Control
System
MODELING IN FREQUENCY DOMAIN:
Chapter 2
Faculty of Engineering and Built Environment
Control Systems
CNS307B
Faculty of Engineering and Built Environment
Control Systems
CNS307B
Learning Outcome: Model the frequency domain for control systems
Assessment Criteria :
• The Laplace transform of time functions and the inverse Laplace
transform are derived
• The transfer function from a differential equation is found and the
differential equation using the transfer function is solved
• The transfer function for linear, time invariant electrical networks
is
derived
• The transfer function for linear, time invariant translational
mechanical
systems is derived
• The transfer function for linear, time invariant rotational
mechanical
systems is derived
• The transfer function for linear, time invariant electro-mechanical
systems is derived
• Analogous electrical and mechanical circuits are produced
• A nonlinear system is linearized in order to find theoftransfer
Faculty Engineering and Built Environment
function Control Systems
CNS307B
Faculty of Engineering and Built Environment
Control Systems
CNS307B
Tools Needed
Mathematics:
• Laplace and inverse Laplace transforms
• Differential equations and solutions
• Different equations and solutions
• Complex number operations
Electrical and Mechanical knowledge
• Circuit analysis(Ohms law, Kirchhoff's laws)
• Mechanics
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𝑔 (𝑡 )
Impulse
𝑔 ( 𝑡 )response
𝑡
𝑐 (𝑡 )=∫ 𝑟 ( 𝜏 ) 𝑔 (𝑡 −𝜏 ) 𝑑 𝜏
inverse
Laplace 0
Laplace
transform transform
C(s)=R(s)G(s)
G(s) 𝐺 ( 𝑠)
Transfer
C(s) function
R(s)
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Laplace Transform
and
Inverse Laplace Transform
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Faculty of Engineering and Built Environment
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Faculty of Engineering and Built Environment
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Laplace Transform: time domain -> frequency domain (t -> s)
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𝑑𝐹 ( 𝑠)
13. 𝐿 { 𝑡𝑓 ( 𝑡 ) } =−
𝑑𝑠
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• Problem
• Solution
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Inverse Laplace Transform: frequency domain -> time domain (s->t)
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• Real distinct roots of denominator F(s)
• Real repeated roots of denominator F(s)
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Matlab: [r,p,k] = residue(b,a)
syms s; F=1/((s+1)^2*(s+2));
ilaplace(F)
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Control Systems
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Faculty of Engineering and Built Environment
Control Systems
CNS307B
Faculty of Engineering and Built Environment
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Solve differential equations using Laplace and invers Laplace
• Solution
𝑦 ( 𝑡 )=( 1 − 2𝑒 − 4 𝑡 + 𝑒− 8 𝑡 ) 𝑢( 𝑡 )
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C(s)=R(s)G(s)
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Faculty of Engineering and Built Environment
Control Systems
CNS307B
Faculty of Engineering and Built Environment
Control Systems
CNS307B
Faculty of Engineering and Built Environment
Control Systems
CNS307B
Faculty of Engineering and Built Environment
Control Systems
CNS307B
Faculty of Engineering and Built Environment
Control Systems
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Complex Circuits via Mesh Analysis
To solve complex electrical networks—those with multiple loops and nodes—using mesh
analysis, we can perform the following steps:
• 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 Kirchhoff’s voltage law around each mesh.
• Solve the simultaneous equations for the output.
• Form the transfer function.
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Faculty of Engineering and Built Environment
Control Systems
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Faculty of Engineering and Built Environment
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Problem
Solution
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Problem:
Solution:
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Transfer Functions
Of
Operational
Amplifier
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Characteristics of an operation amplifier:
• Differential input, 𝑣2𝑡 - 𝑣1𝑡
• High input impedance, 𝑍𝑖 = ꚙ (ideal)
• Low output impedance, 𝑍𝑜 = 0 (ideal)
• High constant gain amplification, A= ꚙ (ideal)
• The output, 𝑣𝑜(𝑡), is given by
𝑣𝑜
𝑡
= A (𝑣2(𝑡) - 𝑣1
𝑡 )
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Faculty of Engineering and Built Environment
Control Systems
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Faculty of Engineering and Built Environment
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Transfer Functions
Of
Translational
Mechanical
System
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•.
