Chapter 2 Part 1
Chapter 2 Part 1
following steps.
1. Identify the input and output
2.Write differential equation of the system.
3.Take Laplace transform of differential equation, assuming all
initial conditions are zero.
4.Take ratio of output O(s) to the input I(s). This ratio is the
transfer function.
8
Exercise 2.1
• For parallel circuit shown below find the differential
equation relating i(t) and v(t)?And also find transfer
function v(s)/i(s)
OUR GUIDING PRINCIPLE IS NEWTON’S SECOND LAW.
14
(ELECTROMECHANICAL SYSTEM)
24
• The air -gap flux ɸ(𝑡) of the motor is 25
as T𝑚 𝑡 = 𝑘1 ɸ 𝑡 𝑖𝑎 (𝑡)
T𝑚 𝑡 = 𝑘1 𝑘𝑓 𝑖𝑓 (𝑡)𝑖𝑎 (𝑡)
• Armature controlled DC
motor
• Field current is constant
• Manipulating variable is
armature current
• Step1: From armature circuit:
relationship b/n Va(t) & ia(t).
𝐝𝐢𝐚
𝐕𝐚 = 𝐢𝐚 𝐑 𝐚 + 𝐋𝐚 +
𝐝𝐭
𝐕𝐛 …(1)
27
𝒅𝜽 𝒅𝟐 𝜽
• 𝑻𝒎 − 𝑻𝒅 = 𝑱𝜶 => 𝑻𝒎 − 𝑫𝒎 = 𝑱 …..(6)
𝒅𝒕 𝒅𝒕
• Using Laplace transform
• 𝑻𝒎 (𝑺) − 𝑫𝒎 𝑺𝜽(𝑺) = 𝑱𝑺𝟐 𝜽(𝑺)…………………(7)
• From eqn. (4),(5) and (6) we have : Motor Position
𝜽(𝑺) Vs Armature voltage 𝑽𝒂(𝑺).
𝜽(𝑺) 𝑲𝒎
• 𝑮 𝑺 =𝑽 =𝒔
𝒂 (𝑺) 𝑹𝒂 +𝑳𝒂 𝑺 𝑱𝑺+𝒃 +𝑲𝒃 𝑲𝒎
𝝎(𝑺) 𝑲𝒎
𝑮 𝑺 = =
𝑽𝒂 (𝑺) 𝑹𝒂 + 𝑳𝒂 𝑺 𝑱𝑺 + 𝒃 + 𝑲𝒃 𝑲𝒎
ELECTRIC CIRCUIT ANALOG SYSTEMS 30
• …………(3)
33
34
• Parallel Analog
• A system can also be converted to an equivalent
parallel analogy.
• Consider translational mechanical system shown
whose equation of motion Is given by eq. (3) above.
Reading assignments
Mathematical modelling of Fluid and Thermal systems.