Scribd
Upload
64 views

Notes Chapter 2a

This document discusses mathematical modeling of control systems. It explains that the first steps are to get the system specification and block diagrams, then obtain schematic diagrams making assumptions. The key step is mathematical modeling of each subsystem using concepts like Ohm's and Newton's laws. Laplace transforms are used to get transfer functions representing differential equations with zero initial conditions. Electrical systems can be modeled by writing differential equations for circuits in the Laplace domain and solving for transfer functions. Multiple techniques like voltage division and solving simultaneous equations in the Laplace domain are demonstrated.

Uploaded by

Mohd Hafiz Zainol Abidin
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
64 views

Notes Chapter 2a

This document discusses mathematical modeling of control systems. It explains that the first steps are to get the system specification and block diagrams, then obtain schematic diagrams making assumptions. The key step is mathematical modeling of each subsystem using concepts like Ohm's and Newton's laws. Laplace transforms are used to get transfer functions representing differential equations with zero initial conditions. Electrical systems can be modeled by writing differential equations for circuits in the Laplace domain and solving for transfer functions. Multiple techniques like voltage division and solving simultaneous equations in the Laplace domain are demonstrated.

Uploaded by

Mohd Hafiz Zainol Abidin
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 6

CHAPTER 2: MATHEMATICAL MODELLING

A) Introduction

The first step in analysis and design of a control system is to get the system specification Next is to get the block diagrams to represent the system operation Then, the schematic diagrams of subsystems are obtained, where the appropriate assumptions are made at this stage The following step is to get the mathematical modeling of the control system. For the electrical network modeling Ohms Laws, Kirchoffs Laws, etc. For mechanical system Newtons Laws, etc. Every subsystem in the overall system can be modeled separately and then combined together to get the overall system model. For the mathematical modeling, we have to know several basic mathematical concepts. A system represented by a differential equation is difficult to model as a block diagram. Hence, Laplace Transform is used to get the systems transfer function with all initial conditions are assumed to be zero. The knowledge of how to use the Laplace Transform table (esp. the theorems) is very useful in modeling a system.

24

The concept of the transfer function has been looked in the previous chapter. It can be obtained by transforming the differential equation into Laplace domain. (assuming zero initial conditions) For example, find the transfer function G(s) = C(s)/R(s) for the differential equation

d 3c d 2c dc d 2r dr + 3 2 + 7 + 5c = 2 + 4 + 3r 3 dt dt dt dt dt

25

C ( s) s 2 + 4s + 3 G ( s) = = R ( s ) s 3 + 3s 2 + 7 s + 5

B) Modelling of electrical systems

Equivalent circuit for electrical networks consists of three passive linear components, which are resistors, capacitors and inductors The following table gives the components relationships between voltage and current, and between voltage and charge under zero initial conditions:

We can combine those electrical components into circuits, decide the input and output, and then find the transfer function. We can sum voltage around loops or sum currents at nodes, depending on which technique involves less effort. From these relations, we can write the differential equations for the circuit, take the Laplace transforms of the differential equations and finally solve for the transfer function.

26

Example: Find the transfer function relating the capacitor voltage, Vc(s) to the input voltage, V(s).

L LC

di (t ) 1 t + Ri (t ) + i (t )dt = v(t ) dt C 0

dv (t ) d 2 vc (t ) + RC c + vc (t ) = v(t ) dt dt 2
( LCs 2 + RCs + 1)Vc ( s ) = V ( s )

The problem can also be simplified by transforming the circuit into the Laplace s-domain.

Using the voltage division technique to get the required transfer function.

27

For multiple loop network:

Transform the circuit into s-domain:

Depending on the number of loops in the circuit, obtain the simultaneous equations according to this rule: [ imp Mesh1]I1(s) - [ common imp]I2(s) = [ voltage applied Mesh1] - [ common imp]I1(s) + [ imp Mesh2]I2(s) = [ voltage applied Mesh2] ie,

Ls R1 + Ls I1 ( s ) V ( s) 1 = Ls Ls + R2 + I 2 ( s) 0 Cs

28

Cramers rule (or any other method) can be used to solve the simultaneous equations as required:
R1 + Ls V ( s ) I 2 (s) = Ls R1 + Ls Ls 0 Ls Ls + R2 + 1 Cs

to give

For three-loop network,

29

You might also like