MECE 3350U

Control Systems

Lecture 2
Dynamic Models

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Videos in this lecture

Lecture 2: https://youtu.be/qDG0nENYpDg
Exercise 3: https://youtu.be/npGb3FwYQjk
Exercise 4: https://youtu.be/-fwBwwGMZRY
Exercise 5: https://youtu.be/N_hq63DgUY0
Exercise 6: https://youtu.be/_21rf1t3H80
Exercise 7: https://youtu.be/eXgsnemhjvs
Exercise 8: https://youtu.be/e2Xq_gh8Rs4
Exercise 9: https://youtu.be/FAcFXZyPGdU
Exercise 10: https://youtu.be/lhNh_4koB8s

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Outline of Lecture 2

By the end of this lecture you should be able to

• Model mechanical and electrical systems

• Find the differential equation that describes the behaviour of a physical

system

• Understand the analogy between mechanical and electrical systems

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Elements of a mechanical system

→ Mass: The quantity of matter in a body

→ Inertia: Tendency to resist changes in state of motion
Idealization: Rigid body

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Elements of a mechanical system

→ Spring: Designed to store energy

Idealization: Negligible mass and damping

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Elements of a mechanical system

→ Viscous damper: Designed to dissipate energy

Idealization: negligible mass and stiffness

viscous friction
6=
kinetic/static friction

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Example
Find the equation of motion of the spring-mass-damper system.

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Elements of electrical circuits

→ Resistor: Resistance against electric current

Idealization: No inductance or capacitance

→ Capacitor: Stores energy in an electric field

Idealization: No inductance or resistance

→ Inductor: Stores energy in a magnetic field

Idealization: No capacitance or resistance

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Example
Find the relation between the voltage V , the current, and the charge in the
circuit.

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Mechanical/electrical analogy

d 2x dx
F =m +b + kx (1)
dt 2 dt

d 2q dq 1
V =L +R + q (2)
dt 2 dt C
Impulse response

x (t) = Ke −αt sin(βt + θ) (3)

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Mechanical/electrical analogy

Mechanical Electrical

Force F Voltage V
Velocity v Current i
Displacement x Charge q

Damping b Resistance R
Mass m Inductance L
Compliance k −1 Capacitance C

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Mechanical/electrical analogy

Taking: m = 5 kg, k = 0.25 N/m, b = 0.1 Ns.

7 3
Step Response
Impulse Response
Amplitude

Amplitude

0 -3
0 Time (seconds) 50 0 Time (seconds) 50

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Mechanical/electrical analogy

Taking: m = 5 kg, k = 0.25 N/m, b = 0.1 Ns.

2 Step Response 2
Impulse Response
Amplitude

Amplitude

-2 -2
0 Time (seconds) 50 0 Time (seconds) 50

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Mechanical/electrical analogy
6
displacement/charge
velocity/current

Amplitude

0
Step Response

0 Time (seconds) 50

2
displacement/charge
velocity/current
Amplitude

Impulse Response
-2
0 Time (seconds) 50

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Exercise 3

Find the equations of motion of the mass-spring system shown.

Procedure:
→ Draw the free body diagram of each mass
→ Apply the equation of motion

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Exercise 3 - continued

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Exercise 4

Find the differential equations to model the behaviour of the system shown.

Procedure:
→ Draw the free body diagram of each mass
→ Apply the equation of motion

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Exercise 4 - continued

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Exercise 5

Find the differential equations to model the behaviour of the system shown.

Procedure:
→ Draw the free body diagram of each mass
→ Apply the equation of motion

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Exercise 5 - continued

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Exercise 6

Find the differential equations to model the behaviour of the system shown.

Procedure:
→ Draw the free body diagram of each mass
→ Apply the equation of motion

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Exercise 6 - continued

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Exercise 7

Find the differential equations to model the behaviour of the system shown.

Procedure:
→ Draw the free body diagram of each mass
→ Apply the equation of motion

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Exercise 7 - continued

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Exercise 8

Write the the differential equations (i = f (V )) of the following circuit.

Procedure:
→ Apply Kirchhoff’s voltage law
→ Find the equations for i1 and i2

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Exercise 8 - continued

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Exercise 9

Write the the differential equations (i = f (V )) of the following circuit.

Procedure:
→ Apply Kirchhoff’s voltage law
→ Find the equations for i1 and i2

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Exercise 9 - continued

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Exercise 10

Write the the differential equations (Vout = f (V )) of the following circuit.

Procedure:
→ Apply Kirchhoff’s law
→ Find the equations for Vout as a function of V

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Exercise 10 - continued

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Skills check 1 - Taken from 2018 final examination

A tiny passive micro-electromechanical resonator lies at the core of implantable

devices for monitoring and treating aneurisms, a leading cause of heart failure.
Pressure changes deflect the transducers diaphragm and shifts the mass
resonant frequency, which can be monitored externally. An equivalent model of
this sensor is shown below as a mass-spring-damper system. Write the
equations of motion of each mass in the Laplace domain. All initial conditions
are zero.

→ x (t) and y (t) are the mass displacements and F (t) is the applied force.
1

1
X (s)(−2k − 2bs) + Y (s)(k + bs) = m1 s 2 X (s), and
F (s) + X (s)(k + bs) + Y (s)(−k − bs) = m2 s 2 Y (s) 31/33
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Skills check 2 - Taken from 2018 deferred final examination

Find the relations between the input voltage V (s) and the voltage across the
inductor VL (s).

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Next class...

• Laplace transform

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