace transform of above equation with zero initial conditions we get, M,s*X,(6) + B,sX (5) + B, 5IX,(6) - X(5)] + K,X,(5) = F(s) X(S)IM,s? + (B, +B,,)s + K,] - B,,SX,(s) = F(s) ti ‘The free body diagram of mass M, is shown ini The opposing forces are marked 28 ff. f,, aa, xy fra= Mo Gat : 2B, 8 Lox fe Badan) i ta=Kar —t, By Newton's second law, f+ fs + fina + f= M, fe j— 2, M, ee +8, 92 2 +B, tg 7) + Kx) =f() senu2) —hq Fig3. On taking Laplace transform an (2) with zero initial conditions we get, M,s°X,(s) + B,SX,(s) + B,,SPX(S) — X,(s)] + KX,(s) = 0 X(S)IM,s? + (B, + B,.)s + K,] - B,,8X,(s) = 0 X,(S)IM,8* + (B, + B,,)s + K] = B,,SX,(s) By2SX,(s) — 2. fll al) IM,s?+(B,+B,.)s+K,] 4 ‘Substituting for X,(s) from equation (3) in equation (1) we get, (By8)°X,(s) +(8;#B,)sk, X,(s)IM,s?+ (B,+B,.)s +K]- E X,(6)[1M,s?+ (B,+B,,) + KJ] IM,s*+ (B)+B,,)s +K,] - (By)? M,8?+ (B,+B,.)5+Ky =F(s) Xie M,8?+ (By +B,,)8 + Ky -, Xl) _ 2 MEBs ty FOS)” [M,s?+ (6,+B,2)s + K,JIM,s*+ (B,+B,,)8+ Kg] (B,,s)* From equation (3) we get, [M,s?+ (B,+B,.)8-+K,1X,(s) rr lM Xi, Substituting for X,(s) from equation (4) in equation (1) we get, X,(s)[M,s?+ (B, +B, )s+K) a8 “J IM,s*+ (8,+B,,)s +K]-B,,5X,(s) =F(s) Bysind thelr Representation . 1.21 xg(o)| Mas? (Ba Bis KIM? + (By 6B, )9 eK (8,0)? : Bye = By (M,8*+ (B,+B,,)8-+ K IMs" + (B,B,)8 + Kj (Bs)? RESULT The differential equations governing the system are, ax, dx, d(x,~x,) 1 Mat +B, Gt +B, BE HK x, = £1) dx, dx, d(x)—x, 2. MS +B, GP +B, PAN ck, =0 The transfer functions of the system are, 1X) Mys?+(8,4+8,,)5+K “FS > IM; (B,+B,,)s+K,JIM,s*+ (B,+B,,)s +K,]—(B,,8)* 2 Xl) _ 8,8 “F(S) [M,s*+(6,+B,.)5+K,1M,s?+ (B, +B,,)8+K]- (Bys)* EXAMPLE 1.5 Write the equations of motion in s-domain for the system shown in fig 1. Determine the transfer function of the mete _ fox K 4 1550 1 M > f(t) 7777777 Fig 1. SOLUTIO! Let, Laplace transform of x(t) = £{x(t)} = X(s) Laplace transform of f(t) = {f(t)} = F(s) Let x, be the displacement at the meeting point of spring and dashpot. Laplace transform of x, is X\(s). The system has two nodes and they are mass M and the meeting point of spring and dashpot. The differential Equations governing the system are the force balance equations at these nodes. The equations of motion in the s-domain are obtained by taking Laplace transform of the differential equations. ‘The free body diagram of mass M is shown in fig 2. The opposing forces are marked as f,, and f.. ? ity d foeM Ss he B GE i hex BL) +x | By Newton's second law the force balance equation is, ttt) | fast fay + he = Mt) — | : M & ob d j#— fa MSE +B Gt + Bo Gt x)= M00) [kh On taking Laplace transform of the above equation we get, 9! | Ms®X(s) + B,(s)X(s) + B, s[X(s) - X\(s)] = F(s) oo ; (Ms? + (B, + B,)s] X(s) ~ B, sX,(s) = F(s) soe)1,22 Control Systems Engin The free body diagram at the mesting point of spring and dashpot Is shown in fig 3. The opposing, marked as f, and f,.. 4 bey fee Br Gh O-X) + hak, By Newton's second law, f,, + f,=0 [| { » By L(x - 4 J By BO -x) + KK = 0 Pe On taking Laplace transform of the above equation we get, - BSX\(s)-X(s)] + KX is) = 0 (Bs +K) X,(s) -B, sX(s) = 0 o Xl) ee X(s) “0 ‘Substituting for X,(s) from equation (2) in equation (1) we get, (us?+(;+Bys)x0)-B, ax fre-eo US + 1+ Bo)s J(B2s + K) ~ (B2s)"] 2. ha xis) [Ms' BBs epsK9 (8,8)4] =F(s) . Xs) B,s+K “F(s) ~ [Mis*+ (6, B,)s (8,5 +K) - (8,5)? RESULT The differential equations governing the system are, @% 65 Kip dy _yyo 1 MSE + By SE +B Grex) =f) 2. By (xy-¥) +Kx,=0 The equations of motion in s-domain are, 1. [Ms?+ (B, +B,)s] X(s) - B, sX,(s) = F(s) 2. (B,8 + K) X\(s) - B, sX(s) = 0 The transfer function of the system is, X(s)_ Bys+K Fis) IMs?+ (B,+B,)s}(B,s+K) -(Bzs)* 4.2 MECHANICAL ROTATIONAL SYSTEMS =m UME ROTATIONAL SYSTEMS The model of rotational mechanic: i of inertia [J] of mass, dash nf al systems can be obtained by using three elements, mom stiffness [K]. il -pot with rotational frictional coefficient [B] and torsional spring “" The weight of the rotational mechanical system is represented by the moment of inertia ol mass. The moment of inertia of the system or body is considered to be concentrated at the centre of of the body. The elastic deformation of the body can be represented by a spring (torsional sprin8) fiction existing in rotational mechanical system can be represented by the dash-pot. The dash-P Piston rotating inside a cylinder filled with viscous fluid,Chapter 1 - Systems Components and