An Analog Computer To Solve Any Second Order

Linear Differential Equation With Arbitrary

Coefficients
T. ElAli, S. Jones, F. Arammash, C. Eason, A. Sopeju, A. Fapohunda, O. Olorode
Department of Physics and Engineering
Benedict College
1600 Harden Street
Columbia, SC 29204

Abstract 0
An analog computer was designed and tested to solve any
second order constant-coefficients and linear differential
equation. The analog computer was built using operational R/A
amplifiers, resistors and capacitors. Using the Multisim x1(t)
+
simulator, various input types were tested across the input
terminals of the analog computer and the results were recorded. x2(t) R/B OUT y(t)
-
I. INTRODUCTION
Our goal is to build a generic Operational Amplifier circuit to C
solve a generic 2nd order differential equation with any input.
Consider the generic differential equation to be solved
Fig. 1. Operational Amplifier Circuit
d2 d
a 2 y (t ) + b y (t ) + cy (t ) = x(t ) (1)
dt dt
x(t) is the forcing function (the input to the system represented ∫ ∫
y (t ) = − A x1 (t ) dt − B x 2 (t )dt (4)
by this differential equation) and y(t) is the solution (the
output of the same system). The variables a, b, and c are some One final step before we attempt to implement Equation (4),
real constant numbers. [1] the solution of a generic 1st order linear constant coefficient
In the last equation, (assuming zero initial conditions) let y1(t) differential equation. Consider the circuit given in Figure 2.
d The input-output relationship is
= y(t) and y2(t) = y (t ) . Thus we have the set of two first
dt Rf
order differential equations y (t ) = − x(t ) (5)
R
⎧d You also can see that if Rf = R then we have pure inversion
⎪⎪ dt y1 (t ) = y 2 (t ) (unity gain). The circuit containing an inverter and an
⎨ (2) integrator connected in series can solve the differential
⎪ d y 2 (t ) = − c y1 (t ) − b (t ) + 1 x(t ) equation given in (6). Figure 3 is a typical example of such a
⎪⎩ dt a a2 a
circuit.

II. METHODS
Rf
Consider the Operational amplifier circuit shown in Figure 1.
The input-output relationship is given as
1 1 R
y (t ) = − A ∫
RC
x1 (t )dt − B
RC ∫x 2 (t )dt (3) x(t)
+
In Figure 1, the output y(t) is the integral of the input arriving
0 OUT y(t)
at the negative terminal of the Operational Amplifier. Thus the
negative of the derivative of y(t) is located at the negative -
terminal of the Operational Amplifier. [2]
Fig. 2. Inverter
If we set RC=1 in equation (3) we will have

449
T. Sobh et al. (eds.), Innovative Algorithms and Techniques in Automation, Industrial Electronics and Telecommunications, 449–451.
© 2007 Springer.
450 ELALI ET AL.

R/A
R
+

R R/B OUT y(t)

x(t)
+ -

0 OUT C

-
Fig. 5. Output for Circuit in Fig 4
Fig. 3. A Circuit to Solve Equation 6
The circuit in Figure 3 would solve any first order differential CASE II
equation of the form If a=1, b=1, and c=1, the transfer function of the system will
y ' (t ) + Ay (t ) = Bx(t ) (6) be
Knowing how to solve equation (6) is helpful in solving the Y ( s) 1
= (8)
set of the two coupled equations in (2). X ( s) s 2 + s + 1
The modes are complex and we will see overshoot. When the
In building a circuit to solve the given differential equation in input is unit step of amplitude 1, the initial value of the output
(1) we will use the set of equations in (2). We have tried step y(t) should be zero and the final value should be 1 with
input, impulse input, and sinusoidal input. All worked nicely. oscillations in between. The circuit to solve this case is shown
In particular, we will consider the case when x(t) is a unit step below in Figure 6 and the result is shown in Figure 7.
and pick two sets of values for a, b, and c in equation (1). One R13
100 Ω

set will give us a system with real modes and the other will R1
100 Ω
R14 11 12

result in complex modes. R4 9

R1/R4 = 1/a 10
100 Ω

0
U7

100 Ω U6
0
OPAMP_3T_VIRTUAL
3

CASE I OPAMP_3T_VIRTUAL
R5 C2
R11

If a=1, b=4, and c=3, the transfer function of the system will
x(t) 100 Ω 100 Ω
V1 1 10mF
-y2(t) R11/R12 = b/a
U1
be 0
0V1V
20 sec 40 sec R7 0
14 R12
100 Ω
5
U3 13
OPAMP_3T_VIRTUAL

Y (s) 1 1
100 Ω
0

= =
R2
(7) OPAMP_3T_VIRTUAL

X ( s ) s 2 + 4 s + 3 ( s + 3)( s + 1)
100 Ω

R2/R3 = c/a
R8 8
R9
R3
The modes are at -1 and -3 respectively. When the input is 100 Ω 100 Ω
7
U2 15
100 Ω R10
C3 16

unit step of amplitude 3, the initial value of the output y(t)

0
100 Ω U5
10mF OPAMP_3T_VIRTUAL
R6 U4
should be zero and the final value should be 1. The circuit to
0
4
2
100 Ω 0 OPAMP_3T_VIRTUAL
y1(t) = y(t)

solve this case is shown below in Figure 4 and the result is OPAMP_3T_VIRTUAL

shown in Figure 5. d2 d
R13 Fig. 6. Circuit to Solve:
2
y (t ) + y (t ) + y (t ) = x(t )
R1
R14 11
100 Ω
12
dt dt
100 Ω
R1/R4 = 1/a 100 Ω U7
R4 9
10

0
100 Ω U6
0
OPAMP_3T_VIRTUAL
3

OPAMP_3T_VIRTUAL
R5 R11
C2
x(t) 100 Ω 400 Ω
V1 1 10mF
-y2(t) R11/R12 = b/a
U1
0V3V 14 R12 5
0 20 sec 40 sec R7 0
U3
OPAMP_3T_VIRTUAL 100 Ω 13
100 Ω
0
R2
OPAMP_3T_VIRTUAL
300 Ω

R2/R3 = c/a
R8 8
R9
100 Ω R3 7 100 Ω
U2 15
100 Ω R10
C3 16
0
100 Ω U5
10mF OPAMP_3T_VIRTUAL
R6 4
U4
2
0
Fig. 7. Output for Circuit in Fig. 6
100 Ω 0 OPAMP_3T_VIRTUAL
y1(t) = y(t)
OPAMP_3T_VIRTUAL

d2 d
Fig. 4. Circuit to Solve: y (t ) + 4 y (t ) + 3 y (t ) = x(t )
dt 2 dt