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25 views24 pages

Lec 01

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mohamed.hassan031
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Cairo University Faculty of Engineering

Mechanical Design and Production Department

MDP 3430
System Dynamics
• References:
− Nise N.S., “Control Systems Engineering”, 6th edition, John Wiley &
Sons, 2011.
− Ogata, K., “Modern Control Engineering”, 5th edition, Prentice Hall,
2010.
− Franklin, F., Powell, J., Emami, A., “Feedback Control of Dynamic
Systems”, 7th edition, Pearson, 2015.
• Software:
Matlab, Simulink
Grading System
• Total: 125 grades
• Final: 75 grades
• Term Work: 50 grades
− Mid Term: 20 grades (8th week)
− Projects and presentations: 10 grades
− Assignments and class tests: 20 grades
• Course Objective
• Introduce the system dynamics to the mechanical engineering students.

• Course Topics
− Introduction to system dynamics
− Mathematical modeling of dynamic systems (mechanical, electrical,
electronic, hydraulic, pneumatic, and thermal)
− Linearization
− Block diagram - Transfer function approach
− State space representation
− Transient Response
− Steady state analysis
− Frequency Response
Introduction to Systems Dynamics
• Basic definitions
• System dynamics deals with the mathematical modeling of dynamic
systems and response analyses.
• A system is a combination of components acting together to perform a
specific objective.
• A component is a single functioning unit of a system.
• The controlled variable is the quantity or condition that is measured and
controlled. The controlled variable is the output of the system.
• Control means to measure the value of the controlled variable and to set its
value to a desired value.
• In a dynamic system, the output changes with time. The output changes due
to the variation of input or disturbances acting on the system.
• A disturbance is a signal that tends to adversely affect the value of the
output of a system.
Systems configurations
• Open loop control systems
• Systems in which the output has no effect on the control action.
• The output is neither measured nor fed back for comparison with the
input.
• Open-loop systems do not correct for disturbances and are simply
commanded by the input.
• Example: washing machine, toaster.
Systems configurations
• Advantages of open-loop control systems:
1. Simple construction and ease of maintenance.
2. Less expensive.
3. There is no stability problem.
4. Convenient when output is hard to measure or measuring the
output precisely is economically not feasible.

• Disadvantages of open loop control systems:


1. Disturbances and changes in calibration cause errors, and the
output may be different from what is desired.
2. To maintain the required quality in the output, recalibration is
necessary from time to time.
Systems configurations
• Closed-Loop (Feedback Control) Systems
• The closed-loop system compensates for disturbances by measuring
the output response, feeding that measurement back through a feedback.
• If there is any difference between the actual output and desired output,
the system drives the plant, via the actuating signal, to make a
correction.
• Example: refrigerator, electric water heater.
Systems configurations
• Closed-Loop (Feedback Control) Systems

• More Examples.
Systems configurations
• Closed-Loop (Feedback Control) Systems

• Advantages of closed loop control systems:


1. More accurate to achieve the desired output.
2. Can correct the system response due to external disturbances and
internal variations in system parameters.

• Disadvantages of closed loop control systems:


1. Can undergo instability causing oscillations.
2. Higher cost and more complex system.
Systems Dynamics and Design
• Analysis is the process by which a system’s performance is determined.

• Performance is evaluated by inspecting the transient response and steady-


state error to determine if they meet the desired specifications.

• Three major objectives of systems analysis and design: producing the


desired transient response, reducing steady-state error, and achieving stability.

• Example: Response of a position control


system, showing effect of high and low
controller gain on the output response.
Mathematical modeling
• Mathematical modeling involves the description of important system
characteristics by sets of equations, by applying physical laws.

• Physical systems are usually described in terms of differential


equations.

• The mathematical solution of the set of equations involves the system


behavior which describes the output of the system to the input as
function of time.
Mathematical modeling
• Linear Time Invariant (LTI) systems
• A LTI system is described by differential equation in which a
dependent variable and its derivatives appear as linear combinations.
• The coefficients of all terms are constant.
• The equation must contain no powers or other functions or products of
the dependent variables or its derivatives.

• The principle of superposition is applicable on the linear systems. The


principle states that the response of multiple applied inputs is the sum
of response for each input.
Mathematical modeling
• Linear Time Invariant (LTI) systems

• Example: the solution of the 2nd order differential equation of a


suspension system of a car where the mass, spring, and damper are
constant.
𝑑2 𝑥 𝑑𝑥
𝑚 2 +𝑐 + 𝑘𝑥 = 𝐹
𝑑𝑡 𝑑𝑡
Mathematical modeling
• Linear Time Variant systems

• If the system parameters are time dependent, the system is called


‘Linear Time Variant’.

• The equation coefficients are function of time. The dependent variable


and its derivatives appear as linear combinations.

• Example: mass of a spacecraft changes due to fuel consumption.