their Representation 1.23 : When a torque is applied to a rotational mechanical system, it is opposed by opposing torques due to moment of inertia, friction and elasticity of the system, The torques acting on a rotational mechanical body are governed by Newton 's second law of motion for rotational systems, It states that the sum of torques acting on a body is zero (or Newton's law states that the sum of applied torques is equal to the sum of opposing torques on a body). | List OF SYMBOLS USED IN MECHANICAL ROTATIONAL SYSTEM | 6 = Angular displacement, rad @ = Angular velocity, rad/sec #9 = Angular acceleration, rad/sec? T = Applied torque, N-m J = Moment of inertia, Kg-m?/rad B_ = Rotational frictional coefficient, N-m/(rad/sec) K Stiffess of the spring, N-m/rad TORQUE BALANCE EQUATIONS OF IDEALISED ELEMENTS Consider an ideal mass element shown in fig 1.22 which has negligible friction and elasticity. The opposing torque due to moment of inertia is proportional to the angular acceleration. Let, T= Applied torque. T,= Opposing torque due to moment of inertia of the body. ao #0 (BE J ma Here Tx“ or T= I= y dt dt i x By Newton’s second law, Fig 1.22 : Ideal rotational mass element. ———no 8 T=1,=395 (1.29) Consider an ideal frictional element dash pot shown in fig 1.23 which has negligible moment of inertia and elasticity. Let a torque be applied on it. The dash pot will offer an opposing torque which is Proportional to the angular velocity of the body. _ Let, T = Applied torque. oH —| T, = Opposing torque due to friction. B T oe 48 do Fig 1.23 : Ideal rotational dash-pot with T,« =p ig eal rotatio p page OT THB GE one end fixed to reference. By Newton’s second law, | T=T,=B # se (1.30) _____ When the dash pot has angular displacement at both ends as shown in fig 1.24, the opposing torque 18 proportional to the difference between angular velocity at both ends. al d 2 Ta $@,-0) or T,=B£@,-0) pee eee > Fig 1.24 : Ideal dash-pot with ieee HO 7%) (131) gngular displacement at both ends.lq Control Systemg ~ tae Consider an ideal elastic element, torsional spring as shown in fig 1.25, which has n jaar eligible of inertia and friction, Let a torque be applied on it. The torsional spring will offer an pp osng which is proportional to angular displacement of the body. ‘ng, Let, T = Applied torque. T, = Opposing torque due to elasticity. ro * ¢ = ue due , Semen Fig 1.25 : Ideal spring with T<0 or T,=Ke end fixed to referens By Newton’s second law, [T=T,=KO] — ~-(1-32) When the spring has angular displacement at both ends as shown in fig 1.26 the opposin, 8 torus Proportional to difference between angular displacement at both ends. ae T, @,-8) or T,=K(@,-6,) T’ or 6K 4g, (133) Fig 1.26 : Ideal spring vith ang displacement at both ends Guidelines to determine the Transfer Function of Mechanical Rotational System 1, In mechanical rotational system, the differential equations governing the system are obizing by writing torque balance equations at nodes in the system. The nodes are meeting point of elements. Generally the nodes are mass elements with moment of inertia in the system, lt some cases the nodes may be without mass element, : 2. The angular displacement of the moment of inertia of the masses (nodes) are assumed, 8, 6,, etc., and assign a displacement to each mass (node), The first derivative of angulz displacement is angular velocity and the second derivative of the angular displacementis angular acceleration, 3. Draw the free body diagrams of the system. The free body diagram is obtained by drawing cach moment of inertia of mass separately and then marking all the torques acting on tt body. Always the Opposing torques acts in a direction Opposite to applied torque. in a direction opposite to that of ‘Opposing torque. 5. For each free body diagram write one differential equation by equating the sum of appl! torques to the sum of. ‘Opposing torques. Note : Laplace transform of 9 = £/@ = Hs) dg Laplace transform of aT ~+{dil=s 3) (with zero initial conditions) Laplace transform of PO=L { (FO a tae li $8) (with zero initial conditions)! Chapter 1 - Systems Components and their Repri Chapter 1 - Systems Componente and thelr Repr 1.25 EXAMPLE 1.6 —_—__, Write the differential equations governing the mechanical rotational system shown in fig 1. Obtain the transfer ‘function of the system. OF 4 bow ey * (Applied Torque) SOLUTION Fig i. Inthe given system, applied torque T is the input and angular