NMB 34203 Control Systems

Chapter 2
Mathematical Model
 CLO and Chapter Objectives

Course Learning Outcome (CLO)

- Determine the transfer function and mathematical models of control
systems (C4)

Chapter Objectives
Upon completion of this topic, students are expected to be able to:
- define the system and its components
- analyze the relationships between the system variables
- formulate the mathematical model and list the necessary assumptions
of a system
- determine the transfer function of a system
2
 Overview

1. Laplace transform
2. Partial Fraction and Inverse Laplace
3. Mathematical Models
 Electrical
 Translational mechanical
 Rotational mechanical
 Electromechanical
 Review: Laplace Transform

Complex Variables, s
 has a real part and imaginary part
1 1

1 1

Complex Functions, G(s)

 has a real part and imaginary part

4
 Review: Laplace Transform

Forward Laplace Transform

 The process of converting a time domain functions into S domain

Inverse Laplace Transform

 The process of converting a S domain functions into a time domain

5
 Definition of Laplace Transform

The Laplace transformation for a function of time f(t) is given by :

where :
s = frequency variable (Laplace operator)

6
 Laplace Transform Theorems

• Theorem 1 : Multiplication by a constant

Let k be a constant and F(s) be the Laplace transform of f(t). Then

L{ k f(t) } = k F(s)

• Theorem 2 : Sum and Difference

Let F1(s) and F2(s) be the Laplace transform of f1(t) and f2(t),
respectively. Then

L{ f1(t) ± f2(t) }= F1(s) ± F2(s)

7
 Laplace Transform Theorems

• Theorem 3: Differentiation
Let F(s) be the Laplace transform of f(t). And let f(0) be the limit of

f(t) as t approaches 0. The Laplace transform of the time derivative

of f(t) is:

In general, for higher order derivatives of f(t):

8
 Laplace Transform Theorems

• Theorem 4: Integration
The Laplace transform of the first integral of f(t) with respect to
time in the Laplace transform of f(t) divided by s; that is

For n-th order of integration:

9
Laplace Transform Theorems

10
Laplace Transform Table

11
 Inverse Laplace Transform

Numerator

Denominator

The highest power of A(s) > the highest power of B(s)

Example:

12
 Inverse Laplace Transform

Calculate the partial-fraction expansion of F(s) and its inverse LT f(t).

Example 1:
The transfer function F(s) has real and distinct roots in the denominator

13
 Inverse Laplace Transform

Answer 1:

Answer 2:

14
Laplace Transform Theorems

15
Mathematical Model :
-ElectricalSystem
-Translational Mechanical System
-Rotational Mechanical System
-Electromechanical System
 Mathematic Model: Electrical System

Electric Network Transfer Function

17
 Mathematic Model: Electrical System

Example 1 :

Find the transfer function using:

(a) Single loop via differential equation

(b) Single loop via mesh transform methods
(c) Single node via transform methods

18
 Mathematic Model: Electrical System

Example 1 :

(a) Single loop via differential equation

Eq. (1)

Change variables in Eq. (1) from current to charge:

Then, from the voltage-charge relationship (for C):

19
 Mathematic Model: Electrical System

Example 1 :

(a) Single loop via differential equation

Answer:

20
 Mathematic Model: Electrical System

Complex circuit via Mesh Analysis transform method:

Replace passive element values with their impedances

Replace all sources and time variables with their Laplace Transform

Assume a transform current and a current direction in each mesh

Write Kirchoff's voltage law around each mesh

Solve the simultaneous equation for the output

Form the transfer function

21
 Mathematic Model: Electrical System

Example 1 : (b) Single loop via mesh analysis transform methods

The transformed circuit: replace passive element by its impedance,

replace sources by their Laplace transforms

and

22
 Mathematic Model: Electrical System

Complex circuit via Nodal Analysis transform method:

Replace passive element values with their admittances

Replace all sources and time variables with their Laplace Transform

Assume a transform voltage source with transformed current source

Write Kirchoff’s current law at each node

Solve the simultaneous equation for the output

Form the transfer function

23
 Mathematic Model: Electrical System

Example 1 : (c) Single loop via nodal analysis transform methods

The transformed circuit: replace passive element by its admittance,

replace sources by their Laplace transforms

24
Mathematical Model :
-Electrical System
-Translational Mechanical System
-Rotational Mechanical System
-Electromechanical System
Mathematic Model: Translational Mechanical System

26
Mathematic Model: Translational Mechanical System

The mechanical system requires the equation of motion:

1.First
assume a positive direction of motion which is similar to
assuming a current direction

2.Once the direction of motion is assumed then draw the free body
diagram of the system by placing all the forces or torque acting on
the body either in the direction of motion or against it.