𝑑2 𝑥
2
+ 1 − cos 2𝑡 𝑥 = 0
𝑑𝑡
Mathematical modeling
• Nonlinear Systems
• Nonlinear systems are described by nonlinear differential equations.
• The equations contain product of the variables and derivatives, powers, or
other functions.
• The principle of superposition is not applicable.
• The mathematical solution involved with nonlinear systems are more
difficult. Frequently, if possible, it is useful to linearize a nonlinear system
near the operating condition.
• Example: the equation of a mass suspension system with nonlinear spring
𝑑2 𝑥 𝑑𝑥
𝑚 2 +𝑐 + 𝑘𝑥 ± 𝛼𝑥 3 = 𝐹
𝑑𝑡 𝑑𝑡
Laplace Transform
Laplace Transform
• Its main advantage is that differentiation of the time ‘t’ function ‘f(t)’ is
transformed to multiplication of a complex variable ‘s’ as algebraic function
‘F(s)’.
• The Laplace transform is defined as:
∞
ʆ𝑓 𝑡 = 𝐹 𝑠 = න 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡
0

• The system transformed algebraic equations are solved in the ‘s’ domain.
Then, transformed back to the physical time domain ‘t’ using the inverse
Laplace transform
ʆ−1 𝐹 𝑠 = 𝑓 𝑡
Unit step function
𝑢 𝑡−𝑎 =1 𝑡≥𝑎
=0 𝑡<𝑎
Laplace transform
table
Theorem 𝑓 𝑡
Linearity theorem ʆ 𝑘𝑓 𝑡 = 𝑘𝐹 𝑠
Laplace transform ʆ 𝑓1 𝑡 + 𝑓2 𝑡 = 𝐹1 𝑠 + 𝐹2 𝑠

ʆ 𝑒 −𝑎𝑡 𝑓 𝑡 =𝐹 𝑠+𝑎
theorems Frequency shift theorem

Time shift theorem ʆ 𝑓 𝑡 𝑢 𝑡−𝑎 = 𝑒 −𝑎𝑠 𝐹 𝑠

1 𝑠
Scaling theorem ʆ 𝑓 𝑎𝑡 = 𝐹
𝑎 𝑎

𝑑𝑓
Differentiation theorem ʆ = 𝑠𝐹 𝑠 − 𝑠𝑓 0
𝑑𝑡
𝑑2 𝑓
ʆ 2
= 𝑠 2 𝐹 𝑠 − 𝑠𝑓 0 − 𝑓 ′ 0
𝑑𝑡
𝑛
𝑑𝑛 𝑓
ʆ = 𝑠𝑛 𝐹 𝑠 − 𝑠 𝑛−𝑘 𝑓 𝑘−1 0
𝑑𝑡 𝑛
𝑘=1

𝑡
𝐹 𝑠
Integration theorem ʆ න 𝑓 𝜏 𝑑𝜏 =
0 𝑠

Final value theorem 𝑓 ∞ = lim 𝑠𝐹 𝑠


𝑠→0

Initial value problem 𝑓 0 = lim 𝑠𝐹 𝑠


𝑠→∞
• Transfer function
• Consider the linear time-invariant system defined by the following
differential equation,
𝑎0 𝑦 𝑛 + 𝑎1 𝑦 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑦 ′ + 𝑎𝑛 𝑦
= 𝑏0 𝑥 𝑚 + 𝑏1 𝑥 𝑚−1 + ⋯ + 𝑏𝑚−1 𝑥 ′ + 𝑏𝑚 𝑥 𝑛≥𝑚

where ‘y’ is the output of the system and ‘x’ is the input.

• Taking Laplace of the differential equations and setting the initial


conditions to zero.
𝑎0 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑠 + 𝑎𝑛 𝑌 𝑠
= 𝑏0 𝑠 𝑚 + 𝑏1 𝑠 𝑚−1 + ⋯ + 𝑏𝑚−1 𝑠 + 𝑏𝑚 𝑋 𝑠
𝑌 𝑠 𝑏0 𝑠𝑚 +𝑏1 𝑠𝑚−1 +⋯+𝑏𝑚−1 𝑠+𝑏𝑚
• 𝑇𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = 𝑇 𝑠 = =
𝑋 𝑠 𝑎0 𝑠𝑛 +𝑎1 𝑠𝑛−1 +⋯+𝑎𝑛−1 𝑠+𝑎𝑛
• Transfer function
• The transfer function of a linear, time-invariant, differential equation system
is defined as the ratio of the Laplace transform of the output (response
function) to the Laplace transform of the input (driving function) under the
assumption that all initial conditions are zero.
• Finding the system response
• The system response ‘y(t)’ is obtained by making the inverse the inverse
Laplace transformation such that,
𝑦 𝑡 = ʆ−1 𝑇 𝑠 𝑋 𝑠
• Partial-fraction expansion method is used for finding inverse Laplace
transforms.
• In case of distinct poles, the function can be expanded into a sum of simple
partial fractions,
𝐵 𝑠 𝑎1 𝑎2 𝑎𝑛
𝑇 𝑠 = = + + ⋯+
𝐴 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2 𝑠 + 𝑝𝑛

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