displacement @ is the output. Let, Laplace transform of T = £(T)=T(s) Laplace transform of @ = £{6} = 6(s) Laplace transform of 8, = £{0,) = 6,(s) B(s) T(s) The system has two nodes and they are masses with moment of inertia J, and J,. The differential equations governing the system are given by torque balance equations at these nodes. Hence the required transfer function is 2{S) Let the angular displacement of mass with moment of inertia J, be 0,. The free body diagram of J, is shown in fig 2. The opposing torques acting on J, are marked as T,, and T,.. , TT Ted ge § =KO-9) ANSI 9, By Newton's second law, T,, +7, =T ev J 2 ae 81 K(@,- )=T Fig 2 : Free body diagram of mass with ar moment of inertia J, 2 K6,—K6=T de ge Or On taking Laplace transform of equation (1) with zer 4J,8°6,(s) + KO,(s) - KO(s) = T(s) (J,8* + K)®,(s) - K0(s) = T(s) The free body diagram of mass with moment of inertia J, is shown in fig 3. The opposing torques acting on J, are marked as T,,, T, and T,. : 7 =p! . TeKEe- Tene : T=Bge + %=K(O-o) By Newton's second law, T,, +7, +7,=0 Talal, eA aL » bss + dpofO +882. +K(0-0)=0 eT? 1,28 45 8 + Ko-K0,=0 . Fig 3 : Free body roa of mass with ae moment of inertia J,. On taking Laplace —— of above equation with zero initial conditions we get, 4J,80(s) + B s 6(s) + K 0(s) - KO,(s) = 0 (i,s? + Bs + K) 6(s) - KO,(s) = 0 (J,s?+Bs+K) O(s) == ——— 0(s) (3)(= 01+" 5] (S)0-[ys% geo 8'r] (s)'9 (S)1 = (S)o>1 - (8)'0>1+ [(s)o - (5)'9)g s+ (s)'e.s'r ‘196 2m suontpuoo jeplu o102 Yam UoHenbe aroge Jo ULLOjsu o fen, e9eide7 Bupjer uD L=(0-'0) 4+ (0 ~H9) IB 2igy 2 pnt “ip oyiout fo wuauow ene OP onssousfo uoaBnp pag aay : 7 Shy PEL HTL +L me] puooes s.uownon a : ‘od (O-Mo)= "+ (ote) Peigazig Ppa 5 1h “*L pue 1 “"') se paysew aie 'p uo Bunoe senbio} Buisoddo ayy z By yooiss! ‘p yo wesBelp Apoq sey ey, “9 aq 'p e;eul Jo JuawoW YM sseW 30 Jueweoedsip seinBue ayy 07 *sepou eso) ye suopenbe souejeq anbio} Aq uaai6 aie waysks eu) BujwienoB enbo jenueveLIP SUL “r pue ‘Pr enoU! Jo JUWOW YM Sessew o1e oY) pu sepoU OM Sey WaIshs a so 4 UL &L ®)o (s)'@ = ('0}7 ='9 Jo wuoysuen aoejde7 yOUNy JeysueN pauinbas ay) eu} (s)o= {0}7 = 6 Jo wioysuen soejde7 (S)L= (U7 =1 Jo uuojsuen aoeide7 107 ‘indino aun si g juaweoe|dsip sejnBue ayy pue yndut 9M S14 enbioy aly ‘WarsAs UaAIB an Ul NOILLOTOS “(S).U(8)9 uonouny seysueN oY eyDaw ay) BUILIEAOB suoVenbe jeualoyip ayy UM, “1 TIdWVX3 dir +sates* (H+ zS'r) (sb Bb) ~ §)e | WaISAS BY) JO ONOUNY JysUEN Oy =! —9y + Pg 4-2 ep « 0='01- 0+ pat gop hz aa sweep pue “| By 1B sono + eet A=O-loi+ gp Bt ‘ale WaISAS OY) BuIWEAOH suoHeNbe jenUaEy|p oy, ASIN AOL 8d SENIOL SO) dL 4 (so » (401 CS eae SPOS) (LOA adi sate) Ott) ‘yo om (¢) vonwnbe Ui (g) Yowanbs wor (8)'9 40) Oy ALSQNg, —— NOur a iy May Ub gy J04;U0;) 92°+suraysAs [eolsj09]9 Jo 2dueyoRdes pue aouejonpuT ‘souRIsISa 0} snodojeue are sUIa}sAs Jeuonje|suey feoteyoous ZuN[apowr WI pasn ose yey) Suds pur yod-ysep ‘sseul sjuaUtela dIseq samp oy, “Woy asd[eue pUue S[aPOUL [edIRde]9 JONNSUOD 0} JaIsed SIL aoUIS. goueyodun 10yvax8 Jo st waysXs Jo pury sayjo Aue Jo onBoyeue o1oaja ay, "WLIO [eONUApT UI are suOHoUNy Agysuey 10 swiaysds ay} SuTUIEA08 suonenba jenuaiayyip oy) Se Zuo] se snoZojoun urewtas swash SWALSAS TVNOILVISNVUL TVOINVHOAW JO SNODOTYNY TVOIELOATA $T zoi+7as)-bi+(a+“as+,s%r]1+as+zs'r) _ (s)1 Ce eee ee (i+@as) (se ‘s] waysks yj jo uonoUny JejsueN oy nae zig P , Pag 2? z, . 0=(0-o)1+(a+'8) 9p + T9518 upr % =0- at Pzigy 219 - L= (0+ (0-W-pTat Ty DIT ‘aie waisKs ey) BujWeAoB suonenbs [eNuaiayIp ay. Tins z01+as)-Di+(a+2a)s+,s@rl(n+2as+2s'r) (s)a Oras) “oe” (1+ 7as) 201+ 7gs) - f+ (a+7)s +2877] (+s + S'7) (s)L=(s)0 (L088) EH E —g bHas+ str) ‘y@6 am (1) uonenbe ut (z) uoyenba woy (s)‘9 40) Bugmiisqns bi+“gs) ee : Sone @stes+r ayo"? 0=D1+"asl (s)'o- [4+ (a+ "ads +*res] (S)0 0=(8)'0» - (Joy + fa + “al (s)as + (s)'es “a - (S)oxs'r ‘306 om Suo}}pUcd jenIU! 