Lecture-4

Mathematical Modeling of Real World Systems

Dr. Ahmed Abdulaleem

1
 Modelling of Mechanical Systems
• Automatic cruise control

• The purpose of the cruise control system is to maintain a constant vehicle

speed despite external disturbances, such as changes in wind or road grade.

• This is accomplished by measuring the vehicle speed, comparing it to the

desired speed, and automatically adjusting the throttle.

• The resistive forces, bv, due to rolling resistance and wind drag act in the
direction opposite to the vehicle's motion.
2
 Modelling of Mechanical Systems

u  mv  bv
• The transfer function of the systems would be

V (s ) 1

U (s ) ms  b
3
 Electromechanical Systems
• Electromechanics combines electrical and mechanical
processes.
• Devices which carry out electrical operations by using
moving parts are known as electromechanical.
– Relays
– Solenoids
– Electric Motors
– Switches and e.t.c

4
Potentiometer

5
 Potentiometer

• R1 and R2 vary linearly with θ between the

two extremes:


R1  Rtot
 max

 max  
R2  Rtot
 max

6
 Potentiometer
Figure-1
• Potentiometer can be used to sense
angular position, consider the circuit
of figure-1.

• Using the voltage divider principle we

can write:

R1 R1
eout  ein  ein
R1  R2 Rtot

R1  Rtot
  max
eout  ein
 max

7
 D.C Drives
• Speed control can be achieved using
DC drives in a number of ways.

• Variable Voltage can be applied to the

armature terminals of the DC motor .

• Another method is to vary the flux per

pole of the motor.

• The first method involve adjusting the

motor’s armature while the latter
method involves adjusting the motor
field. These methods are referred to as
“armature control” and “field control.”
8
 Example-2: Armature Controlled D.C Motor
Ra La
Input: voltage u B
ia
Output: Angular velocity  u eb T J

Electrical Subsystem (loop method):
tant
cons
V f=
dia
u  Ra ia  La  eb , where e b back-emf voltage
dt
Mechanical Subsystem

Tmotor  Jω  Bω
Example-2: Armature Controlled D.C Motor
Ra La
Power Transformation: B
ia
u eb T J
Torque-Current: Tmotor  K t ia 
Voltage-Speed: eb  K b ω
t
stan
n
=co
Vf
where Kt: torque constant, Kb: velocity constant For an ideal motor

Kt Kb
Combing previous equations results in the following mathematical
model:

 dia
 La  Ra i a  K b ω  u
 dt
 Jω
   B-K t ia  0
Example-2: Armature Controlled D.C Motor

Taking Laplace transform of the system’s differential equations with

zero initial conditions gives:

La s  Ra I a(s)  K b Ω(s) U(s)


Js  B Ω(s)-K t I a(s)  0

Eliminating Ia yields the input-output transfer function

Ω(s) Kt

U(s) La Js 2  JRa  BLa s  BRa  K t K b
 Example-2: Armature Controlled D.C Motor
Reduced Order Model
Assuming small inductance, La 0

Ω(s)

K t Ra 
U(s) Js  B  K t K b Ra 
 Example-3: Armature Controlled D.C Motor
If output of the D.C motor is angular position θ then we know

Ra La
d B
 or (s )  s (s ) ia
dt u eb T J
θ
t
stan
= con
Vf
Which yields following transfer function

(s)

K t Ra 
U(s) sJs  B  K t K b Ra 
 Example-3: Field Controlled D.C Motor
Rf Ra La

if
ef Lf Tm J ea
B ω

Applying KVL at field circuit

di f
e f i f R f  L f
dt
Mechanical Subsystem
Tm  Jω  Bω
 Example-3: Field Controlled D.C Motor

Power Transformation:

Torque-Current: Tm  K f i f

where Kf: torque constant

Combing previous equations and taking Laplace transform (considering

initial conditions to zero) results in the following mathematical model:


 E f (s )  R f I f (s )  sL f I f (s )

 Js(s )  B(s )  K f I f (s )

 Example-3: Field Controlled D.C Motor
Eliminating If(S) yields

Ω(s) Kf

E f (s) Js  B ( L f s  R f )

If angular position θ is output of the motor

Rf Ra La

if
ef Lf Tm J ea
B θ

(s) Kf

E f (s) s Js  B ( L f s  R f )
 Example-4
An armature controlled D.C motor runs at 5000 rpm when 15v applied at the
armature circuit. Armature resistance of the motor is 0.2 Ω, armature
inductance is negligible, back emf constant is 5.5x10-2 v sec/rad, motor torque
constant is 6x10-5, moment of inertia of motor 10-5, viscous friction coefficient
is negligible, moment of inertia of load is 4.4x10-3, viscous friction coefficient of
load is 4x10-2.
Ra La
Bm N1
ia
ea 15 v eb T Jm
BL

