Automatic Control – Chapter 5

MODELING SYSTEM WITH

TRANSFER FUNCTION

Tran Anh Tu – Department of Aeronautics

[email protected]
 RECALL: TRANSFER FUNCTION

For an LTI system, with single input – single output,

initial condition being zero:

Laplace Transform of output

Transfer function =
Laplace Transform of input

Y(s)
X(s) System Y(s) TF =
X(s)
TF

2
RECALL: TRANSFER FUNCTION

Transfer function of a car suspension system

𝑋 𝑠 1
𝐻 𝑠 = =
𝐹 𝑠 𝑀𝑠 2 + 𝑏𝑠 + 𝑘

3
 CONTENTS

01 02 03 04

Modeling Modeling Modeling electro- Practice with

mechanical electrical mechanical Matlab /
system system system Simulink
 CONTENTS

01 02 03 04

Modeling Modeling Modeling electro- Practice with

mechanical electrical mechanical Matlab /
system system system Simulink
 GETTING STARTED

A mechanical system consists of 3

basic types of elements:
1. Inertial element
2. Spring element
3. Damper element

6
 MODELING INERTIAL ELEMENT

Element resisting change in state of motion

Translational Rotational

෍ 𝑓 = 𝑀𝑥ሷ ෍ 𝑇 = 𝐽𝜃ሷ

7
 SPRING ELEMENT

• Element design to store energy

• a.k.a. compliant element

Translational spring Torsional spring Diving plank

8
 MODELING SPRING ELEMENT

Translational Rotational

𝑓(𝑡) = 𝐾𝑥(𝑡) 𝑇(𝑡) = 𝐾𝜃(𝑡)

9
 DAMPER ELEMENT

• Element designed to dissipate energy

• a.k.a. resistive element

Shock absorber Friction between shaft & hub

10
 MODELING DAMPER ELEMENT

Translational Rotational

𝑓(𝑡) = 𝑏𝑥(𝑡)
ሶ ሶ
𝑇(𝑡) = 𝑏𝜃(𝑡)

11
 EXAMPLE

Find the transfer function between x1 and F, and v1 and F

Procedure:
• Model with differential equations
• Apply Laplace transform and determine transfer function

12
 EXAMPLE: TOY TRAIN

• Recall the system of differential equations of the train model

𝑀1 𝑥ሷ 1 + 𝜇𝑀1 𝑔𝑥ሶ1 + 𝑘 𝑥1 − 𝑥2 = 𝐹
𝑀2 𝑥ሷ 2 + 𝜇𝑀2 𝑔𝑥ሶ 2 − 𝑘(𝑥1 − 𝑥2 ) = 0
• Applying Laplace Transform:
𝑀1 𝑠 2 𝑋1 𝑠 + 𝜇𝑀1 𝑔𝑠𝑋1 𝑠 + 𝑘𝑋1 𝑠 − 𝑘𝑋2 (𝑠) = 𝐹(𝑠)
𝑀2 𝑠 2 𝑋2 𝑠 + 𝜇𝑀2 𝑔𝑠𝑋2 𝑠 − 𝑘𝑋1 𝑠 + 𝑘𝑋2 (𝑠) = 0

13
 EXAMPLE: TOY TRAIN

• Rearrange to form system of linear equations:

𝑀1 𝑠 2 + 𝜇𝑀1 𝑔𝑠 + 𝑘 𝑋1 𝑠 − 𝑘𝑋2 (𝑠) = 𝐹(𝑠)
−𝑘𝑋1 𝑠 + 𝑀2 𝑠 2 + 𝜇𝑀2 𝑔𝑠 + 𝑘 𝑋2 𝑠 = 0
• Write in simplified form:
𝑎11 𝑋1 𝑠 + 𝑎12 𝑋2 (𝑠) = 𝐹(𝑠)
𝑎21 𝑋1 𝑠 + 𝑎22 𝑋2 𝑠 = 0

𝑋1 (𝑠) 𝐹(𝑠)
𝐴 =
𝑋2 (𝑠) 0

14
 EXAMPLE: TOY TRAIN

• To find X1(s)/F(s), solve the system of equations

o Method of substitution
o Elimination
o Cramer's rule
• Using either methods, we get:

Differentiate to find V1/F

𝑋1 (𝑠) 𝑎22 𝑉1 (𝑠) 𝑠𝑋1 (𝑠) 𝑠 ∙ 𝑎22
= = =
𝐹(𝑠) det(𝐴) 𝐹(𝑠) 𝐹(𝑠) det(𝐴)

(In practice, write down the answer in this implicit form, and note down A and a22)

15
 EXERCISE 1

Find the transfer function between x2(t) and F(t)

Procedure:
• Model with differential equations and apply Laplace transform
• Determine transfer function using explicit or implicit form

16
 EXERCISE 2

Find the transfer function between x2(t) and F(t)