0402 YI! UOHeNbe eroge Jo woysuEN ede{de7 Sued YO ='oy- Zig) WP, Wag. Pz 0-01-01) OB + Top 8 Dep F 1p 0=(0- oa pyar o-OE a+ eee “p myuowy fo jwowou yy ssp fo unatioyp Kpoq ooay t ¢ Hp O= "LEE + MY + AL mal purses s,u0wmen Aa ‘3 (o-oe ¢ ype a 1» Co-op egeey ip gpa ; “4 puo Poweu o18 sonbio) Bulboddo oy, "¢ BY Ul UMOYS 6) “P UILIOU) Jo UOLUOWI \p/AA BUELL Jo LuUIBU|P Apoq 004} OLLwaf=ra=s Reow i fis rueapians 43H Cs ~h quowla]e oy) YBMONp yuOLND ; nding AoA Fnding aaanos aBerjoq : nduy aorog :ynduy wo)sfs [wo]49991q wa)sds jwoyuBYysay feyjoA-9930, UF SUDUIDTY sHOTOpeUY : ZT -IqUL, “woysés Juorueyour ut (sassew) sapou yo sonizojan Jo saquiNU xp Jo ywIp se aur aq |] suonpenbo waysAs puv sjuouino ysout Jo squinu dip aouafy “wLaIsAs [eorueYDoU Ut (sosset) sapou Jo Joquinu arp Jo JU) sv ores s} snoZojeuE JeoLNDa[a Ut soysou Jo Joquinu UL y “apou b se paapisuoo st ssvur y “wI9}SKs JeoLDaI9 doo] pasojo v 0} spuodsaxso waysAs Jeotueyoou ayy ut (s\uaLHa[> Jo yulod SuyooW) apou youy “¢ -waysAs snoZojeue [eotnoaya ut juno snofojeue aures amp aay Pinoys waysAs [eoreyIOUN UI AoO[aA ures BUIARY SIUOUIA|D DHL. “7 “soU198 Ul 9g 0} pres are Ayl90j0A olues Buravy syuowafa axp ‘suIa}sés Feoqueysaur uF ‘astMayT] QUaLIM SWS SAVY [IIA Salas UI sJusUIO[a am) suIa\sAs yeowyo9[9 Uy “| “ABopeue o8e[0A-90105 0 paseg suiayshs jeorueyoaus Jo snodopeue [eouNna9]9 WreIgo 0} SaUTfaping se aAros syuTod SurmoT]Oy ay] “Adojeue a8ey[OA-20105 oY saunuenb snoZojeue Jo js! ay} SMOYS ¢"[-2]qe} SUL °Z'[-2[4z UE UMOYs are AZoyeue aBeyoa-sor0y I SWau[o Jeoujoale snoBoyeue stay) pue s|uaLUa[e [eoIUEYDaUE Jo suoNenba aouejeq 20105 ay] ADOTWNY 39VLTOA-3DUO “(Boyoun juouina-a040f pue KBopouv a8oyoa-o040f : sorsoyeue yo sodky al 212 atau “sommos quound 10 aSeyfoa Joyjta syndut Jo sedAy ony sey suraysAs JeoLNoe]a ay aoUIg nog “wioysAs ]eoLN99]9 Ul UOUII]9 Ue UT 9BEIOA JO JUALIN JoypId 0} Boje s1 wiayss Jeoweysour ut (juowede|dsip Jo oAnwALtOp ys1Y) AyOOJaA Indino ayy, “suaISKs JeomoaIa *90N0s yuaiino 40 somos 28a JOYpIO 01 sNodoywuL s| woysds jvorueyoout ut soroy ndut oy, by Neoulbuz suiajeng [oHuoD 82 'TChapter 1 - Systems Components and their Representation Cho —— ‘Table -1.3 : Analogous Quantities in Force-Voltage Analogy ess. anne Item lechantcal system Lieetrical system J | _ (ments basis system) Independent variable Force, f Voltage, , v (input) Dependent variable Velocity, v Current, i (output) Displacement, x Charge, q Dissipative element Frictional coefficient Resistance, R of dashpot, B Storage element Mass, M Inductance, L Stiffhess of spring, K Inverse of capacitance, 1/C Physical law Newton’s second law Kirchoff’s voltage law yf=0 Yv=0 Changing the level of Transformer independent variable eM & Ny Tabl Analogous Elements in Force-Current Analogy Mechanical system Electrical system Input : Force Input : Current source Output : Velocity — Output : Voltage across the element Lx’ i & ia ae + fo 7 i@ Rov as A f=—T=By1,30 ‘Tuble-1.5 : Analogous Quantities In Porce-Current Analogy Control Syatera Engin Mem Mechanical system Electrical system (node basts system) Independent variable | Force, f Current, i (input) Dependent variable Velocity, V vot c, (output) Displacement, x Flux, Dissipative element Frictional coefficient Conductance G=1/R of dashpot, B - Storage element Mass, M Capacitance, c Stiffness of spring, K Inverse of inductance, I/L Physical law Newton’s second law Kirchoff ’s current law yf=0 yi=0 Changing the level of Devel Transformer oA independent variable L £4 5. The mechanical driving sources (force) and passive elements connected to the node (mass) in mechanical system should be represented by analogous elements in a closed loop in analogous electrical system. 6. The element connected between two (nodes) masses in mechanical system is represented as a.common element between two meshes in electrical analogous system. FORCE-CURRENT ANALOGY The force balance equations of mechanical elements and their analogous electrical elements in force-current analogy are shown in table-1.4. The table-1.5 shows the list of analogous quantities in force- current analogy. The following points serve as guidelines to obtain electrical analogous of mechanical systems based on force-current analogy. 1 In electrical systems elements in parallel will have same voltage, likewise in mechanical systems, the elements having same force-are said to be in parallel. The elements having same velocity in mechanical system should have the same analogos voltage in electrical analogous system, Each node (meeting point of elements) in the mechanical system corresponds to a node it electrical system. A mass is considered as a node. : ‘The number of nodes in electrical analogous is same as that of the number of nodes (mass®) inmechanical system. Hence the number of node voltages and system equations will besa as that of the number of velocities of (nodes) masses in mechanical system. hhe mechanical driving sources (forces) and passive elements connected to the no s! ) and passive elements conn the node (m ‘ presented by anal node it electrical system. 