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2023 - Mathematical Modelling-Worked Examples

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30 views7 pages

2023 - Mathematical Modelling-Worked Examples

Uploaded by

Boitumelo Molupe
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CONTROL SYSTEMS III (MCS32A)

LECTURER: MR. JOSEPH NSENGIMANA

MATHEMATICAL MODELLING OF CONTROL SYSTEMS:


WORKED EXAMPLES

OFFICE: BHP 167


Email: [email protected]
Telephone: 051-507-3894
Bloemfontein 2023
Problem 22, 5th ed. Solution
The system is Two Degree of Freedom (2-DOF)
A schematic model of a
mechanical control system is with the right end of the spring connected to a
given as follows: massless body of mass m2=0 kg.

Find the transfer function Differential equation of motion of mass m1=1 kg


The Newton’s second law of motion is applied to mass
X1 ( s )
G (s) = m1
F (s)
Transfer function

m1  −c ( x1 − 0 ) x1 − k ( x1 − x2 )
x1 =

m1  −cx1 − k ( x1 − x2 )
x1 =
m1 
x1 + cx1 + kx1 =
kx2
(1)
Free body diagram (FBD) of mass m1 Applying Laplace transformation to eq. 1, we have:

( 1 + cs + k ) X1 ( s ) =
m s 2
kX 2 ( s )
Substituting the values

(s 2
+ s + 1) X 1 ( s ) =X 2 ( s ) (2)
 
ma = ∑ Fexternal
Transfer function

Differential equation of motion of mass m2=0 kg m2 x2 = k ( x2 − x1 ) + f ( t )

0 × 
x2 =−k ( x2 − x1 ) + f ( t )
Free body diagram (FBD) of mass m2
0 = kx1 − kx2 + f ( t )
kx=
2 kx1 + f ( t ) (3)

Applying Laplace transformation to eq. 3,


we have:

Substituting the value of the stiffness k=1 N/m

(4)
Transfer function
Substituting (4) into (2) =X2 (s)
1
X2 (s) + F (s)
2
s + s +1

( + s + 1) X1 =
s 2
( s ) X1 ( s ) + F ( s ) s2 + s + 1 − 1
X2 (s) = F (s)
2
s + s +1
( + s ) X1 ( s ) =
s 2
F (s)
s2 + s
2
X2 (s) = F (s)
The transfer function s + s +1
X1 ( s ) 1 1 X 2 ( s ) s2 + s + 1
G
= (s) = = G1 ( s ) =
=
F ( s ) s 2 + s s ( s + 1) F (s) s2 + s

The transfer function G2(s) Taking

1
X1 ( s ) = X2 (s) X1 ( s ) 1
s2 + s + 1 G
=2 (s) = 2
X2 (s) s + s +1

Substituting (6) into (4) The control system can be represented by the following block
diagram:
Transfer function
Home work: Problem 25, 6th ed.
The control system can be represented by the A mechanical control system is schematically
following block diagram: represented as follows:

If x1 ( t ) is the horizontal motion of mass m1=10 kg


F ( s ) × G1 ( s ) × G2 ( s ) =
X1 ( s ) 1. Find the transfer function
2. Represent the control system using block
Mathematical meaning of block diagrams in series diagram where X2(s) is the output signal.
X1 ( s ) Hint: This is a case of a 3-DoF: A massless point with
G
= ( s ) = G1 ( s ) × G2 ( s ) mass m2=0 must be considered between the damper and
F (s) the spring. A similar consideration m3=0 where the force
f(t) is applied.
Answer: In general: A force must be applied to a mass and both
X2 (s) 10 s + 7
ends of damper or spring must be connected to masses or
G (s)
= = one end attached to a fixed point.
F ( s ) 10 s ( 5s + 1)
THANK YOU FOR YOUR KIND ATTENTION

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