Cairo University Faculty of Engineering

Mechanical Design and Production Department

MDP 3430
System Dynamics

1
 Mathematical Models of
Control Systems Components

(Mechanical systems)

2
Inertia element
• Translation
𝐹 = 𝑚𝑥ሷ
• Rotation
𝑇 = 𝐽𝜃ሷ
• Kinetic energy of a rigid body
𝐾𝐸 = 12𝑚𝑥ሶ 2 + 12𝐽𝜃ሶ 2

• Potential energy of a rigid body

𝑃𝐸 = 𝑚𝑔ℎ
𝑚 : mass [kg], 𝐽 : mass moment of inertia about CG [kgm2],
𝑥:ሶ liner velocity of CG [m/s], 𝑥:ሷ linear acceleration of CG [m/s2],
𝜃:ሶ angular velocity [rad/s], 𝜃:ሷ angular acceleration [rad/s2],
ℎ : altitude of the CG from a reference level [m]
3
Spring element
Element which produces force against displacement

• Translation
𝐹 = 𝑘(𝑥1 − 𝑥2 )
k: linear spring stiffness [N/m], x: displacement [m]
Force direction against total spring linear deflection
1
𝐸𝑛𝑒𝑟𝑔𝑦 𝑠𝑡𝑜𝑟𝑒𝑑 = 𝑘(𝑥1 − 𝑥2 )2
2
• Rotation
𝑇 = 𝑘(𝜃1 − 𝜃2 )
k: rotation spring stiffness [N.m/rad], θ: angular displacement [rad]
Torque against total spring rotation deflection
1
𝐸𝑛𝑒𝑟𝑔𝑦 𝑠𝑡𝑜𝑟𝑒𝑑 = 𝑘(𝜃1 − 𝜃2 )2
2 4
Damping element
Element which produces force against displacement rate (velocity).

• Translation
𝐹 = 𝑐(𝑥ሶ 1 − 𝑥ሶ 2 )
c:linear damper coefficient [Ns/m], 𝑥:
ሶ velocity [m/s]
Force direction against damper relative linear velocity
1
𝐸𝑛𝑒𝑟𝑔𝑦 𝑑𝑖𝑠𝑠𝑖𝑝𝑎𝑡𝑒𝑑 = 𝑐(𝑥ሶ1 − 𝑥ሶ 2 )2
2
• Rotation
𝑇 = 𝑐(𝜃ሶ1 − 𝜃ሶ 2 )
c: rotation damper coefficient [N.m.s/rad], 𝜃:ሶ angular velocity [rad/s]
Torque against damper relative rotation velocity
1
𝐸𝑛𝑒𝑟𝑔𝑦 𝑑𝑖𝑠𝑠𝑖𝑝𝑎𝑡𝑒𝑑 = 𝑐(𝜃ሶ1 − 𝜃ሶ 2 )2
2
5
Example
• Draw the free body diagram and apply Newton’s law to
derive the transfer function of a mass, spring, damper system.

• Solution
𝛴𝐹 = 𝑚𝑥ሷ
−𝑘𝑥 𝑡 − 𝑐 𝑥ሶ 𝑡 + 𝑓 𝑡 = 𝑚𝑥ሷ 𝑡
𝑚𝑥ሷ 𝑡 + 𝑐𝑥ሶ 𝑡 + 𝑘𝑥 𝑡 = 𝑓 𝑡

Taking Laplace (assume zero initial condition)

(𝑚𝑠 2 + 𝑐𝑠 + 𝑘)𝑋(𝑠) = 𝐹 𝑠
• Transfer function
𝑋(𝑠) 1
=
𝐹 𝑠 𝑚𝑠 2 + 𝑐𝑠 + 𝑘
6
Gears
• Same velocity at pitch point
𝜔1 𝑟1 = 𝜔2 𝑟2

𝜃1 𝜔1 𝑟2 𝑁2
= = = =𝑛
𝜃2 𝜔2 𝑟1 𝑁1

• Same force at contact point, neglecting power loss

𝑇2 𝑟2 𝜔1 𝑁2
= = = =𝑛
𝑇1 𝑟1 𝜔2 𝑁1

7
Example
• For the illustrated gears system, derive the transfer function between the output
rotation angle ‘𝜃2 ’ and the input motor torque ‘𝑇𝑚 ’, neglecting the inertia of the
gears.
• Solution:
𝐽1 𝜃ሷ1 + 𝑏1 𝜃ሶ1 = 𝑇𝑚 − 𝑇1
𝐽2 𝜃ሷ2 + 𝑏2 𝜃ሶ2 = 𝑇2
𝜃1 𝑇2
=𝑛 =𝑛
𝜃2 𝑇1
• Taking Laplace and substituting (assume zero initial condition)
(𝐽1 𝑠 2 + 𝑏1 𝑠)𝜃1 (𝑠) = 𝑇𝑚 (𝑠) − 𝑇1 (𝑠)
(𝐽2 𝑠 2 + 𝑏2 𝑠)𝜃2 (𝑠) = 𝑛𝑇1 (𝑠)
8
Example
1
(𝐽1 + 𝑏1 𝑠)𝜃1 (𝑠) = 𝑇𝑚 (𝑠) − ( 𝐽2 𝑠 2 + 𝑏2 𝑠 𝜃2 (𝑠))
𝑠2
𝑛
((𝐽1 𝑛2 + 𝐽2 )𝑠 2 + (𝑏1 𝑛2 + 𝑏2 )𝑠)𝜃2 (𝑠) = 𝑛𝑇𝑚 (𝑠)

𝜃2 (𝑠) 𝑛
=
𝑇𝑚 (𝑠) 𝐽𝑒𝑞 𝑠 2 + 𝑏𝑒𝑞1 𝑠
• The equivalent inertia and damping coefficients.
𝐽𝑒𝑞 = 𝐽1 𝑛2 + 𝐽2
𝑎𝑛𝑑 𝑏𝑒𝑞 = 𝑏1 𝑛2 + 𝑏2

• Solve the problem again considering the gears inertia.