3.UseNewton’s law to form a differential equation of motion by

summing the forces and setting the sum equal to zero.

4.Lastly, assuming zero initial conditions, take the Laplace transform

of the differential equation, separate the variables and arrive at the
transfer function.

27
 Mathematic Model: Translational Mechanical System
Example 1 : mass, spring and damper system
Draw the free body diagram and Find the transfer function, X ( s ) / F ( s )

Assume that the mass is travelling to the right

• only applied force points to the right
• all other forces block the motion and in opposite direction

28
 Mathematic Model: Translational Mechanical System
Example 1 : mass, spring and damper system
Draw the free body diagram and Find the transfer function, X ( s ) / F ( s )

Answer:

F(s) 1 X(s)

Ms 2  f v s  K
29
 Mathematic Model: Translational Mechanical System
Example 2 : two degrees of freedom
Draw the free body diagram and Find the transfer function, X 2 ( s ) / F ( s )

Sum of impedances Sum of impedances

1
connected to
_ between = Sum of applied
Forces at x1
the motion at x1 x1 and x2

Sum of impedances Sum of impedances

2
connected to
_ between = Sum of applied
Forces at x2
the motion at x2 x1 and x2
Hint:
To solve a system of linear equations with many equations & unknown, use the Cramer’s Rule
30
(for Δ≠0)

(for Δ≠0)

31
 Mathematic Model: Translational Mechanical System

Example 2 : two degrees of freedom

Answer:
F(s) ( fv3  K 2 ) X2(s)

with:

32
 Mathematic Model: Translational Mechanical System

Example 3 : three degree of freedom

Write but do not solve, the equation of motion for the translational
mechanical network

33
Mathematic Model: Translational Mechanical System

34
Mathematical Model :
-ElectricalSystem
-Translational Mechanical System
-Rotational Mechanical System
-Electromechanical System
Mathematic Model: Rotational Mechanical System

36
 Mathematic Model: Rotational Mechanical System

The mechanical system requires the equation of motion:

1.First rotate a body while holding other points still and place on its
free-body diagram all torques due to the body’s own motion

2.Then, holding the body still, rotate adjacent points of motion one
at a time and add the torques due to the adjacent motion of the free
body diagram.

3.Repeat step 1 & 2 for each point of motion.

4.For each free-body diagram, the torques are summed and set equal
to zero to form the equations of motion.

37
 Mathematic Model: Rotational Mechanical System

Example 1 : two equations of motion

Find the transfer function, G ( s )   2 ( s ) / T ( s ) . The rod is supported

by bearings at both ends and is undergoing tension. The torque is applied
at the left and the displacement is measured at the right.

38
 Mathematic Model: Rotational Mechanical System

Example 2 : Write the equation of motion for the following system

Example 3: Find the transfer functions G ( s )   2 ( s ) / T ( s )

39
 Mathematic Model: Rotational Mechanical System

Answer 1:

Answer 2:

Answer 3:

40
Mathematical Model :
-ElectricalSystem
-Translational Mechanical System
-Rotational Mechanical System
-Electromechanical System
 Mathematic Model: Electromechanical System

 Electromechanical system consist of combination of electrical

and mechanical systems.

 A motor is an electromechanical device that produces output

displacement when an input voltage is given.

 For the purpose of this course, the armature control DC

servomotor will be studied.

42
 Mathematic Model: Electromechanical System

 A permanent magnet produce a magnetic field that is perpendicular

to the current flow.

 This will result in a force acting on the armature circuit given by

 where B: strength of the magnetic field

l : length of the conductor

43
 Mathematic Model: Electromechanical System

 The resulting torque will move the rotor

 The voltage across the rotor terminal is proportional to the

angular velocity.

44
 Mathematic Model: Electromechanical System
DC motor has separately excited field :
 Armature control DC motor with constant field current.
 Field control DC motor with constant armature current.

Armature control DC Motor

where,

Ra – Armature winding resistance (Ω) T – Motor torque (Nm)

La – Armature winding inductance (H) J – Inertia (kg-m2)
Eb – Back electromotive force (V) ia – Armature current (A)
θ - Angular displacement (rad) if – Field current (A)
F – Coefficient of viscous friction (Nm-s/rad) Vf – Source/input voltage45
 Mathematic Model: Electromechanical System

Example:
Obtain the transfer function θL(s)/Ea(s) for the system below.
The torque-speed curve is given in figure (b):

46
 Mathematic Model: Electromechanical System

Answer:

47