'y analogous elements connected to (masses) in mechanical system is represented! ‘ | The element connected between two nodes & common element between two nodes in electrical analogous system.) | | | Chapter 1- Systems Components and thelr Reprenentation 1.31 | | pXAMPLE 1.8 > % hx, | Write the differential equations governing the C. Ly, | jnechanical system shown In ig 1, Draw the force-voltago and K, | force-current electrical analogous clrcults and verify by writing ) wu, POO) 4, [OO | mesh and node equations. | ype] | 8 | 11 aia a | SOLUTION B, Fig t. The given mechanical system has two nodes (masses). The differential equations governing the mechanical system are given by force balance equations at these nodes, Let the | deplacerents of masses M, and M, be x, and x, respectively. The corresponding velocities be v, and V2. The free body diagram of M, is shown in fig 2. The opposing forces are marked as dal foto fra 274 fy Lv, ex, +—§f(t) f, = ; fos = Mya ; ke—_t., Fi : M #—tf, fre Bae OH) 5 fy=KiQ%y—%) Ls By Newton's second law, fay + f+ fy + fy = f(t) fra ax; 3 aX, : FEB GE Bie hg) + Kyl) =fQ) “ Fig 2. The free body diagram of M, is shown in fig 3.The opposing forces are marked a5 fa ya fry fy aNd fy - x ax ax, mas fha=Magat i fe=Ba Ge + fre =Bio fh lte-¥) ets | le— fa=Kybea-X) i fa=KoXe i M, it@—fre | By Newton's second law, f,2 fs + he fy + h,=0 +#—f | — Bx, , dX, q f Maat + Ba Get Kaka + Bia Gp om My) + Kila X)=0 sie (2) Fig3. On reptacing the displacements by velocity in the differential equations (1) and (2) of the mechanical system we get, | | (ie. @x dv; ky and x= fvdt) | az dt" dt a My Gt + Bivy+Bralvy-ve) +Ky f Vive) dt =f) sa) | | My 2 + Baye +Ky [Vath +Bile-W)+K, {We-vst=0 a (4) | FORCE-VOLTAGE ANALOGOUS CIRCUIT eee eee roe US EIR | The given mechanical system has two nodes (masses). Hence the force-voltage analogous electrical circuit | will have two meshes. The force applied to mass, M, is represented by a voltage source in first mesh. The elements M,, B,, K, and B,, are connected to first node. Hence they are represented by analogous element in mesh-1 forming a closed path. The Clements K,, B,,, M,, K,, and B, are connected to second node. Hence they are represented by analogous element in Mesh-2 forming a closed path. The elements K, and B,, are common between node-1 and 2 and so they are represented by analogous element 8S Common elements between two meshes. The force-voltage electrical analogous circuit is shown in fig 4.1.32 : Control Syatemg Eng i The electrical analogous elements for th olamonts of machanical system are given below, {() > et) ML, B,-» R, K,-» 110, yok ML, By» R, K,-1IC, vy I, By, Ry L, R, u Ria R, c Fig 4 : Force-voltage electrical analogous circuit. R, L hes + 900 * Ri 4 + tote a Rali-h) J Re Re J Riis hi) Rb SR, my - - alicia 5 mr ft xtga a = 5, lMla-indt Fig 5 : Mesh-1 of analogous circuit. Fig 6 : Mesh-2 of analogous circuit. ‘The mesh basis equations using Kirchoft's voltage law for the circuit shown in fig 4 are given below (ReterfigSand®) di, ; n | na Deit. ch gt ae tm beget Pah Rial i+ gf Camis) dte(t) & di, ; . oa Legh tRelet gd findt+Rrale-i)+ Ef e-Wyat=0 onl) {tis observed that the mesh basis equations (5) and (6) are similar to the differential equations (3) ard ) governing the mechanical system. FORCE-CURRENT ANALOGOUS CIRCUIT ENT ANALOGOUS CIRCUIT The given mechanical system has two nodes (masses). Hence the force-current analogous electrical circuit will have two nodes, : . | The force applied to mass M, is represented as a current source connected to node-t in analogous elect B,, are connected to first node. Hence they are represented by analogous: elements connected to node-1 in analogous electrical circuit. The elomen . ts K,, B,,, M,, K,, and B, are connected to seco’ Hence they are represented by analogous elements as elements conn zctedd iB node-2 in analogous electrical The elements K, and B,, ‘ ts ‘are common between node-- us elemen as common element between'iwo no nnode-1 and 2 and so they are represented by analogo! infig7. des in analogous circuit. The force-current electrical analogous circuttis ciruit The electrical analogous elements for the elements of mechanical ‘system are given below. f) +10) M, > C, 81 . 