Automatic Control

Assoc. Prof. Ashraf Amin

[email protected]
 CHAPTER-II
MATHEMATICAL MODEL OF PHYSICAL SYSTEMS

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2.1 INTRODUCTION
Writing the differential equations relating the variables
of the system, (velocity, current, or temperature, etc.),
to the system constants, (inertia, damping force,
capacitance, resistance, etc.) represents a
mathematical model.

‫يعرف النموذج الرياضى لمنظومة التحكم بالعالقة التى تمثلها المعادالت‬

‫ المقاومات‬، ‫ القصور الذاتى‬، ‫التفاضلية التى تربط ثوابتها (الكتلة‬
، ‫ درجة الحرارة‬،‫ شدة التيار‬، ‫الخ) مع المتغيرات (السرعة‬.. ‫الكهربية‬
.)‫الفولت‬
2.2Differential Equations of Physical systems:

The differential equations describing the dynamic

performance of a physical system are obtained by
utilizing the physical laws of the process (e.g.
Newton's laws, Kirchhoff’s laws, etc.).

2.2.1 Mechanical translation systems

It consists mainly of Mass, Spring, and Friction

element. When a force, F, is applied to the mass
M, Newton's law states: F=Ma; where a is the
resulting acceleration. 4
Some translational motion Examples:

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Now let us consider the simple spring-mass-damper, as a
mechanical translational system, shown above. If the zero
position is taken to be at the point where the spring and
mass are in static equilibrium, then the force equation can be
written according to Newton’s law as:

2.2.2 Mechanical rotational systems:

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According to previous Figure, the torque equation can be written
as:
dθ d2θ
T-f - Kθ = J
dt dt 2
d2 θ dθ
or J +f + Kθ = T
dt 2 dt

2.2.3 Electrical R.L.C. (Resistance, inductance, capacitance) circuit:

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where, K, f v, and M are called spring constant, coefficient of viscous friction, and mass,
respectively.
 EXAMPLE-1: FIND THE TRANSFER FUNCTION, X(S)/F(S),
OF THE SYSTEM.

Free Body Diagram (FBD)

• First step is to draw the free-body diagram.

• Place on the mass all forces felt by the mass.
• We assume the mass is traveling toward the right. Thus, only the applied force
points to the right; all other forces impede the motion and act to oppose it.
Hence, the spring, viscous damper, and the force due to acceleration point to
the left.
• Second step is to write the differential equation of motion using Newton’s law to
sum to zero all of the forces shown on the mass.
 EXAMPLE-1: CONTINUE.

Third step is to take the Laplace transform, assuming zero initial conditions, •

Finally, solving for the transfer function yields •

Block Diagram
 EXAMPLE-2: FIND THE TRANSFER FUNCTION, X2(S)/F(S),
OF THE SYSTEM.

• The system has two degrees of freedom, since each mass can be moved in the
horizontal direction while the other is held still.
• Thus, two simultaneous equations of motion will be required to describe the
system.
• The two equations come from free-body diagrams of each mass.
• Superposition is used to draw the free body diagrams.
• For example, the forces on M1 are due to (1) its own motion and (2) the motion of M2
transmitted toM1 through the system.
• We will consider these two sources separately.
 SERIES ANALOG

Equation of motion of the Kirchhoff’s mesh equation For a direct analogy b/w Eq (1) & (2),
above translational for the above simple series convert displacement to velocity by
mechanical system is; RLC network is; divide and multiply the left-hand side
of Eq (1) by s, yielding;

(1) (2) (3)

Comparing Eqs. (2) & (3), we recognize the

sum of impedances & draw the circuit shown
in Figure (c). The conversions are summarized
in Figure (d).
 PARALLEL ANALOG

Equation of motion of • Kirchhoff’s nodal equation •

the above translational for the simple parallel
mechanical system is; RLC network shown
above is;

(1) (2)

Comparing Eqs. (1) & (2), we identify the •

sum of admittances & draw the circuit
shown in Figure (c).

