BASIC SYSTEM

MODELS
 BASIC SYSTEM MODELS
 Mathematical models:
 Are equations which describe the relationship between the input and output
of a system.
 Used to forecast the behavior of system
 The basis is provided by physical laws that govern the behavior of the
system.
System building blocks :
 Systems can be made up from a range of building blocks.
 Each building block has single property or function.
 Eg: an electrical circuit system
 Made from resistor-assumed to have purely property of resistance
capacitor-purely that of a capacitance
inductor-that of an inductance
 By combining these building blocks in different ways a variety of electrical circuit

systems can be built up

 A system built up in this way is called lumped parameter system. This is b/se
each parameter, i.e. is property or function, is considered independently. 2
MECHANICAL SYSTEM BUILDING BLOCKS
LINEAR SYSTEM
 Mechanical systems, however complex, have stiffness (or
springiness), damping and inertia and can be considered to
be composed of basic elements which can be represented by
springs, dashpots and masses.
 Spring:-The 'springiness' or 'stiffness' of a system can be
represented by an ideal spring

 Dashpot:-The 'damping' of a mechanical system can be

represented by a dashpot(forces opposing motion).

 Mass:-The 'inertia' of a system, i.e. how much it resists

being accelerated can be represented by mass.
 ENERGY FLOW
 Energy is needed to stretch a spring, accelerate mass and move the
piston in the dashpot.
 Both spring and mass stores the energy induced to them in different
forms and are able to release it back when they are not subjected to a
force.
 While, a dashpot dissipates the power rather than storing.
 Spring:- energy is stored as spring compression or extension
E=½ky2
 Mass:- energy is stored as kinetic (inertia) form
E=½mv2
 Dashpot:- there is no energy stored. It does not return to its original
position when there is no force input. Power is dissipated in the form
of friction, heat, light and noise.
P=cv2
EXAMPLE: SPRING MASS DAMPER SYSTEM
 Step 1 : Free Body Diagram of system
 (We have one mass so only one free body diagram)
 Step 2 : Determine Net force acting on Mass
dy
Net Force = F- k× y- c×
dt

 Step 3 : Apply Newton’s Second Law (F = m a)

d2 y dy
m 2 = Net Force = F- k× y- c×
dt dt
 Step 4 : Final Differential Equation

d2 y dy
m 2  k× y c× F
dt dt
MECHANICAL SYSTEM BUILDING BLOCKS
ROTATIONAL SYSTEM
 If there is rotation then the equivalent three
building blocks are a torsional spring, a rotary
damper and the moment of inertia:
 Torsional spring

 Rotational Dashpot

 Rotational Mass
EXAMPLE:- ROTATIONAL MECHANICAL SYSTEM

 Step 1 : Free Body Diagram of system

 (We have one rotational mass so only one free body diagram)

 Step 2 : Determine Net Torque acting on Mass

d
Net Torque = T- k  - C
dt
 Step 3 : Apply Newton’s Second Law (T = I α)

d 2 d
I 2 = T- k  - C
dt dt
 Step 4 : Final Differential Equation
d 2 d
I 2  k  C =T
dt dt
 ELECTRICAL SYSTEM BUILDING BLOCKS

1. Resistor(Dissipates power in the form of electrical resistance)

For a resistor, resistance R, the potential difference v across it
when there is a current i through it is given by:

2. Inductor(Store energy in the form of magnetic field)

the potential difference v across it at any instant depends on the
rate of change of current i and is:
 CONT…

3. Capacitor(Store energy in the form of electrical field)

the potential difference v across it depends on the charge q on
the capacitor plates with v= q/C, where C is the capacitance.
Thus:

Since current i is the rate of change of movement of charge:

 ENERGY FLOW
 Both the inductor and capacitor store energy which can be released
at later time.
 A resistor does not store energy but just dissipates it.

 The energy stored by an inductor when there is a current i is

 The energy stored by a capacitor when there is a potential difference

v across it is

 The power P dissipated by a resistor when there is a potential

difference v across it is

10
 BUILDING UP A MODEL FOR AN ELECTRICAL SYSTEM

 The equations describing how the electrical building blocks

can be combined are Kirchhoff's laws. These can be expressed as:

 Kirchhoff’s current law

The total current flowing into any circuit junction is equal to the total current
leaving that junction, i.e. the algebraic sum of the currents at a junction is
zero.

 Kirchhoff’s voltage law

In a closed circuit path, termed a loop, the algebraic sum of the voltages
across the elements that make up the loop is zero. This is the same as saying
that for a loop containing a source of e.m.f., the sum of the potential drops
across each circuit elements is equal to the sum of the applied e.m.f.s.
provided taking in account their directions.
 EXAMPLE…

Applying Kirchhoff’s voltage law gives:

Since i=C(dvc/dt), then di/dt=C(d2vc/dt2) and we can write:

The relationship between an input v and output vc is described by a second order

differential equation.
EXAMPLE: DC PERMANENT MAGNET

 When a current flows through the armature coil,

forces act on it as a result of its current carrying
conductors being in the magnetic field provided
by the permanent magnet and so cause the
armature coil to rotate.