9
Example
• Solving gears systems using energy equivalent system
• The gears system can be modeled using one shaft assuming equivalent energy.
𝜃1 𝜔1 𝑁2
= = =𝑛
𝜃2 𝜔2 𝑁1
• Equivalent kinetic energy
2
1 2 1 2 1 2 1 𝜔2
𝐾𝐸 = 2𝐽𝐺1 𝜔1 + 2𝐽𝐺2 𝜔2 = 2𝐽𝐺1 𝜔1 + 2𝐽𝐺2 𝜔12
𝜔1
2
1 1
𝐾𝐸 = 2 𝐽𝐺1 + 𝐽𝐺2 𝜔12 = 12𝐽𝐺𝑒𝑞 𝜔12
𝑛
2
1
𝐽𝐺𝑒𝑞 = 𝐽𝐺1 + 𝐽𝐺2
𝑛
1 2
• Similarly, 𝐽2𝑒𝑞 = 𝐽2
𝑛 10
Example
• Equivalent potential energy (PE)
2 2
1 1 𝜃2 1 𝜔2
2
𝑃𝐸 = 2𝑘2 𝜃2 = 2𝑘2 2
𝜃1 = 2𝑘2 𝜃12 = 12𝑘2𝑒𝑞 𝜃12
𝜃1 𝜔1
2
1
𝑘2𝑒𝑞 = 𝑘2
𝑛

• Equivalent damping energy (DE)

2
𝜔2
𝐷𝐸 = 12𝑏2 𝜔22 = 12𝑏2 𝜔12 = 12𝑏2𝑒𝑞 𝜔12
𝜔1
2
1
𝑏2𝑒𝑞 = 𝑏2
𝑛

11
 Mathematical Models of
Control Systems Components

(Electrical systems)

12
• Resistor element
𝑣 = 𝑅𝑖
v: voltage [V]
i: current ampere [A],
R: resistance [ohm Ω]
• Inductor element
𝑑𝑖
𝑣=𝐿
𝑑𝑡
L: inductance [Henry H]
• Capacitor element
1
𝑣 = න 𝑖𝑑𝑡
𝐶

C: capacitance, [Farad F]

13
• Volt source
A voltage source supplies a constant voltage.
𝑣 = 𝑣𝑠
• Current source
A current source supplies a constant current.
𝑖 = 𝑖𝑠
• Potentiometer
Potentiometer is a variable input component.
Linear potentiometer
𝑣𝑜
𝑣 = 𝑥 = 𝑘𝑥
𝐿
Angular potentiometer
𝑣𝑜
𝑣 = 𝜃 = 𝑘𝜃
𝜃𝑜

14
• Amplifier
Assuming saturation is not reached, and
response is fast enough than other components,
amplifier could be considered as simple gain.
𝑣𝑜 = 𝐾𝑣𝑖
• Kirchhoff’s laws
• The basic equations of electric circuits, called
Kirchhoff’s laws, are as follows:
1. Kirchhoff’s current law: The algebraic sum of currents
leaving a junction or node equals the algebraic sum of
currents entering that node.
2. Kirchhoff’s voltage law: The algebraic sum of all
voltages taken around a closed path in a circuit is zero.
15
Example
• Transfer function of a simple RLC circuit
• Summing the voltage around the loop
𝑑𝑖(𝑡) 1
𝑣 𝑡 =𝐿 + 𝑅𝑖 𝑡 + න 𝑖𝑑𝑡
𝑑𝑡 𝐶
• Taking Laplace
1
𝑉 𝑠 = (𝐿𝑠 + 𝑅 + )𝐼(𝑠)
𝐶𝑠
• Transfer function
𝐼(𝑠) 𝐶𝑠
=
𝑉 𝑠 𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1
1
𝐼(𝑠) 𝑠
= 𝐿
𝑉 𝑠 𝑅 1
𝑠2 + 𝑠 +
𝐿 𝐿𝐶
16
Operational Amplifier ‘Op Amp’
• An operational amplifier is an electronic amplifier used as a basic building block
to implement transfer functions. They are often used to build electronic circuits.

• Example: UA741, LM 358.

17
Operational Amplifier ‘Op Amp’
• In ideal op amps, it is assumed that the internal impedance is infinity.
• Ideally, no current flows through the input terminal through the op amp.
• The output voltage is not affected by the load connected to the output terminal.
• For ideal Op Amp, the impedance Z = ∞
==> I = 0, V = 0

18
Operational Amplifier ‘Op Amp’
• Inverting (Proportional) amplifier circuit
𝑉𝑖 − 𝑉 = 𝑖1 𝑅1
𝑉 − 𝑉𝑜 = 𝑖2 𝑅2
𝑖1 = 𝑖2 𝑉=0
𝑉𝑜 𝑅2
=−
𝑉𝑖 𝑅1
• Non-inverting amplifier circuit
𝑉 − 0 = 𝑖1 𝑅1
𝑉𝑜 − 𝑉 = 𝑖2 𝑅2
𝑖1 = 𝑖2 𝑉 = 𝑉𝑖
𝑉𝑜 𝑅2
=1+
𝑉𝑖 𝑅1
19