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Mathematical Modelling of Dynamic System
Mathematical Modelling of Dynamic System
Linear Systems
Linear systems are ones in which the equations of the model are linear. A
differential equations is linear if the coefficients are constants or functions
of the independent variable. The most important property of linear systems
is that the principle of superposition is applicable. The principle of
superposition states that the response produced by the simultaneous
application of two different forcing forces is the sum of the two individual
responses.
Transfer Function
Transfer functions are commonly used to characterise the input-output
relationships of components and systems that can be described by linear,
time-invariant, differential equations. The transfer function of a linear
time-invariant, differential equation system is defined as the ratio of the
Laplace transform of the output (response function) to the input (driving
function) under the assumption that all initial responses are zero.
Transfer function=
Y ( s ) | output |
=
X ( s ) | input |
d n c(t )
d n 1c(t )
d m r (t )
d m 1 r (t )
+
a
+
+
a
c
(
t
)
=
b
+
b
+ + b0 r (t )
0
n 1
m
m 1
dt n
dt n 1
dt m
dt m 1
where c(t) is the output, r(t) is the input, and ais and bi s are constants.
Taking Laplace transform of both sides and assuming all initial conditions are
zero.
(a s
n
+ a n 1 s n 1 + + a 0 C ( s ) = bm s m + bm 1 s m 1 + + b0 R ( s )
Mathematical
Modelling
Mechanical system
K
d 2 x(t )
dx(t )
+C
+ Kx(t ) = f (t )
2
dt
dt
Ms 2 X ( s ) + CsX ( s ) + KX ( s ) = F ( s ) or Ms 2 + Cs + K X ( s ) = F ( s )
Transfer function : G ( s ) =
X (s)
1
=
2
F ( s ) Ms + Cs + K
Mechanical system
Table 1: Force-velocity, force-displacement, and impedance translational
relationships
for springs, viscous dampers, and mass
An Inverted Pendulum
x
mg
Cart motion
M
d 2x
=uH
dt 2
I&& = Vl Hl
m &x& + l&& = H
2
3
0 = V mg
( M + m) &x& + ml&& = u
and, equation 2, 3 and 4, we have
I&& = mgl Hl
mgl l m&x& + ml&&
or
and
( I + ml ) s ( s ) + mls X ( s ) = mgl ( s )
2
X ( s) =
(I + ml )s
mls
mgl
(s)
and therefore
I + ml 2 s 2 mgl
( s) + mls 2 ( s) = U ( s)
( M + m) s s
2
mls
( s)
I + ml 2 s 2 mgl
+ mls 2
( M + m)
ml
Electrical System
U ( s)
U (s)
C
V
di (t )
1
+ Ri (t ) + i (t )dt = v(t )
dt
C0
dq 2 (t )
di (t ) 1
+R
+ q (t ) = v(t ) and q (t ) = Cv c (t ) yields
2
dt
C
dt
LC
dvc (t )
dv (t )
+ RC c + v c (t ) = v(t )
2
dt
dt
(LCs
+ RCs + s Vc ( s ) = V ( s )
Vc ( s )
=
V ( s)
LC
1
R
s2 + s +
L
LC
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Example:
1. Find the transfer function, X 2 ( s ) / F2 ( s ) , for the system below.
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Example
1. Given the network shown in figure, find the transfer function, I 2 ( s ) / V ( s ) .
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Electromechanical system
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Vb ( s ) = K b s m ( s )
c. The relationship for the electrical circuit is given by:
di (t )
Ra ia (t ) + La a + vb (t ) = ea (t )
dt
and taking the Laplace transform, we get
Ra I a ( s ) + La sI a ( s ) + Vb ( s ) = E a ( s )
b.
Tm ( s ) = K t I a ( s ) or I a ( s ) =
1
Tm ( s)
Kt
c.
