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Lect1 Modeling in Frequency Domain

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287 views

Lect1 Modeling in Frequency Domain

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aniezahid
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Figure 1.

1
Simplified description of a control system
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure1.5
Elevator input and output
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.6
Block diagrams of
control systems:
a. open-loop
system;
b. closed-loop
system

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.11
The control system design process
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.9
Antenna azimuth
position control
system:

a. system
concept;
b. detailed
layout;
c. schematic;
d. functional
block diagram

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.10
Response of a
position control
system showing effect
of high and low
controller gain on the
output response

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.12
Equivalent block
diagram for the
antenna azimuth
position control
system

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Table 1.1
Test waveforms used in control systems
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Modeling

In order to systematically design a controller for a


particular system, one needs a formal - though possibly
simple - description of the system. Such a description is
called a model.
A model is a set of mathematical equations that are
intended to capture the effect of certain system
variables on certain other system variables.

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Modeling
Models are classified according to properties of the
equation they are based on. Examples of classification
include:
Model
Attribute Contrasting Attribute Asserts whether or not …
Single input
Single output Multiple input multiple output … the model equations have one input and one output only
Linear Nonlinear … the model equations are linear in the system variables
Time varying Time invariant … the model parameters are constant
Continuous Sampled … model equations describe the behavior at every instant of
time, or only in discrete samples of time
Input-output State space … the model equations rely on functions of input and output
variables only, or also include the so called state variables.
Lumped Distributed parameter … the model equations are ordinary or partial differential
parameter equations

In many situations nonlinear models can be linearized


around a user defined operating point.

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.1
a. Block diagram
representation of a system;
b. block diagram
representation
of an
interconnection
of subsystems

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Modeling in Frequency Domain

Transfer Function

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Transfer Function is the ratio of output to
input in frequency domain
G(s) = C(s)/R(s)

Figure 2.2
Block diagram of a transfer function
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Table 2.1
Laplace transform table
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Table 2.2
Laplace
transform theorems
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Examples
1) Find the transfer function represented by
dc(t)/dt + 2 c(t) = r(t)
Sol’n
Taking Laplace transform of both sides
sC(s) + 2C(s) = R(s)
G(s) = C(s)/R(s) = 1/(s+2)

2) Find the response c(t) to an input r(t) = u(t) a unit step.


Sol’n C(s) = R(s)G(s) = 1/s(s+2) = 0.5/s – 0.5/(s+2)
Inverse Laplace c(t) = 1/2 – 1/2e-2t

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Table 2.3
Voltage-current, voltage-charge, and impedance
relationships for capacitors, resistors, and inductors

Component V-I I-V V-Q Impedence Admittance


Z(s)=V/I Y(s) = I/V

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
L di(t)/dt + Ri(t) + 1/C ∫i(τ) dτ = v(t)

Figure 2.3
RLC network
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Find Vc(s)/V(s)
(Ls+R+1/Cs) I(s) = V(s)
Vc(s) = I(s)/ Cs
Vc(s)/V(s) = (1/LC) / (s2+ (R/L)s+ 1/LC)
Figure 2.5
Control Systems Engineering, Fourth Edition by Norman S. Nise
Laplace-transformed network Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.4
Block diagram
of series RLC electrical
network

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.6
a. Two-loop electrical
network;
b. transformed
two-loop
electrical
network;
c. block diagram

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.7
Block diagram of the
network of Figure 2.6

Let G1= 1/R1 and G2= 1/R2

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.8
Transformed
network ready
for nodal analysis

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.9
Three-loop
electrical network

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Table 2.4
Force-velocity, force-
displacement, and
impedance translational
relationships
for springs, viscous
dampers, and mass

Translational
Mechanical Systems

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.15
a. Mass, spring, and damper system;
b. block diagram
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.16
a. Free-body diagram of mass, spring, and
damper system;
b. transformed free-body diagram

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.17
a. Two-degrees-of-freedom
translational
mechanical
system8;
b. block diagram

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.20
Three-degrees-of-freedom
translational
mechanical system

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Table 2.5
Torque-angular velocity,
torque-angular
displacement,
and impedance
rotational relationships
for springs, viscous
dampers, and inertia

Rotational Mechanical
Systems

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.22
a. Physical system;
b. schematic; c. block diagram

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.25
Three-degrees-of-
freedom rotational
system

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.35
DC motor:
a. schematic12;
b. block diagram

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.41
Development of
series analog:
a. mechanical
system;
b. desired electrical
representation;
c. series analog;
d. parameters for
series analog

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.42
Series analog of mechanical system of
Figure 2.17(a)

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.43
Development of
parallel analog:
a. mechanical
system;
b. desired
electrical
representation;
c. parallel analog;
d. parameters for
parallel analog

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.44
Parallel analog of
mechanical system
of Figure 2.17(a)
Figure 2.45
a. Linear system;
b. nonlinear system

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.46
Some physical
nonlinearities

Control Systems Engineering, Fourth Edition by Norman S. Nise


Copyright © 2004 by John Wiley & Sons. All rights reserved.

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