The conversions are summarized in Figure •

2.43(d).
Analogous Systems
Q(s) = 1
X(s) = 1 V(s) 1
F(s) Ms2+fs +K 2
Ls +Rs +
c
θ(s) = 1
dq(t)
T(s) Js2+fs +K q(t) =  idt, = i(t)
dt

Mechanical Translational Systems Mechanical Rotational Electrical Systems

Force F Torque T Voltage e
Mass M Moment of inertia J Inductance L

Viscous friction coefft. f Viscous Fric. Coefft. f Resistance R

Spring stiffness K Torsional spring K 1/capacitance 1/C

Output:Displacement x Angular displacement θ Charge q

Velocity dx/dt Angular velocity dθ/dt Current i
 X(s) = 1 (s) = 1
F(s) Ms2+fs +K I(s) 1 1
2
cs + s +
R L
θ(s) = 1 d(t)
T(s) Js2+fs +K (t) =  edt, = e(t)
dt

Mechanical Translational Systems Mechanical Rotational Electrical Systems

Force F Torque T Current i
Mass M Moment of inertia J Capacitance C
Viscous friction coefft. f Viscous Fric. Coefft. f 1/Resistance 1/R
Spring stiffness K Torsional spring K 1/Inductance 1/L
Output:Displacement x Angular displacement θ Magnetic flux link 
Velocity dx/dt Angular velocity dθ/dt Voltage e
Example: Sliding doors or Window

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 Simple Hydraulic Systems
Using block diagram reduction method, determine the transfer function Q2(s)/Q1(s)
for each of figures (a) and (b), assuming that a1=a2=r2.
Simple Thermal Systems
(s)/Vr(s))Mathematical Model:(to find

q(t)
Steam Generator Valve

x(t)
is(t)
TANK
Amp.
ve(t) Gain vb1(t)
Ka
eb M
vr(t) R,L

K1 
(t)

Thermocouple

Amp.
Gain
vb(t) K

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Mathematical Model q(t)
Steam Generator Valve

x(t)
is(t)
TANK
Amp.
ve(t) Gain vb1(t)
e M
vr(t) Ka R,
b L

K1 
(t)

Thermocoup
le
Amp.
Gain
vb(t) K

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 q(t)
Steam Generator Valve
Laplace's Tranformation
x(t)
is(t)
TANK
Amp.
ve(t) Gain vb1(t)
e M
vr(t) Ka R,
b L

K1 
(t)

Thermocoup
le
Amp.
Gain
vb(t) K

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Q(s)=KvX(s)…………(7)

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 Drawing whole block diagram
Eb(s)
K s
b
-
Ve (s) K Vb1(s) 1 X(s) K K
Vr(s) 1 Is(s) K Fs(s) v c
a s 2
R +Ls Ms +  s + K s+a
- 1
Vb(s)

K Θ(s)

Vr(s) Ve (s) K K vKc Θ(s)

a G(s) s+a
-
Vb(s)

Ks
2
(R +Ls)(Ms +  s + K )
G(s) = 1
K sK s
1+ b
2
(R +Ls)(Ms +  s + K )
1

Ks
=
2
(R +Ls)(Ms +  s + K ) +K sK s
1 b 25
(s) KsKaK vKc
=
Vr (s)  2 
(s +a) (R +Ls)(Ms +  s + K ) +K sK s  +KsKaK vKcK
 1 b 
 2.7 Sensitivity of Control Systems to Parameter Variations:
The system sensitivity is defined as the ratio of the percentage
change in the system transfer function to the percentage change of
the process transfer function.

The system transfer function, T(s)=

and therefore the sensitivity is given by:

In the limit for small incremental changes we have:

Example: For open-loop systems, T(s) = G(s),

The sensitivity is always unity.

Example: For closed-loop systems, T(s) =

The sensitivity is given by:

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