17
 CONTENTS

01 02 03 04

Modeling Modeling Modeling electro- Practice with

mechanical electrical mechanical Matlab /
system system system Simulink
 GETTING STARTED

Find the relationship between capacitor voltage and input voltage

of the following circuit

19
R, L, C CHARACTERISTICS IN TIME DOMAIN

20
SOLUTION IN TIME DOMAIN

• Applying Kirchoff Voltage Law:

𝑑𝑖 𝑡 1 𝑡
−𝑣 𝑡 + 𝐿 + 𝑅𝑖 𝑡 + න 𝑖 𝜏 𝑑𝜏 = 0
𝑑𝑡 𝐶 0

• Changing variable from current to charge:

𝑑 2 𝑞(𝑡) 𝑑𝑞(𝑡) 1
𝐿 +𝑅 + 𝑞(𝑡) = 𝑣(𝑡)
𝑑𝑡 2 𝑑𝑡 𝐶
• Substituting q(t) = CvC(t):

𝑑 2 𝑣𝐶 (𝑡) 𝑑𝑣𝐶 (𝑡)

𝐿𝐶 + 𝑅𝐶 + 𝑣𝐶 (𝑡) = 𝑣(𝑡)
𝑑𝑡 2 𝑑𝑡
Second-order circuit

21
SOLUTION IN S-DOMAIN

• Taking Laplace Transform:

(𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1)𝑉𝑐 (𝑠) = 𝑉(𝑠)
• Transfer function of the circuit:

𝑉𝑐 (𝑠) 1
𝑇𝐹 = =
𝑉(𝑠) 𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1
1
= 𝐿𝐶
𝑅 1
𝑠2 + 𝑠 +
𝐿 𝐿𝐶

22
 MODELING R, L, C IN S-DOMAIN

Differential Laplace
Elements Impedance
equation transform
Resistor (R)
V(t) = i(t)R V(s) = I(s)R Z(s) = R

Inductor (L)
di
V(t) = L V(s) = LsI(s) ZL(s) = Ls
dt
Capacitor (C)
dV 1
i(t) = C I(s) = CsV(s) 𝑍𝐶 (s) =
dt Cs

23
FASTER METHOD IN S-DOMAIN

• Applying Kirchoff Voltage Law:

𝑑𝑖 𝑡 1 𝑡
−𝑣 𝑡 + 𝐿 + 𝑅𝑖 𝑡 + න 𝑖 𝜏 𝑑𝜏 = 0
𝑑𝑡 𝐶 0

• Taking Laplace transform:

1
𝐿𝑠𝐼 𝑠 + 𝑅𝐼 𝑠 + 𝐼 𝑠 = 𝑉 𝑠
𝐶𝑠

1
𝐿𝑠 + 𝑅 + 𝐼(𝑠) = 𝑉 𝑠
𝐶𝑠

24
FASTER METHOD IN S-DOMAIN

• Rewrite:

𝐼(𝑠) 𝐶𝑠
=
𝑉(𝑠) 𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1
• Substitute V(s) = CsI(s):

𝑉𝑐 (𝑠) 1
=
𝑉(𝑠) 𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1

The same result

25
EVEN FASTER METHOD IN S-DOMAIN

• Applying voltage division:

1
𝑉𝐶 (𝑠) 𝑍𝐶 𝐶𝑠
= =
𝑉(𝑠) 𝑅 + 𝑍𝐿 + 𝑍𝐶 𝑅 + 𝐿𝑠 + 1
𝐶𝑠
1
=
𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1

26
 NOTE: FREQUENCY DOMAIN VS S-DOMAIN

Impedance in
Differential Impedance in s-
Elements frequency
equation domain
domain
Resistor (R)
V(t) = i(t)R Z=R Z(s) = R

Inductor (L)
di
V(t) = L ZL = jωL ZL(s) = Ls
dt
Capacitor (C) 1
dV 1
i(t) = C 𝑍𝐶 = 𝑍𝐶 (s) =
dt j𝜔C Cs

27
MECHANICAL VS ELECTRICAL SYSTEM

Analogy between electrical and mechanical system

Type of element Mechanical system Electrical system

Inertial Inertia Inductor
Compliant Spring Capacitor
Resistive Damper Resistor

28
 EXAMPLE

Find the transfer function TF = I1(s)/V(s) of the following circuit

29
 EXAMPLE: CIRCUIT

• Applying Kirchoff Voltage Law and taking Laplace transform:

𝐼1 − 𝐼2
−𝑉 𝑠 + 𝐼1 𝑅 + =0
𝐶𝑠
𝐼2 − 𝐼1
+ 𝐼2 𝐿𝑠 = 0
𝐶𝑠
• Rearrange to create system of linear equations

