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30 views38 pages

Chapter 2 Part 1

Uploaded by

semira Alewi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CHAPTER 2

Modelling and Representation of Physical


System

 The study of control system involves developing


mathematical model for each component of control system.
What is a Model?
Mathematical model of a dynamic system:
 Is set of equations that represents dynamics of system accurately or, at
least, fairly well.
 Mathematical model is not unique to given system.
 A system may be represented in many different ways and, therefore,
may have many mathematical models, depending on one's perspective.
 Deriving reasonable mathematical models is the most important part of
entire analysis of control systems.
Forms of Mathematical models

The three forms of mathematical models were:


 Differential equation
 Transfer function
 State equation
1. Differential equations:
How we find differential equations?
using physical laws :
 Newton's laws for mechanical systems
 Kirchhoff's laws for electrical systems
 Kirchhoff's laws for hydraulic and thermal systems due to similarity
in their components to electrical systems.
4

• Forms of mathematical model


• Depending on particular system and particular circumstances, one
mathematical model may be better suited than other models.
• For example, in optimal control problems, it is advantageous to use state-
space representations.
• On the other hand, for transient-response or frequency-response analysis
of single-input-single-output, linear, (LTI) time-invariant systems,
transfer function representation may be more convenient than any other.

• Once a mathematical model of system is obtained, various analytical and


computer tools can be used for analysis and synthesis purposes.
Simplicity Versus Accuracy?

• In obtaining mathematical model, we must make


compromise between simplicity of model and accuracy of
results of analysis.

• The complex the model the more accurate.

• In deriving a reasonably simplified mathematical model, we


frequently find it necessary to ignore certain inherent
physical properties of the system.
6

Transfer Function Of Systems

Is function that algebraically relates a system's output to its input.

It is cause-and-effect relationship


• To derive the transfer function, we proceed according to the 7

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

• Example 2.4: Find the transfer function for the differential


function represented by

• Taking Laplace transform of both sides, assuming zero initial


conditions, we have

The transfer function, G


9
• Modelling of Electrical System
• Our guiding principles are Kirchhoff's laws.
10

• Example 2.5: Find the deferential function relating the capacitor


voltage, Vc(t), to the input voltage, V (t) and also find the
transfer function Vc(s)/V(s)?
11
12

• Taking Laplace transform assuming zero initial conditions,


rearranging terms, And simplifying yields.

Fig: Block diagram of series RLC electrical network


13

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

• Mechanical system can under go :


• Translational motion
• Rotational motion.
1 . Translational Mechanical system

• There are three characterizing elements in mechanical


translational system:
• spring,
• viscous damper and
• mass
• and they can be modeled by differential equation as shown in the
table below.
15
16
17

• Example 2.6: Find the differential equation and


transfer function for the mechanical system below?
• The free body diagram is (FBD):
18

Fig :Block diagram


19

• 2. Rotational mechanical systems


• Are Handled same way as translational mechanical systems,
except that torque (T) replaces force (F) and angular
displacement (𝜃) replaces translational displacement (x).
• Components undergo rotation instead of translation.
20
21
22
Exercise 2.2
TRANSFER FUNCTION OF DC MOTOR 23

(ELECTROMECHANICAL SYSTEM)
24
• The air -gap flux ɸ(𝑡) of the motor is 25

proportional to field current, i𝑓 (𝑡) as


ɸ 𝑡 = 𝑘𝑓 𝑖𝑓 (𝑡)
The torque developed by motor is assumed to be
related linearly air-gap flux (ɸ 𝑡 ) and armature
current(i𝑎 𝑡 )

as T𝑚 𝑡 = 𝑘1 ɸ 𝑡 𝑖𝑎 (𝑡)
T𝑚 𝑡 = 𝑘1 𝑘𝑓 𝑖𝑓 (𝑡)𝑖𝑎 (𝑡)

Based on the type of current used to control the dc


motor 1.Armature controlled DC motor

2.Field controlled DC motor


26

• 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

• Using Laplace transform


• 𝑽𝒂 (𝑺) = 𝑹𝒂 𝑰𝒂 (𝑺) + 𝑳𝒂 𝑺𝑰𝒂 (𝑺) + 𝑽𝒃 (𝑺)……(2)
• Step2: Back electromotive force (emf), 𝒗𝒃 is proportional to
speed 𝝎.
• 𝑽𝒃 (𝑺) = 𝑲𝒃 𝝎(𝑺)……………………………………….(3)
• From equation eqn. (2)
𝑽𝒂 𝑺 −𝑽𝒃 (𝑺) 𝑽𝒂 𝑺 −𝑲𝒃 𝝎(𝑺)
• 𝑰𝒂 𝑺 = = ………………(4)
𝑹𝒂 +𝑳𝒂 𝑺 𝑹𝒂 +𝑳𝒂 𝑺
28

• Step3: Motor torque (Tm) is directly proportional to the


armature current 𝒊𝒂 .
• 𝑇𝑚 = 𝐾𝑚 𝐼𝑎 (𝑆) ……….(5)
• where 𝐾𝑚 is motor constant
• Also the motor torque is equal to torque delivered to the Load:
CONTINUED… 29

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

• Motor speed 𝝎(𝑺) Vs Armature voltage 𝑽𝒂 (𝑺)


𝝎(𝑺) 𝑲𝒎
• or 𝑮 𝑺 = =
𝑽𝒂 (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

• An electric circuit that is analogous to a system from


another discipline is called an electric circuit analog.

• Analog can be obtained by comparing equations


of motion of a mechanical system, with either
electrical mesh or nodal equations.
• When compared with mesh equations, resulting electrical
circuit is called a series analog.

• When compared with nodal equations, resulting electrical


circuit is called a parallel analog.
31
• Series Analog
• Example: Consider the translational mechanical system,
whose equation of motion is
• ………………… (1)
• Kirchhoff's mesh equation for the simple series RLC
network shown:
• ……………………….(2)
32
• Eq. (1) is not directly analogous to
• Eq. (2) because displacement and
current are not analogous. We can
create a direct analogy by operating
on Eq.(1) to convert displacement to
velocity by dividing and multiplying the
left-hand side by s, yielding:
•

• …………(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.

• Kirchhoff’s nodal equation for simple parallel RLC


network shown:
35
36
37
• Exercise
38
Write the equations of motion for the mechanical network.

 Reading assignments
Mathematical modelling of Fluid and Thermal systems.

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