System Modeling

Identification
Lecturer: VU VAN PHONG

Dr. Van-Phong Vu-Department of Automatic Control

Textbook and References

 [1] Bài giảng Mô hình hóa và nhận dạng hệ thống, PGS. TS. Huỳnh Thái
Hoàng, ĐHQG TPHCM.
 [2] Giáo trình mô hình hóa và mô phỏng, PGS. TS. Quyền Huy Ánh,
ĐHSPKT 2010.
 [3] D. L. Smith, Introduction to Dynamic Systems Modeling for Design,
Prentice-Hall, 1994.
 [4] L. Ljung, System Identification – Theory for the users, 2 nd Edition,
Prentice-Hall, 1999.
 [5] R. Johansson, System Modeling and Identification, Prentice-Hall, 1993.
 [6] L. Ljung, System Identification Toolbox TM Getting Started Guide in
Matlab, The MathWorks, Inc, 2016
Dr. Van-Phong Vu-Department of Automatic Control
Contents of This course

 Chapter 1: Introduction
 Chapter 2: System Modeling
 Chapter 3: Non-parameter System Identification
 Chapter 4: Structure of the Parameter System
 Chapter 5: Parameter Estimation System Identification
 Chapter 6: Evaluation model
 Chapter 7: System Identification in Practice

Dr. Van-Phong Vu-Department of Automatic Control

 Chapter 2: System Modeling

Dr. Van-Phong Vu-Department of Automatic Control

Contents of Chapter 2

 2.1 Introduction
 2.2 Functional Analysis
 2.3 Physical Characteristic Analysis
 2.3.1 Modeling a Mechanical System
 2.3.2 Modeling an Electrical System
 2.3.3 Modeling of Electromechanical Systems
 2.3.4 Modeling of Fluid Systems
 2.3.5 Modeling of Thermal Systems
 2.4 Mathematical Model Analysis
Dr. Van-Phong Vu-Department of Automatic Control
2.1 Introduction

 System Modeling: procedure to build the mathematical model of

the system based on the physical laws of the system

Dr. Van-Phong Vu-Department of Automatic Control

2.1 Introduction

System Modeling

Physical
Mathematical
Functional Analysis Characteristic
Model Analysis
Analysis

Dr. Van-Phong Vu-Department of Automatic Control

 2.2 Functional Analysis

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Function Analysis of the System

 Functional analysis: analyze the system into a set of subsystems

which consist of the functional components.
 During functional analysis, we need to note the
 Connectivity: which parts of the system connect together.
 Causality: How the parts of the system connect?

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Procedure for Functional Analysis:

 Step 1: Isolate the system with environment.
 Step 2: Analyze the subsystems
 Step 3: Determine the causality

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Isolate the system with environment:

 Determine the limited area of the system.
 Cut off all connections between the system with outside
environment.
 Replace each connection by a port to describe the interactions
between system and environment.

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Ports: are the terminals (thiết bị đầu cuối) of the system in which
the energy is transferred in or out. The system can have single or
multiple ports.
 One port can have one/two inputs (U) one/two ouput (Y).
 Common ports:
 Structural (cơ khí)
 Electrical (Điện)
 Thermal (Nhiệt)
 Fluid (Lưu chất)

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Structural

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Electrical

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Thermal

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Fluid

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Example: Cooling system

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Example: Cooling system

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Subsystem Analysis:
 Divide the system into subsystems
 Divide the subsystems into components.
 Replace the connectivity among components by ports.

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Subsystem Analysis:

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Subsystem Analysis:

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Determine Causality:
 Causality is determined by the variables at the ports.

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

Dr. Van-Phong Vu-Department of Automatic Control

 2.3 Physical Characteristic
Analysis

Dr. Van-Phong Vu-Department of Automatic Control

2.3 Physical Characteristic Analysis
 Physical Characteristic Analysis: a process to obtain the mathematical
model of each functional component based on the physical laws.
 Basic physical systems:
 Electrical system
 Mechanical System
 Thermal system
 Fluid system

Dr. Van-Phong Vu-Department of Automatic Control

2.3 Physical Characteristic Analysis

Physical systems

Basic Elements Basic Variables Conservation laws

1. Resistance 1. Quantity Electrical,

2. Capacitance 2. Potentiality Mechanical,
3. Inductance/ 3. Time Thermal,
Inertia Fluid

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Mechanical System:
 Basic Variables:
 Distance (quantity) x [m]
 Force (potentiality) F [N]
 Velocity v [m/s]
 Basic elements:
 Dashpot ( Piston cylinder):

𝑑𝑥
𝑓 =𝑏 =𝑏𝑣
𝑑𝑡
Dr. Van-Phong Vu-Department of Automatic Control
2.3 .1 Modeling of Mechanical Systems
 Spring.