1 ees M, > C, B,> UR, Vv, V, BUR, Kom, Kom, .Systems Components and their Representation 1,33 Fig 7 : Force-voltage electrical analogous circuit. wv) oR, yy at) a, wo | wl _Rea—R, 1 Fig 8 : Node-1 of analogous circuit. Fig 9 : Node-2 of analogous circuit. ‘The node basis equations using Kirchoff's current law for the circuit shown in fig 7 are given below (Refer fig 8 and 9). . ay 1 4 1 =i ol CGT Re Mt Rivals Liv =i() Beet ty) Matt rat Lf Wa-vodt=0 ~ (8) It is observed that the node basis equations (7) and (8) are similar to the differential equations (3) and (4) governing the mechanical system. EXAMPLE 1.9 0) ‘Write the differential equations governing the mechanical system shown in v = fig1. Draw the force-voltage and force-current electrical analogous circuits and verify M, ye by writing mesh and node equations. 6 ft) SOL ¥ UTION : 7 ™ x The given mechanical system has three nodes masses. The differential a, ‘equations governing the mechanical system are given by force balance equations at, these nodes. Let the displacements of masses M,, M, and M, bex,, x, and x,respectively. ™, ys The corresponding velocities be v,, V, and Vy. The free body diagram of M, is shown in fig 2. The opposing forces are marked 25 Fa fo ha AND fy. tx, [—>x, j}—>x, ty L—pv, L—>F,) >t) L—rv, [fn fra Pa +—f, M, [¢——~fo m fh "ht * es K fa k—t, +—t, Fig 2. Fig 3. Fig 4.ae Control Systems 1.34 ——___—_——— Prince °; d ; o KK te Mes GreBrgil | Gan Kalen) + buen By Nowton’s second law, fy fy the Fay 4D ds, x, er = f(t Mae ra +R x2) 4 yxy f(t) sl =k we a nae et. Free body diagram of M, is shown In fig 3. The opposing forces are marked 86 fray fry fig & fy ax, ; Ky0%q-%) fg =Kal%o-%s) fao=Ma Ge | i 20%) By Newton's second law, fo + fia + fe + fis = F(t) a A weSP + By SF (x,- Xq) + Ka (Xp— Xp) + Kg (Ky — XQ) = f(t) The free body diagram of M, is shown in fig 4. The opposing forces are marked as f,,., f,, and ,,. @xs ar fa aE (=H) Fa =Kls—X2) By Newton's second law, 2, M. 8 +B Lx) + Klan) =0 A On replacing the displacements by velocity in the differential equations (1), (2) and (3) governing the mechanical system we get, ; Ray and x= [vat) oi K, [ yat+k, ydt = f(t) A Mgr tB Mt Ks [ ydtek, [(vy-veat= f() mS 4 Balve-ve)+Ke fen v)at Ks f (va-ve) d= f() A My 2+ By(va— vg +k fvy—ve)at=0 > FORCE-VOLTAGE ANALOGOUS CIRCUIT FORCE-VOLTAGE ANALOGOUS CIRCUIT The given mechanical system has thi will have three meshes. The force ay applied to mass, M, is represented ee nodes (masses). Hence the force-voltage analogous electrical ret plied to mass, M, is represented by a voltage source in first mesh and the by a voltage source in second mesh. The elements M,, B., K, and K, are connected to first node. Hence they aré represented by analogous ele in mesh-1 forming a closéd path. The elements M,, B,, K, and K, are connected to second node. Hence bi ied represented by analogous element in mesh-2 forming a closed path. The elements M,, K, and B, are connected node. Hence they are represented by analogous element in mesh-3 forming a closed path, the element K, is common between node-1 and 2 and so It element between mesh1 and 2. The: a CA See a canons elements as common elements between mesh-2 and 3, The force-voltage electrical analogous jown in fig 5. on by analogous element as Com elements K, and B, are common between node-2 and 3.and so they are rep! acu S The electrical analogous elements for the elements of mechanical system are given below. £0 > et) yol, ML, B,>R, 1 tad hy 1 >R, kK, > 1c, ft) > e,(1) vi, ML, B,>R, K, > 11C, yh ML, K,> 1/0,+ di, + .— Gt Rui i) 2 Ry ne - Glle-inat + te, a (QY alent e Fig 7: Mesh-2 of analogous circuit. Fig 8 : Mesh-3 of analogous circuit. ‘The mesh basis equations using Kirchoff's voltage law for the circuit shown in fig 5 are given below (Refer ig6, 7, 8). di. iti. i - 7 beget Rint gy fisdt+ g_ f Giger =e od 1) dig a iy, 1 fa inate 1 fai La G2 + Raia D+ Ef le-ides Ff le-Hat=e,09 _ (8) di. —_ nA Ly Ge+Ralls-id+ gf ls-igat=0 ~@) Itis observed that the mesh equations (7), (8) and (9) are similar to the differential equations (4), (5) and (6) joverning the mechanical system. ORCE-CURRENT ANALOGOUS CIRCUIT The given mechanical system has three nodes (masses). Hence the force-current analogous electrical circuit ill have three nodes. The force applied to mass M, is represented as a current source connected to node-1 in analogous electrical cut. The force applied to mass M, is represented as a current source connected to node-2in analogous electrical circu. The elements M,, B,, K, and K, are connected to first node. Hence they are represented by analogous elements is elements