Dynamic Models and System Response

• Dynamic models and Analogies

mechanical system
translation
rotational
electromechanical
• System Response
Static Response
Time response
Frequency Response
• Design of Mechatronics Systems
 Mechanical Systems

Translational Rotational

• Mass • Inertia
• Spring • Damper
• Damper/dashpot • Spring
Mechanical Systems (Translational Motion)

Spring

model
y1 , y2 : translation
k F F : force
F  ky21
y2 k : spring constant
y1
y 21  y 2  y1
ky21
k  y21 : tension

Damper

b
v1 , v 2 : Velocity
F
b : viscous friction
F  bv21
v2 v1 Constant
bv 21
v21  y 2  y1  v2  v1 b  v21 : Viscous
dy Friction Force
v  y
dt
Modern Control Systems 2-3
Mechanical Systems (Translational Motion)

Mass
v M : Mass
M dv dv
M FM M  v : inertia force
dt dt
F
 Ma dv d 2 y
a 
dt dt 2
a ：acceleration

F  ma

Modern Control Systems 2-4

Mechanical Systems (Translational Motion)

Example : Mass-Spring-Damper

Form Newton’s Second Law

r  by  ky  my
k

d2y dy
b
 m  b  ky  r
m dt 2
dt
Under ZIC, take Laplace transform both sides
y(t ), y (t )
r (t ) ms 2Y ( s)  bsY ( s )  kY ( s)  R( s )
Y ( s) 1
Fig. 2.3   2 (Transfer Function)
R( s ) ms  bs  k

Note: ZIC=Zero Initial Condition

Modern Control Systems 2-5

Transfer Function

Definition
y(0) , y (0) , y(0) L : Laplace Operator
R(s)  L [r (t )]
r (t ) y(t ) Y (s)  L [ y(t )]
System
R(s) Y (s)
ZIC: Zero Initial Condition

Y ( s)
G( s ) 
R( s) ZIC

Y ( s)

R( s) y ( 0) y ( 0) y( 0)0

Modern Control Systems 2-6

 Example 1
• Consider the following system
k
x
F
M

C
• Free Body Diagram
fk fC
M fM
F

F  f k  f M  fC
7
 Example 1
Differential equation of the system is:
F  Mx  Cx  kx
Taking the Laplace Transform of both
sides and ignoring
Initial conditions we get

F( s )  Ms 2 X ( s )  CsX ( s )  kX( s )

X (s) 1

F(s) Ms 2  Cs  k

8
 Example 1
X (s) 1

F(s) Ms 2  Cs  k
Pole-Zero Map
• if 2

1.5

M  1000kg 1

1
k  2000 Nm

Imaginary Axis
0.5

C  1000 N / ms 1 -0.5

-1

X (s) 0.001 -1.5

 2
F(s) s  s  1000 -2
-1 -0.5 0 0.5 1
Real Axis

9
Mechanical Systems (Rotational Motion)

Spring
k model
T  K 21 T：torque
1 2 T  21  2  1  1 , 2 : angle


Damper
b 1 ,  2：angular velocity
T  b21 21  2  1


1 2 T 1  1

Inertia  ：angular acceleration

d d 2
  2
dt dt
J T  J

T 
Modern Control Systems 2-10
Mechanical Systems (Rotational Motion)

Example : Mass－Spring－Damper (Rotational System)

Form Newton’s Second Law

T  b  k  J
k
b d 2 d
 J 2
 b  k  T
dt dt
J Under ZIC, take Laplace transform both sides
T

Js 2 ( s )  bs ( s )  k ( s )  T ( s )
Fig. 2.5
 ( s) 1
  (Transfer Function)
T ( s) Js 2  bs  k

Modern Control Systems 2-11

 V-I and I-V relations
Component Symbol V-I Relation I-V Relation

v R (t )
Resistor v R (t )  i R (t )R i R (t ) 
R

1 dvc (t )
Capacitor vc (t )   ic (t )dt ic (t )  C
C dt

diL (t ) 1
Inductor v L (t )  L iL (t )   vL (t )dt
dt L

12