 Fora coil rotating in a magnetic field, a voltage is

induced in it in such a direction as to oppose the
change producing it and so there is a back e.m.f
Thus, the electrical circuit we can use to describe
the motor has two sources of e.m.f, that applied to
produce the armature current and the back e.m.f

 Two elements, an inductor and a resistor, are used

to represent the armature coil.
ELECTRICAL AND MECHANICAL ANALOGIES

 The building blocks for electrical and mechanical systems have

many similarities.
 Example:
 Electrical resistor does not store energy but dissipates it with current i
through the resistor, the mechanical analogue of the resistor is a
dashpot, it does not store energy but dissipates it with force F.
 Taking the current as being analogues to the force, then the potential
difference is analogues to the velocity and the dashpot constant c to the
reciprocal of the resistance .
 These analogues hold for the other building blocks with the spring
being analogous to inductance and mass to capacitance.

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 HYDRAULIC SYSTEM BUILDING BLOCKS
 In fluid flow system there are three common building blocks
which can be considered to be equivalent of electrical resistance,
capacitance, and inductance.
 For such systems the input, the equivalent of electrical current, is
the volumetric rate of flow q, and the output, the equivalent of
electrical potential difference is pressure difference (p1-p2).
 Hydraulic resistance(R): is the resistance to flow which occurs as a
result of a liquid flowing through valves or changes in pipe diameter.
 The relationship between the volume rate of flow of liquid q
through the resistance element and the resulting pressure
difference (p1-p2) is

p1  p2  Rq
 CONT…
 Hydraulic capacitance ( C ) is the term used to
describe energy storage where the hydraulic liquid is
stored in the form of potential energy.
 A height of liquid in a container so called pressure
head ,is one form of such storage.
 For such system the rate of change of volume V of liquid
stored is equal to the difference between the volumetric
rate at which liquid enters the container q1 and the rate at
which it leaves q2.
dV dh
q1  q2  V = Ah q1  q2 A
dt dt

 The pressure difference between the input and output

is:

Capacitance
 CONT…
 Hydraulic inertance ( I ) is the equivalent of
inductance in electrical. To accelerate a fluid a
net force is required and this is provided by the
pressure difference

 Where a is the acceleration and so the rate of

change of velocity v.
 The mass of fluid being accelerated is m=ALρ
and the rate of flow q=Av and so:

 Where the inertance I is given by I=Lρ/A

 EXAMPLE: DYNAMIC LIQUID CONTAINER
 Develop a model for the hydraulic system shown in figure where there is a
liquid entering a container at one rate q1 and leaving at a rate of q2
 THERMAL SYSTEM BUILDING BLOCKS
 There are only two basic building blocks for thermal systems:
Resistance and Capacitance
 There is a net flow of heat b/n two points if there is a temperature
difference b/n them. The electrical equivalent of this is that there
is only a net current i b/n two points if there is a potential
difference v b/n them.
 Thermal resistance(R)
 The thermal resistance R is the resistance offered to the rate of
flow of heat q and is defined by:
T1  T2
q
R
 The value of the resistance depends on the mode of heat transfer.
 CONT…
 For heat conduction through a solid

T1  T2
q  Ak
L
 A is surface area of solid wall, k is thermal conductivity of solid, L is length or thickness of
solid wall.
 Hence with mode of heat transfer

 For heat transfer by convection between two points,

q  Ah(T1  T2 )

 h the coefficient of heat transfer

 Hence with mode of heat transfer 20
 CONT…
 Thermal capacitance
 is a measure of the store of internal energy in a system. If the
rate of flow of heat into a system is q1 and the rate of flow out
q2 then the rate of change of internal energy of the system is
(q1 – q2).
 An increase in internal energy can result in a change in
temperature
change in internal energy=mc×change in temperature
m is mass and c is specific heat of solid or medium
Rate of change of internal energy= mc x rate of change of temperature
dT dT
q 1 -q 2 =mc q 1 -q 2 =C
dt dt
C = mc is thermal capacitance of system
 EXAMPLE: THERMAL MODELING ROOM
 Determine a model for the temperature of a room containing a heater which
supplies heat at the rate q1 and the room loses heat at the rate q2

 Step 1 : combined thermal capacity C, since the energy rate to heat the room
is q1 – q2,

dT
q 1 -q 2 =C
dt
 Step 2 : If the temperature inside the room is T and that outside the room To
then substituting for q2 in step 1 gives:

T  T0and T  T0 dT
q2  q1  C
R R dt
 Step 3 : Final equation

dT
RC  T  Rq1  T0
dt
~END~