JL
t
stan L
con N2
=
Vf
1. Drive the overall transfer function of the system i.e. ΩL(s)/ Ea(s)
2. Determine the gear ratio such that the rotational speed of the load is
reduced to half and torque is doubled.
 System constants

ea = armature voltage

eb = back emf

Ra = armature winding resistance = 0.2 Ω

La = armature winding inductance = negligible

ia = armature winding current

Kb = back emf constant = 5.5x10-2 volt-sec/rad

Kt = motor torque constant = 6x10-5 N-m/ampere

Jm = moment of inertia of the motor = 1x10-5 kg-m2

Bm=viscous-friction coefficients of the motor =

negligible
-3 2
 Example-4
Since armature inductance is negligible therefore reduced order transfer
function of the motor is used.

ΩL(s) Kt

U(s)  
J eq Ra  Beq La s  Beq Ra  K t K b

Ra La
Bm N1
ia
ea 15 v eb T Jm
BL

JL
t
stan L
n N2
=co
Vf
2 2
 N   N 
J eq  J m   1  J L Beq  Bm   1  BL
 N2   N2 
 Example-5
A field controlled D.C motor runs at 10000 rpm when 15v applied at the field
circuit. Filed resistance of the motor is 0.25 Ω, Filed inductance is 0.1 H,
motor torque constant is 1x10-4, moment of inertia of motor 10-5, viscous
friction coefficient is 0.003, moment of inertia of load is 4.4x10-3, viscous
friction coefficient of load is 4x10-2.

Rf Ra La
N1
if ea
ef Lf Tm
Bm ωm Jm BL
JL
L
N2
1. Drive the overall transfer function of the system i.e. ΩL(s)/ Ef(s)
2. Determine the gear ratio such that the rotational speed of the load is
reduced to 500 rpm.
 Example-5

Ra La N1
+
JM
+ + + BM
ia BL
kp
r
e ea e b T θ JL
c
_ _ _
N2

if = Constant
-
 Numerical Values for System constants
ngular displacement of the reference input shaft
ngular displacement of the output shaft
ngular displacement of the motor shaft
gain of the potentiometer shaft = 24/π
amplifier gain = 10
armature voltage
back emf
armature winding resistance = 0.2 Ω
armature winding inductance = negligible
rmature winding current
back emf constant = 5.5x10-2 volt-sec/rad
motor torque constant = 6x10-5 N-m/ampere
moment of inertia of the motor = 1x10-5 kg-m2
iscous-friction coefficients of the motor = negligible
moment of inertia of the load = 4.4x10-3 kgm2
viscous friction coefficient of the load = 4x10-2 N-m/ra
 System Equations

e(t)=K1[ r(t) - c(t) ]

or
E(S)=K1 [ R(S) - C(S) ] (1)

(2)
Ea(s)=Kp E(S)

Transfer function of the armature controlled D.C motor Is given by

θ(S) Km
=
Ea(S) S(TmS+1)
 System Equations (contd…..)
Where

K
Km =
RaBeq+KKb
And
RaJeq
Tm = R B +KK
a eq b
Also
Jeq=Jm+(N1/N2)2JL

Beq=Bm+(N1/N2)2BL
 Example-4
An armature controlled D.C motor runs at 5000 rpm when 15v applied at the
armature circuit. Armature resistance of the motor is 0.2 Ω, armature
inductance is negligible, back emf constant is 5.5x10-2 v sec/rad, motor torque
constant is 6x10-5, moment of inertia of motor 10-5, viscous friction coefficient
is negligible, moment of inertia of load is 4.4x10-3, viscous friction coefficient of
load is 4x10-2.
Ra La
Bm N1
ia
ea 15 v eb T Jm
BL

JL
t
stan L
con N2
=
Vf
1. Drive the overall transfer function of the system i.e. ΩL(s)/ Ea(s)
2. Determine the gear ratio such that the rotational speed of the load is
reduced to half and torque is doubled.
 Example-5

Ra La N1
+
JM
+ + + BM
ia BL
kp
r
e ea e b T θ JL
c
_ _ _
N2

if = Constant
-
 Another example of the water-level control
* Operating principle……
fl oat
l ever
* Feedback control……
water
entrance
2) A temperature Control system
W
ater exi t
Fi gure 1. 2
contai ner
thermo
+ uf meter
ur
ampl i fi er
* Operating principle…
e
* Feedback control(error)…

ua=k(ur- uf ) Gear
M assembl y

Fi gure 1. 3
 val ve

Gear +
For the Fig.1.1, The water level assembl y fl oat

control system:
Water pool
motor -
M

ampl i fi er Figure 1.1

resistance comparator
Actuator Actual
Desired
water level
water level Water
amplifier Motor Gearing Valve
Input Error container
Output
controller Process

Float
Feedback
signal measurement
Fig. 1.8 (Sensor)