connected to node-1 in analogous electrical circuit. The elements M,, B,, K,andK, are connected to second node. Hence they are represented by analogous elements as elements connected to node-2 in analogous sfocsl ircuit. The elements M,, B, and K, are connected to third node. Hence they are represented by analogous elemen is elements connected to node-3 in analogous electrical circuit. The element K, is common between node-1 and 2 and so itis represented by analogous element 2s common ; dso element between node-1 and 2 in analogous circuit. The elements B, and K, are common between er i fale : they are represented by analogous elements as common elements between node-2 and 3. ‘The force-c' nalogous circuit is shown in fig 9. The electrical analogous elements for the elements of mechanical system are given below. f(t) > i,t) yoy M, >, B, > UR, kK, Wl, £0 > i.) > ¥, M,C, B, > UR, k,> Wh, Kot, Wy ¥5 M,C,Control sy 1,36 a aan vomita0 nung, eet " rontlaw for the circult shown in 119 9. ara given bole, “Tho node basis equations using Kirchoft cur " Petey, l WW % 1 Y x ny 43 — tin “666 L, wA) as Ae 0) “, ot Fig 9: Force-current electrical analogous circuit. 1 iv,-v,)at vy bo '2, & oy i Fig 10 : Node-1 of analogous circuit. 1 Rew, oR . I L p> he—$A\\-—— My Ve ° 4 Ll, Se Rak ody —55—*v, 3 é > [3 1 u Tllv.-v, at vy Gea salad 58 ae & 7 = Ths it 3 Fig 11 : Node-2 of analogous circuit. Fig 12 : Node-3 of analogous cet Nee act Cat RTS wateL fvy-vyat =i lll C,S2y ty 1 at Re TL Weve fvg-vpare iggy lt! dv. Cet 1 tRyWsvd+ Ef y-vect= i. Itis observed that Node (8) governing the mechanical ft “| fe basis equations (10), (11 sons ot system, | : (11) and (12) are similar to the differential equa- Systems Components and thelr Reprenentatlon 1.37 Write the differential equations governing the machanical system shown in 4, Draw force-voltage ‘and force-current olectrical analogous clrcults and verify writing mesh and node equations. The given mechanical system has three nodes (masses), The differential squations governing the mechanical system are given by force balance equations these nodes, Let the displacements of masses M,, M, and M, be x,, x, and x, Figh. spectively. The corresponding velocities be v,,V, and Vy, The free body diagram of M, Is shown in fig 2. The opposing forces are marked a fy. yr fro fyar AND Fy ax, ; ax, ba f= Maat SAB gt fa Kies Loy, d d Ms fe = Bagel %e) + fog =Ba Ge lX,-%9) —t., A M, }#—f, By Newton's second law, f., +f, + fy + fo + fa=0 ¥—<-£, x, dx, d d —$fa Mya Bae t Kies By Gr, Xq) +Bo GeO“ %Q)=O v(t) Fig 2. The free body diagram of M, is shown in fig 3. The opposing forces are marked a fig: fya+ fyaa AND fase ax, d * = 2 ; fa Mya" 5 fyy=B, Ae, -x) L—>v, d [fre fyza = Bas Ge %— Xa). + faa = KealX_-Xy) uf ~ By Newton's second law, fy + fyy + fos + fyas = kts a 15 d d #—$fes Mama +B, G(X) + Bos ge Xe Xa) + Kya a Xa) = 0 (2) Fig 3 The free body diagram of M, is shown in fig 4. The opposing forces are marked a f,., fy. fz» ANd fy2y- X x. : d ; fra=My—Ga" 1 f= Bs ge%-%) ‘5 d i fan = Baa Se (Ky—Ha). 5 fas =Kys( aX) fe By Newton's second law, fay + fs + fuzs + fies faa ox, d d fas Maga + Bara Os) + Bas Oa —Ha) + Kags 2)=0 (3) Fig 4. On replacing the displacements by velocity in the differential equations (1), (2) and (3) governing the mechanical tem we get, @x dv dx _ = : ‘ (ie, S8= 9, Hay and x= [vat) ay (4) Mi get B+ Ky [vydt+B(v-v)+Bgy—V=0 a (4) dv, Marge + Ba(¥a-¥) +Bas(¥p—V3) +Kyy f[ (V2-Va)dt=0 dy. My-g + By(y¥) + Baal¥g—vQ)#Kzy fg vz)at= 01.36 Control sy Ste ems By ‘The node basis equations using Kirchoff's currentlaw forthe circuitshown in fig9. are given R, " “Ta, « 7 by . i : I Fig 12 : Node-3 of analogous circul. wk wl dy, \ a ll Os og “inca kfm ° “41.38 Control Systems Engi, gine FORCE-VOLTAGE ANALOGOUS CIRCUIT The given mechanical system has three nodes (masses). Hence the force-voltage analogous electica a will have three meshes. Since there is no applied force in mechanical system there will not be any voltage sqye' analogous electrical circuit. The elements M,, K,, B,, B, and B, are connected to first node. Hence they are represented by anajog, elements in mesh-1 forming a closed path. The elements M,, K,,, B,, and B, are connected to second node, He they are represented by analogous elements in mesh-2 forming a closed path. The elements M,, K,, , B., and B ; connected to third node. Hence they are represented by analogous elements in mesh-3 forming a closed path, ° The