1
Energy : 𝐸= 𝑘 𝑥 2
2

 Mass:
Newton law 2: Energy:
2
𝑑𝑣 𝑑 𝑥 1 2
𝑓 =𝑚𝑎=𝑚 =𝑚 𝐸= 𝑚 𝑣
𝑑𝑡 𝑑𝑡
2
2
Dr. Van-Phong Vu-Department of Automatic Control
2.3 .1 Modeling of Mechanical Systems
 Conservation Laws:
 Force equilibrium equations, Newton Laws.
 Euler-Lagrange Equations

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 1: Modeling the following system

Dr. Van-Phong Vu-Department of Automatic Control

2.3 Physical Characteristic Analysis
 Example 2:

F1=kX(t)
F(t)
m

b Fms=bv(t)

F: Force
X(t): Displacement
v: velocity
m: mass
K: spring constant
b: Damping coefficient
2.3 Physical Characteristic Analysis
 Example 3:
2.3 Physical Characteristic Analysis
 Example 3:
2.3 .1 Modeling of Mechanical Systems
 Example 3: Modeling the following system

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 4: Modeling the train

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 3: Modeling the train

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 3: Modeling the train

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 3: Modeling the train

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 3: Modeling the train

Dr. Van-Phong Vu-Department of Automatic Control

 Consider a system illustrated in Fig. 6. and are the external force (inputs) ; and and are
the displacement of m1 and m2, respectively.
 Please determine the mathematical model in term of state-space equation.
 Please simulate the system using Matlab/Simulink
 with inputs are step signal m1=1, m2=2 b=0.1, k1=0.15, k2=0.15

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Rotational Mechanical Systems : The input to a rotational
mechanical system may be the torque T and the output the rotational
displacement, or angle.
 Torsional spring: relationship between torque T and the angle θ
rotated by the spring

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Rotational Mechanical Systems :
 Rotational dashpot:

 Moment of inertia: torque T, angular acceleration a, and the

moment of inertia I,


Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
 Electrical System:
 Basic variables:
 Charge (điện lượng) q [C]
 Voltage (điện thế) u [V]
 Current ( dòng điện) I [A]
 Basic elements
 Resistance: Capacitance:
 Inductance:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
 Conservation Laws:
d 1 2
v 21 L i E  L i
dt 2

d 1 2
i C v 21 E  M  v 21
dt 2

Kirchhoff’s voltage law

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
 Conservation Laws:
 Kirchoff Law for current

 Kirchoff law for voltage

 Analysis circuit methods
Dr. Van-Phong Vu-Department of Automatic Control
2.3.2 Modeling Electrical System
 Example 1:

di
v  i.R  L  vC
dt
dvC d 2 vC
 RC  LC 2  vC
dt dt

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
 Example 2:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
 Example 2:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
 Example 2:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System

Dr. Van-Phong Vu-Department of Automatic Control

2.3.3 Modeling of Electromechanical Systems
 Transfer function of DC motor
L R
i
+

T w Kf J
U

Lư Điện cảm phần ứng  Tốc độ động cơ

Rư Điện trở phần ứng Mt Mô men tải

Uư Điện áp phần ứng J Mô men quán tính
Eư Sức điện động phần ứng B Hệ số ma sát
2.3.3 Modeling of Electromechanical Systems
 Phương trình cân bằng điện

diu (t )
U u (t )  iu (t ).Ru  Lu .  Eu (t )
dt
Eu (t )  K (t )

Dr. Van-Phong Vu-Department of Automatic Control

2.3.3 Modeling of Electromechanical Systems
 Phương trình cân bằng moment

d (t )
M đ (t )  M t (t )  B (t )  J
dt
M đ (t )  Kiu (t )

Dr. Van-Phong Vu-Department of Automatic Control

2.3.4 Modeling the Fluid Systems
 Fluid Systems:
 Basic variables:
 Pressure (áp suất) p [N/m2]
 Volume (thể tích) V [m3]
 Flow ( lưu lượng) z [m3/s]
 Basic elements
 Hydraulic resistance

Dr. Van-Phong Vu-Department of Automatic Control

2.3.4 Modeling the Fluid Systems
 Fluid Systems:
 Hydraulic resistance R:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.4 Modeling the Fluid Systems
 Fluid Systems:
 Hydraulic Capacitance C:
(1)

(2)
Hydraulic Capacitance C

Dr. Van-Phong Vu-Department of Automatic Control

2.3.4 Modeling the Fluid Systems
 Fluid Systems:
 Hydraulic inertance: Hydraulic capacitance is a measure of the energy
storage in a hydraulic system.
 P1 − P2 be the pressure drop
 cross-sectional area A
 m is the uid mass and
 v is the fluid velocity
 pipe length is L
 Newton’s second law

Dr. Van-Phong Vu-Department of Automatic Control

2.3.4 Modeling the Fluid Systems
 Example:

L
2.3.5 Modeling of Thermal System
 Thermal Systems:
 Thermal resistance R is the resistance offered to the heat flow


Dr. Van-Phong Vu-Department of Automatic Control

2.3.5 Modeling of Thermal System
 Thermal Systems:
 Thermal capacitance is a measure of the energy storage in a thermal
system
 q1 is the heat flowing into a body
 q2 is the heat owing out
 the difference q2 − q1 is stored by the body

 heat capacity be denoted by C

Dr. Van-Phong Vu-Department of Automatic Control

2.3.5 Modeling of Thermal System
 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.5 Modeling of Thermal System
 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.5 Modeling of Thermal System
 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.5 Modeling of Thermal System
 Example:

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2.4 Mathematical Model Analysis

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2.4 Mathematical Model Analysis
 Combine all mathematical model of all elements to obtain
the mathematical model of a whole system.
 Linearize the nonlinear mathematical model to linear
systems.
 Linearization:
2.4 Mathematical Model Analysis
 Equilibrium point (Điểm dừng).
2.4 Mathematical Model Analysis
 How to find Equilibrium point
2.4 Mathematical Model Analysis
2.4 Mathematical Model Analysis
Thank You For Your Listening

Dr. Van-Phong Vu-Department of Automatic Control