(Ra + La s )Tm ( s)
Kt
+ K b s m ( s ) = E a ( s )
t m (t ) = J m
d 2 m
d
+ Dm
2
dt
dt
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Tm ( s ) = (J m s 2 + Dm s ) m ( s )
(Ra + La s )(J m s 2 + Dm s ) m ( s)
Kt
+ K b s m ( s ) = E a ( s )
J m s 2 + D m s + K b s m ( s ) = E a ( s )
Kt
m (s)
E a ( s)
K t /( Ra J m )
KK
1
Dm + t b
s s +
Jm
Ra
or simply
m (s)
E a ( s)
K
s( s + )
16
N
J m = J a + J l 1
N2
N
; and Dm = Da + Dl 1
N2
at steady state:
Ra
K K
K
Tm + K b m = ea or Tm = b t m + t ea
Kt
Ra
Ra
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Tstall =
Kt
ea
Ra
no load =
ea
Kb
Example:
1. Given the system and torque-speed curve below, find the transfer
function.
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Gear system
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In block diagram, all system variables are linked to each other through
functional blocks. The functional block or simply block, is a symbol for
the mathematical operation on the input signal to the block which produces
the output. The transfer functions of the components are usually entered in
the corresponding blocks, which are connected by arrows to indicate the
direction of the arrows. Thus, a block diagram of a control system explicitly
shows a unilateral property.
igure 1 shows an element of the block diagram. The arrowhead pointing
toward the block indicates the input and the arrowhead leading away from
the block represents the output. Such arrows are referred to as signals.
X(s)
TRANFER
FUNCTION
G(s)
Y(s)
Block
input
output
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output
Control
element
X-Y
+
In order to employ the same signal or variable as an input to more than one
block or summing point, a takeoff/ branch point is used. This permits the
signal to proceed unaltered along several different paths to several
destinations.
Takeoff
point
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Tutorial
1. Consider the system shown in Figure below. Obtain the closed-loop
transfer function C ( s) / R( S )
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3.
Consider the system shown in Figure below. Obtain the closed-loop
transfer function C ( s) / R( S )
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Node:
A point representing a variable or signal
Transmittance:
A real gain or complex gain between two nodes.
Branch:
A directed line joining two nodes.
Input node or source:
A node that has outgoing branches.
Output node or sink:
A node that has incoming branches.
Mixed node:
A node that has both incoming and outgoing branches.
Path:
A traversal of connected branches in direction of the
branch arrow.
Loop:
Loop gain:
A close path
The product of the branch transmittances of a loop
Nontouching loops:
Loops that do not possess any common nodes
Forward path:
A path from input node to output node that does not
cross any node more than once.
Forward path gain. The product of the branch transmittances
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x4
Mixed node
x1
x3
x3
output node
(sink)
Input node
(source)
c
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and the output nodes (sinks) to the right. The independent and dependent
variables of the equations become the input nodes (sources) and output
nodes (sinks), respectively. The branch transmittances can be obtained from
the coefficients.
To determine the input-output relationship, we may use Masons formula.
1. The value of a node with one incoming branch, as shown in figure (a) is
x 2 = ax1
2. The total transmittance of cascaded branches is equal to the product of
the branch transmittances. Cascaded branches can thus be combined into
a single branch by multiplying the transmittances as shown in figure b.
3. Parallel branches may be combined by adding the transmittances, as
shown in figure c
4. A mixed node may be eliminated, as shown in figure d.
5. A loop may be eliminated as shown in figure e.
x3 = bx 2 , x 2 = ax1 + cx3
Hence x3 = abx1 + bcx3
Or
x3 =
ab
x1
1 bc
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P=
1
Pk k
k
where,
= determinant of graph.
= 1- (sum of all individual loop gain) + (sum of gain products of all
combinations of two non touching loops) (sum of gain of all
possible combinations of three non touching loops) +
= 1 La + Lb Lc Ld Le L f + .......
a
b ,c
d ,e , f
L L
b
b ,c
touching loops
Ld Le L f = sum of gain products of all possible combination of three non
d ,e , f
touching loops
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