1 1
𝑅+ 𝐼1 − 𝐼2 = 𝑉(𝑠)
𝐶𝑠 𝐶𝑠
−1 1
𝐼1 + 𝐿𝑠 + 𝐼2 = 0
𝐶𝑠 𝐶𝑠
30
 EXAMPLE: CIRCUIT

• Using similar approach as before, determine I1/V(s)

𝐼1 𝑎22
=
𝑉(𝑠) det(𝐴)
where:
1 1
𝑅+ −
∗𝐴 = 𝐶𝑠 𝐶𝑠
−1 1
𝐿𝑠 +
𝐶𝑠 𝐶𝑠

1
∗ 𝑎22 = 𝐿𝑠 +
𝐶𝑠

31
 EXERCISE 3

Find the transfer function TF = I2(s)/VS of the following circuit.

32
 CONTENTS

01 02 03 04

Modeling Modeling Modeling electro- Practice with

mechanical electrical mechanical Matlab /
system system system Simulink
 GETTING STARTED

• Example: Modeling DC motor

• Electrical input (voltage) → mechanical output (rotation angle)

34
 GETTING STARTED

Electric motor schematic and block diagram

V(s) System θ(s)

θ(s)
TF =
V(s)

35
MODELING ELECTRIC MOTOR IN TIME DOMAIN

• The torque generated is proportional to

the armature current:
𝑇𝑚 = 𝐾𝑇 𝑖(𝑡)
o KT: motor torque constant
• The motor back-emf is proportional to
the angular velocity of the shaft:
𝑑𝜃
𝑒 = 𝐾𝑒
𝑑𝑡
o Ke: back-emf constant

36
MODELING ELECTRIC MOTOR IN TIME DOMAIN

• Relationship between torque and angle:

𝑑2 𝜃 𝑑𝜃
𝑇 =𝐽 2 +𝑏
𝑑𝑡 𝑑𝑡
• Relationship in armature circuit
𝑑𝑖
𝑉 = 𝑅𝑖 + 𝐿 + 𝑒
𝑑𝑡

37
 MODELING ELECTRIC MOTOR IN S-DOMAIN

No. Relationship Time domain s-domain

1 Torque vs current 𝑇 = 𝐾𝑇 𝑖(𝑡) 𝑇(𝑠) = 𝐾𝑇 𝐼 (𝑠)

𝑑𝜃
2 Back-emf vs speed 𝑒 = 𝐾𝑒 𝐸(𝑠) = 𝐾𝑒 𝑠𝜃(𝑠)
𝑑𝑡

3 Torque vs angle 𝑑2 𝜃 𝑑𝜃 𝑇(𝑠) = (𝐽𝑠 2 + 𝑏𝑠)𝜃(𝑠)

𝑇 =𝐽 2 +𝑏
𝑑𝑡 𝑑𝑡

𝑑𝑖
4 Armature circuit 𝑉 = 𝑅𝑖 + 𝐿 + 𝑒 𝑉(𝑠) = 𝑅𝐼(𝑠) + 𝐿𝑠𝐼(𝑠) + 𝐸(𝑠)
𝑑𝑡

38
 FIND THE TRANSFER FUNCTION

• Substitute Eq (1) and (3) to (4):

𝑇 𝑠
𝑉 𝑠 = 𝑅 + 𝐿𝑠 + 𝐾𝑒 𝑠𝜃 𝑠 (5)
𝐾𝑇
• Substitute Eq (2) to (5):

𝑅 + 𝐿𝑠 𝐽𝑠 2 + 𝑏𝑠 𝜃(𝑠)
𝑉(𝑠) = + 𝐾𝑒 𝑠𝜃(𝑠) (6)
𝐾𝑇

39
 FIND THE TRANSFER FUNCTION

• Rewrite equation (6):

𝑅 + 𝐿𝑠 𝐽𝑠 2 + 𝑏𝑠
𝑉(𝑠) = + 𝐾𝑒 𝑠 𝜃(𝑠)
𝐾𝑇
➢ Transfer function

𝜃(𝑠) 𝐾𝑇
𝑇𝐹 = =
𝑉(𝑠) 𝑠 𝑅 + 𝑠𝐿 𝐽𝑠 + 𝑏 + 𝐾𝑇 𝐾𝑒

40
 CONTENTS

01 02 03 04

Modeling Modeling Modeling electro- Practice with

mechanical electrical mechanical Matlab /
system system system Simulink
 SIMULINK PRACTICE #1

Model the transfer function between x1 and F, and v1 and F of toy train
Take the value from Tutorial 2.2b

42
 SIMULINK PRACTICE #2

Model the transfer function TF = I2(s)/VS of the following circuit.

Take R = 40 Ω, C = 0.01 F, L = 2 H, v(t) = 20sin(5t)

43
 SIMULINK PRACTICE #3

Model the transfer function of the DC motor

Take the value from Tutorial 2.3

44