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01 - Present Functions and Links Between Elements in A Control System

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01 - Present Functions and Links Between Elements in A Control System

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TECHNOLOGY

Vietnam National University - HCM


Ho Chi Minh City University of Technolog
Faculty of Mechanical Engineerin

PRESENT FUNCTIONS AND LINKS BETWEEN ELEMENTS IN A CONTROL SYSTEM

Augie Widyotriatmo, Ph.D.


Head of Autonomous Systems Laboratory
Instrumentation and Control Research Group
Institut Teknologi Bandung, Indonesia
https://www.itb.ac.id/staf/profil/augie-widyotriatmo
SECTION OBJECTIVES
• Find the Laplace transform of time functions and the inverse Laplace transform
• Find the transfer function from a differential equation and solve the differential
equation using the transfer function
• Find the transfer function for linear, time-invariant electrical networks,
translational mechanical systems, rotational mechanical systems, gear systems,
electromechanical systems
• Produce analogous electrical and mechanical circuits
• Linearize a nonlinear system in order to find the transfer function
• Reduce a block diagram of multiple subsystems to a single block representing
the transfer function from input to output
• Find a mathematical model, called a state-space representation, for a linear,
time-invariant system

Control Systems Technology: Augie Widyotriatmo, Ph.D. 2


MODELING IN THE FREQUENCY DOMAIN
• Interconnection of several subsystems

• Mathematical models from schematics of physical systems:


• (1) transfer functions in the frequency domain; and
• (2) state equations in the time domain

Control Systems Technology: Augie Widyotriatmo, Ph.D. 3


LAPLACE TRANSFORM REVIEW
• Laplace transform

F(s), that is called the Laplace transform of f(t).


• The invers Laplace transform

unit step function

Control Systems Technology: Augie Widyotriatmo, Ph.D. 4


LAPLACE TRANSFORM THEOREMS
• To help in transforming between
f(t) and F(s).

Control Systems Technology: Augie Widyotriatmo, Ph.D. 5


PARTIAL-FRACTION EXPANSION
• Roots of the Denominator of F(s) Are Real and Distinct

K1 = 2, K2 = -2

Control Systems Technology: Augie Widyotriatmo, Ph.D. 6


PARTIAL-FRACTION EXPANSION

• Find Km

• Let s → - pm,

Control Systems Technology: Augie Widyotriatmo, Ph.D. 7


THE TRANSFER FUNCTION
• nth-order, linear, time-invariant differential equation

• Taking the Laplace transform of both sides,

G(s), the transfer function and evaluate it with zero


initial conditions.

Control Systems Technology: Augie Widyotriatmo, Ph.D. 8


ELECTRICAL NETWORK TRANSFER FUNCTION

Control Systems Technology: Augie Widyotriatmo, Ph.D. 9


ELECTRICAL NETWORK TRANSFER FUNCTION

• KVL,

assuming zero initial conditions

Control Systems Technology: Augie Widyotriatmo, Ph.D. 10


TRANSLATIONAL MECH. SYST. TRANSFER FUNCT.
• K: spring constant
• f v: coefficient of viscous friction
• M: mass

Control Systems Technology: Augie Widyotriatmo, Ph.D. 11


TF: TWO DEGREES OF FREEDOM
M1:

M2:

a. Forces on M1 due only to a. Forces on M2 due only


motion of M1; b. forces on M1 to motion ofM2; b. forces
due only to motion of M2; c. all on M2 due only to motion
forces on M1 of M1; c. all forces on M2 Control Systems Technology: Augie Widyotriatmo, Ph.D. 12
TF: ROTATIONAL MECHANICAL SYSTEM
• K: spring constant
• D: coefficient of viscous friction
• J: moment of inertia

Control Systems Technology: Augie Widyotriatmo, Ph.D. 13


TF: TWO EQUATIONS OF MOTION
j1 :

j2 :

Physical system Schematic

Torques on J due only to the torques on J1 due only to the


1 final free-body
motion of J ;
1 motion of J2; diagram for J1

Torques on J2 due only to the torques on J2 due only final free-body


motion of J2; to the motion of J1; diagram for J2

Control Systems Technology: Augie Widyotriatmo, Ph.D. 14


TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS

Rotational mechanical impedances can be reflected


through gear trains by multiplying the mechanical
impedance by the ratio

Control Systems Technology: Augie Widyotriatmo, Ph.D. 15


TF – GEARS WITH LOSS
• The gear ratio is not the same for all System using a gear train; Equivalent system at the input;
impedances.
• D2 is reflected only through one gear
ratio as D2(N1/N2)2,
• J4 plus J5 is reflected through two gear
ratios as (J4 +J5)[(N3/N4)(N1/N2)2.
• Equation of motion

Control Systems Technology: Augie Widyotriatmo, Ph.D. 16


TF - ELECTROMECHANICAL SYSTEM
Electrical System NASA flight
simulator robot
arm

Mechanical System

Electro-Mechanical System TF: Electromechanical Systems

Control Systems Technology: Augie Widyotriatmo, Ph.D. 17


NONLINEARITIES
• The models thus far are developed from systems that can be described
approximately by linear, time-invariant differential equations.
• An assumption of linearity was implicit in the development of these models.

Linear system Nonlinear system Some physical nonlinearities


• A designer can often (not always) make a linear approximation to a nonlinear
system.
• Linear approximations simplify the analysis and design of a system and are used
as long as the results yield a good approximation to reality.
Control Systems Technology: Augie Widyotriatmo, Ph.D. 18
LINEARIZATION
• small excursions of the input about point A δx, yield
small changes in the output, δf(x),

Linearization about point A

Control Systems Technology: Augie Widyotriatmo, Ph.D. 19


BLOCK DIAGRAMS

Components of a block diagram for a linear, time-invariant system

Control Systems Technology: Augie Widyotriatmo, Ph.D. 20


CASCADE FORM

Control Systems Technology: Augie Widyotriatmo, Ph.D. 21


PARALLEL FORM

Control Systems Technology: Augie Widyotriatmo, Ph.D. 22


FEEDBACK FORM

Feedback control system Simplified model

Equivalent transfer function

Control Systems Technology: Augie Widyotriatmo, Ph.D. 23


MOVING BLOCKS TO CREATE FAMILIAR FORMS

Block diagram algebra for summing junctions—equivalent forms for moving a block a. to the left past a summing junction; b. to
the right past a summing junction

Control Systems Technology: Augie Widyotriatmo, Ph.D. 24


Block diagram algebra for pickoff points— equivalent forms for moving a block a. to the left past a pickoff point; b. to the right
past a pickoff point
BLOCK DIAGRAM REDUCTION VIA FAMILIAR FORMS

Collapse summing junctions;

form equivalent feedback system and multiply


form equivalent cascaded system in the forward path and by cascaded G1(s)
equivalent parallel system in the feedback path
Control Systems Technology: Augie Widyotriatmo, Ph.D. 25
EXERCISE

b. Develop a Simulink model for the original system in Figure. Set the reference signal input, rv(t) = 4 u(t), as a step input with
a zero initial value, a step time = 0 seconds, and a final value of 4 volts. Use X-Y graphs to display (over the period from 0
to 8 seconds) the response of the following variables to the step input: (1) change in car speed (m/s), (2) car acceleration
(m/s2), and (3) motor armature current (A). To record the time and the above three variables (in array format), connect them
to four Workspace sinks, each of which carry the respective variable name. After the simulation ends, utilize MATLAB plot
commands to obtain and edit the three graphs of interest.

Control Systems Technology: Augie Widyotriatmo, Ph.D. 26

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