1-01-e <System Modeling>

Dr. Norbert Cheung’s

Lecture Series

Level 1 Topic no: 01-e

System Modeling

Contents
1. Mechanical System Modeling
2. Electrical Systems Modeling
3. Analogous Systems
4. Electromechanical Systems
5. Glossary

Reference:
1. Chapter 2, “Modern Control Engineering,” K. Ogata, Prentice Hall
2. Schaum’s Outline Series – Feedback Control Systems

Email: [email protected]
Web Site: http://norbert.idv.hk
Last Updated: 2024-04

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 1-01-e <System Modeling>

1. Mechanical Systems Modeling

Mechanical Translational System

u y

m
b

Use Newton’s second law to form the equation:

d2y  dy du 
m 2 = −b −  − k ( y − u )
dt  dt dt 

Rearrange the equation gives:

d2y dy du
m 2 + b + ky = b + ku
dt dt dt

Then take the Laplace transform of the mechanical equation:

 d2y

L m 2  = m s 2Y ( s) − sy (0) − y (0) 
 dt 

 dy 
L b  = bsY (s) − y(0)
 dt 

Lky = kY (s)

 du 
Lb  = bsU (s) − u(0)
 dt 

Lku = kU (s)

Set all the initial conditions to zero, the whole equation can be rewritten as:

(ms 2 + bs + k )Y ( s ) = (bs + k )U ( s )

The transfer function is obtained by taking the ratio of Y(s) and U(s)

Y (s) bs + k
G(s) = =
U ( s ) ms + bs + k
2

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 1-01-e <System Modeling>

Mechanical Rotational Systems

w
T
J

J: Moment of inertia b: Viscous friction coefficient

: Angular velocity T: Torque

Equation of motion: J + b = T

( s ) 1
Laplace transform of equation: =
T ( s ) Js + b

where ( s) = L (t ) and T ( s) = LT (t )

2. Electrical Systems Modeling

LCR Circuit
L R

ei e
i o
C

Applying Kirchoff’s voltage law:

di 1 1
+ Ri +  idt = ei
C
L and idt = eo
dt C

Apply the Laplace Transform:

11 11
LsI ( s) + RI ( s) + I ( s) = Ei ( s) and I ( s) = Eo ( s)
Cs Cs

The transfer function is:

Eo (s) 1
=
Ei (s) LCs + RCs + 1
2

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 1-01-e <System Modeling>

Operational Amplifier Circuits

R R
2 2

R R
1 1

e
i e e
o e o
i

R2 R2
eo = − ei eo = (1 + )ei
R1 R1

Impedance Approach for Complex Transfer Functions in s domain

Z (s)
2

Z (s) Z
1 2
Z
C 1

R1
e
i e
o

R2

Since the circuit is similar to an inverter circuit, the transfer function is:

Eo (s) Z ( s)
=− 2
Ei (s) Z1 ( s)

The two impedances are:

1 R2
Z1 ( s ) = R1 and Z 2 ( s) = =
Cs +
1 R2Cs + 1
R2

Hence the Transfer function becomes:

R2
Eo ( s) R Cs + 1 R 1
=− 2 =− 2
Ei ( s) R1 R1 R2Cs + 1

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3. Analogous Systems
Systems that can be represented by the same mathematical model but that are different
physically are called analogous systems. Analogous systems are very useful in practice.

 The solution of equation of one physical system can also be applied to any
other field with the same equation.
 Since one type of system may be easier to handle experimentally, it is
therefore very easy to find out the behavior of an expensive system by
investigating the behavior its cheaper counter part.
 In many cases, we use simple electric circuits to simulate the behavior of
complex and expensive mechanical, chemical, or thermal, or other building
systems.

Mechanical electrical analogies (force-voltage relationship)

k
p
L R

+ C
e ~
_
x i

System equations:
d 2x dx
Mechanical: m 2
+ b + kx = p
dt dt

di 1
Electrical: L + Ri +  idt = e
dt C

d 2q dq 1
L 2
+R + q = e (in terms of electric charge, i=dq/dt)
dt dt C

Translational Rotational Mechanical Electrical Systems

Mechanical Systems Systems
Force (p) Torque (T) Voltage (e)
Mass (m) Moment of inertia (J) Inductance (L)
Viscous friction coeff. (b) Viscous friction coeff. (b) Resistance (R)
Spring constant (k) Spring constant (k) 1/capacitance (1/C)
Displacement (x) Angular displacement (θ) Charge (q)
Velocity (dx/dt) Angular velocity () Current (i)

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4. Electro-mechanical Systems
Modeling of DC servomotors:

R La
a

T, theta b

e
a eb
J

ia

i f =constant

Ra = armature resistance
La = armature inductance
ia = armature current
if = field current
ea = applied voltage
eb = back emf
θ = angular displacement (theta)
T = torque
J = equivalent moment of inertia
b = equivalent viscous friction

Torque developed by the motor: T = K f i f ia

Group all constant terms into K (motor torque constant):

T = Kia or in s-domain T ( s ) = KI a ( s )

A back emf will be generated when the motor is rotating:

d
eb = Kb or in s-domain K b s( s ) = Eb ( s )
dt

The voltage equation of the motor can be written as:

La
dia
+ Raia + eb = ea or in s-domain (La s + Ra )I a ( s) + Eb ( s) = Ea ( s)
dt

The mechanical equation can be described as:

d 2 d
J 2 +b
dt dt
=T or in s-domain (Js 2
)
+ bs ( s ) = T ( s )

For simplicity, assume that all the initial conditions are zero.

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 1-01-e <System Modeling>

Consider the (s) as output, and Ea(s) as input, it is possible to construct a block
diagram from the above equations:

E (s) I a (s) T(s) Q (s)

a 1
1
K
s ( Js+ b)
L (s) + R
a a

E (s)
b

K s
b

The DC motor in itself is a feedback system. The output velocity is directly related to
the input voltage. The block diagram can be simplified into the following equation:

(s) K
=

Ea (s) s La Js + (Lab + Ra J )s + Rab + KKb
2

The inductor La is usually very small and can be neglected. The whole equation can
be simplified as:

(s) Km
=
Ea (s) s(Tm s + 1)

K
where Km = (motor gain constant)
Rab + KKb

Ra J
and Tm = (motor time constant)
Rab + KK b

E (s) K Q (s)
a m

s(T s+1)
m

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 1-01-e <System Modeling>

Glossary – English/Chinese Translation

English Chinese
modeling 建 模
electrical system 电气系统
mechanical system 机械系统
electromechanical system 机电系统
Newton's Second Law 牛顿第二定律
Free Body Diagram 自由体图
Kirchhoff’s Voltage Law 基尔霍夫电压定律
operational amplifier 运算放大器
analogous System 类比系统
armature and field current 电枢和励磁电流
servomotor 伺服
viscous friction 粘性摩擦

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