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Models of Physical Systems

Module 2 covers the models of physical systems, focusing on transfer functions, their properties, and the formulation of differential equations for mechanical and electrical systems. It explains the Laplace transformation as a method for solving differential equations and defines poles and zeros of transfer functions. The module also describes translational and rotational systems, detailing the forces and torques involved in these motions.

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Sanjib Kalita
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6 views28 pages

Models of Physical Systems

Module 2 covers the models of physical systems, focusing on transfer functions, their properties, and the formulation of differential equations for mechanical and electrical systems. It explains the Laplace transformation as a method for solving differential equations and defines poles and zeros of transfer functions. The module also describes translational and rotational systems, detailing the forces and torques involved in these motions.

Uploaded by

Sanjib Kalita
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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MODULE 2:

Models of Physical Systems


Transfer function: definition and properties, poles,
zeros and pole-zero map, formulation of
differential equations for physical systems and
derivation of transfer function: mechanical and
electrical systems, derivation of transfer function
using block diagrams reduction techniques and
signal flow graphs, signal flow graph from block
diagram, analogous systems.
Transfer Function
• Transfer Function is the ratio of Laplace transform of the
output to the Laplace transform of the input. Consider
all initial conditions to zero.
u(t) y(t)
Plant

If L{u (t )} U ( S ) and
L{ y (t )} Y ( S )
• Where L is the Laplace operator.
2
Transfer Function
• The transfer function G(S) of the plant is given as

Y (S )
G( S ) 
U (S )

U(S) G(S) Y(S)

3
• Why input, output and other signals are
represented in Laplace form in a control
system?

The input and output of a control system can


be different types.
For mathematical analysis of a system, all
kinds of signal should be represented in
similar form.
• Laplace Transformation:
Laplace transformation is a technique for solving
differential equations.
Differential equation of time domain form is first
transformed to algebraic equation of frequency domain
form.
After solving the algebraic equation in frequency
domain, the result then is finally transformed to time
domain form to achieve the ultimate solution of the
differential equation.
In other words it can be said that the Laplace
transformation is nothing but a shortcut method of
solving differential equation.
• In equation (1.0), if the order of the
denominator polynomial is greater than the
order of the numerator polynomial then the
transfer function is said to be STRICTLY PROPER.
• If the order of both polynomials are same, then
the transfer function is PROPER.
• The transfer function is said to be IMPROPER, if
the order of numerator polynomial is greater
than the order of the denominator polynomial.
CHARACTERISTIC EQUATION:
The characteristic equation can be obtained by
equating the denominator polynomial of the
transfer function to zero. That is
POLES AND ZEROS OF A TRANSFER
FUNCTION
POLES : The poles of G(s) are those values of ‘s’
which make G(s) tend to infinity.
ZEROS: The zeros of G(s) are those values of ‘s’
which make G(s) tend to zero.
If either poles or zeros coincide, then such type of
poles or zeros are called multiple poles or zeros,
otherwise they are known as simple poles or
zeros.
• For example, consider following transfer
function

This transfer function having the simple poles


at s=0, s=-2, multiple poles at s=-4 and simple
zero at s=-3.
MECHANICAL SYSTEM
• TRANSLATIONAL SYSTEM: The motion
takes place along a strong line is known as
translational motion. There are three types of
forces that resists motion.
• INERTIA FORCE: consider a body of mass ‘M’
and acceleration ‘a’, then according to Newton’s
law of motion
• DAMPING FORCE: For viscous friction we
assume that the damping force is proportional
to the velocity.
• SPRING FORCE: A spring stores the
potential energy. The restoring force of a
spring is proportional to the displacement.
• ROTATIONAL SYSTEM: The rotational motion of a
body can be defined as the motion of a body about a fixed
axis. There are three types of torques resists the rotational
motion.
• Inertia Torque: Inertia(J) is the property of an element
that stores the kinetic energy of rotational motion. The
inertia torque is the product of moment of inertia J and
angular acceleration α(t).

Where ω(t) is the angular velocity and θ(t) is the angular


displacement.
• Damping torque: The damping torque TD(t) is
the product of damping coefficient B and
angular velocity ω. Mathematically
• Spring torque: Spring torque Tθ(t) is the
product of stiffness and angular displacement.
Unit of ‘K’ is N-m/rad

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