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.
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Solution:
Figure 2.16
a. Free-body diagram of mass, spring, and damper system;
b. transformed free-body diagram
Differential Equation:
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Solution cont.
3. Laplace Transform:
4. Solving:
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Taking Laplace Transform of force-displacement
• Spring:
• Damper:
• Mass:
• Impedance for mechanical components:
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[Sum of impedances]X(s) = [Sum of applied forces]
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.
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.
Figure 2.18
a. Forces on M1 due only to motion of M1
b. forces on M1 due only to motion of M2
c. all forces on M1
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.
Figure 2.19
a. Forces on M2 due only to motion of M2;
b. forces on M2 due only to motion of M1;
c. all forces on M2
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Equation of motion Laplace Transform:
Transfer Function:
Where:
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.
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M1:
M2:
M3:
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.
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Transfer Functions
Of
Rotational
Mechanical
System
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.
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• K = spring constant
• D = coefficient of viscous friction
• J = moment of inertia
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.
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Figure 2.23
a. Torques on J1 due only to the motion of J1
b. torques on J1 due only to the motion of J2
c. final free-body diagram for J1
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.
Figure 2.24
a. Torques on J2 due only to the motion of J2;
b. torques on J2 due only to the motion of J1
c. final free-body diagram for J2
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Equation of motion Laplace Transform:
Transfer Function:
Where:
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.
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.
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J1:
J2:
J3:
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.
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Transfer Functions
Of
Gears
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.
Figure 2.27
A gear system
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.
Figure 2.28
Transfer functions for:
a. angular displacement in lossless gears, and
b. torque in lossless gears
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Figure 2.29
a. Rotational system driven by gears;
b. equivalent system at the output after reflection of input
torque;
c. equivalent system at the input after reflection of impedances
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.
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• Rotational mechanical impedances can be reflected through
gear trains by multiplying the mechanical impedance by the
ratio.
• where the impedance to be reflected is attached to the
source shaft and is being reflected to the destination shaft.
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Equation of motion:
Where,
Solve:
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Figure 2.31
Gear train
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.
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Equation of motion:
Where,
And,
Solve:
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Transfer Functions
Of
electro-
mechanical
System
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.
Figure 2.34
NASA flight simulator robot
arm with electromechanical
control system components
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.
Figure 2.35
DC motor:
a. schematic;
b. block diagram
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Figure 2.36
Typical equivalent
mechanical loading on a motor
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Example 2.23
Transfer Function—DC Motor and Load
• PROBLEM:
find the transfer function, θ𝐿(𝑠)/ 𝐸𝑎(𝑠).
• Given the system and torque-speed curve of Figure 2.39(a)
and (b),
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Solution cont.
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Solution cont.
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Electric Circuit Analogs
(Optional)
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.
Figure 2.41 Development of series analog:
a. mechanical system;
b. desired electrical representation;
c. series analog;
d. parameters for series analog
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Example 2.24
Converting a Mechanical System to a Series Analog
• PROBLEM:
• Draw a series analogue for the mechanical system of Figure
2.17(a).
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Figure 2.43
Development of parallel analog:
a. mechanical system;
b. desired electrical representation;
c. parallel analog;
d. parameters for parallel analog
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Example 2.25
Converting a Mechanical System to a Parallel Analog
• PROBLEM:
• Draw a parallel analog for the mechanical system of Figure
2.17(a).
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Nonlinearities
(Optional)
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Figure 2.45
a. Linear system;
b. nonlinear system
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Figure 2.46
Some physical
nonlinearities
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Linearization
(Optional)
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Figure 2.47
Linearization
about a point
A
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THANK YOU
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