elements K,, and B,, are common between node-2 and 3 and so they are represented by analogous cling as common elements between mesh-2 and 3. The element B, is common between node-1 and 2 and so itis represent by analogous element as common element between mesh-1 and 2, The element B, is common between node-t a 3 and so it is represented by analogous element between mesh-1 and 3. The force-voltage electrical analogous cr is shown in fig 5. The electrical analogous elements for the elements of mechanical system are given below. Yok: Mol, kK, > 10, B, >R, woh Mol, Kao Wey 8, >R, vy ly ML, B, > R, By > Ry Fig 7 : Mesh-2 of analogous circuit, Fig 8 : Mesh-3 of analogous circull« sats! basis equations using Kirchoff are aed ‘sing 's voltage law for the circuit shown in fig 5 are given below ( uo ah Gf useRG-i) +Ryl-i=0 LG Rll-W+ Cy [o-tateRel,-1)<0chapter 1 - Systems Components and their Representation =0 di Race Sy Reet uw Ly Go+ Rally) + Syl te i)dt+Res(iy-i.) js observed that the mesh basis equations (7), (8) and (9) : ; aovesna te mechanical system. (9) are similar to the differential equations (4), (5) and (6) - CE-CURRENT ANALOGOUS CIRCUIT The given mechanical system has lodes (mas lence the force-current analogous electrical has three nodes (masses). Hi the f t \gous electrical circuit ave three nodes. des. Since there is no applied force in mechanical system there will not be any current source in FORC! will hi analot The elements M,, K,, B,, B, and B, are connected to first node. Hence they are ref 3 0 first node. presented by analogous cements as elements connected to ode-1 in analogous electrical circuit. The elements M,,K,, B,, dB, plant to second node. Hence they are represented by analogous elements as elements connected to node-2 in analogous tlectrcal rut, The elements M,, K,, ,B, and B, are connected tothird node. Hence they are represented by analogous Sjements as elements connected to node-3 in analogous electrical circuit. The elements K,, and B,, are common between node-2 and 3 and so they are represented by analogous element as common elements between node-2 and 3 in electrical analogous circuit. The element B, is common between node-1 and 2 and so it is represented by analogous element as common element between node-1 and 2 in electrical analogous circuit. The element B, is common between node-1 and 3 and so it is represented by analogous element as common element between node-1 and 3 in electrical analogous circuit. The force-current electrical analogous circuit is shown infig 9. The electrical analogous elements for the elements of mechanical system are given below. yo mM, -» C, K, 1”, B, > UR, > Y% M, - C, Kk, ML, B, > UR, « “4 ~~ UR, - yoy M,C, B, ; B,, > UR, Aw») . 5 R,1.40 Control Systems Engine, hg The node basis equations using Kirchof{'s current law for the circult shown In fig 9 are given below. (Refer fy 10, and 12). dy, Sty yt Or gtt et Wale RMR yO (19, dv, 4 1 1 = Cae + Ra M+ CE | Wavy BE Wan) =O : onal ft) Bes Ch | yr vadte gE (vy-v)=0 volt Itis observed that the node basis equations (10), (11) and (12) are similar to the differential equations (4, and (6) governing the mechanical system. EXAMPLE 1.11 Write the differential equations governing the mechanical system shown in fig 1. ial Draw the force-voltage and force-current electrical analogous circuits and verify by writing mesh and node equations. ‘ SOLUTION 4 The given mechanical system has two nodes (masses). The differential equations | governing the mechanical system are given by force balance equations at these nodes. Let the displacement of masses M, and M,be x, and x, respectively. The corresponding velocities, Fig I. bev,andv,. The free body diagram of M, is shown in fig 2. The opposing forces are marked as f,..f,, and, [—>* tom fh , (2p db). ‘ bMS hy BD 5 hy Ky lny-x) }—t. By Newton's secondlaw, f,. +f, +f, Ln K—t ax, d(x)-x,) son * My Gat +B, EH 4 Kyox,-,)=0 . (1) ee The free body diagram of M, is shown in fig 3. The opposing forces are marked a8 fussy and fy. @&, dx, +i) fa=Me GP e282 GE F bi=Brihte-x) > Dey GK 5 Ge =KO%) [1K By Newton's second law, fa + fs + fs +f* f= f(t) mM, fos Bx, dx, d a MSE $B GE + Kok + BB (xp) +Ky(xp— x)= 1) 2) Fig 3. On replacing the displacements by velocity in the differential equations (1) and (2) governing the mechanlcl system we get, @x dv de _ (ie aaa Gt. Sav and x= fvat) MG Biy,-w) +k, fv) dteo ol) ay, M, G2 +B,v,)+ kK, [vat +Biv,-v) +K, fVp-vjdt= f(t) snl)