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System Models: Me 1402 - Mechatronics (Unit - Iii)
System Models: Me 1402 - Mechatronics (Unit - Iii)
SYSTEM MODELS
This chapter determines how the systems behave with time when
subjected to some disturbance. E.g. A microprocessor switches on a
motor. The speed will not attain immediately but it will take some
time to attain full speed.
In order to understand the behavior of the systems,
mathematical models are needed. These models are equations
which describe the relationship between the input and output of a
system. The basis for any mathematical model is provided by the
fundamental physical laws that govern the behavior of the system. In
this chapter a range of systems will be considered including
mechanical, electrical, thermal & fluid examples.
Systems can be made up from a range of building blocks from a
number of basic building blocks.
MECHANICAL SYSTEM BUILDING BLOCKS
The basic building blocks of the models used to represent
mechanical systems are
1) Springs
2) dashpots
3) masses
Springs
Springs represents the stiffness of the system. The fig. shows a
spring subjected to force F.
F Applied force
x extension
k a constant
1
F2
K .x 2 =
2
2K
Dash Pots
Dashpots
building
blocks
represent
the
types
of
forces
dx
dt
C a constant
Masses
2
dv
dt
= m
d 2x
dt 2
1
mv 2
2
the inertia of a rotating mass. With such building blocks the inputs
are torque and the outputs angle rotated.
With a torsional spring the angle rotated is proportional to the
toque T. Hence
With the rotary damper a disc is rotated in a fluid and the resistive
toque T is proportional to the angular velocity , and since angular
velocity is the rate at which angle changes. i.e.
d
dt
d
,
dt
The torsional spring and the rotating mass store energy; the rotary
damper just dissipates energy. The energy stored by a torsional
spring when twisted through an angle is k2 and since T = k
this can be written as
= F kx B
dx
dt
-------
(1)
d 2x
dt 2
-----
dx
d 2x
= F kx B
2
dt
dt
F =m
d 2x
dx
+ kx + B
2
dt
dt
PROBLEMS
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idt
C
Where c = capacitor.
Inductors:
It consists of a coil wire. When current flows through the
wire, a magnetic field surrounding the wire is produced. Any attempt
to change the density of this magnetic field leads to the induction of
voltage. The inductor equation is
V =L
di
dt
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Kirchhoffs law:
Electrical networks can be analyzed using Kirchhoffs current and
voltage laws.
1. The current law states that the sum of the current flowing into a
junction equals to the sum of the current flowing out of a
junction.
2. The voltage law state that the sum of the voltage input equal
the sum of the voltage drop in any closed loop.
BUILDING UP A MODEL FOR ELECTRICAL SYSTEM
NODE ANALYSIS
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MESH ANALYSIS
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2. Pneumatic
HYDRAULIC SYSTEMS
1.
Hydraulic resistance(R)
It is the resistance to flow which occurs as a result of a liquid
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2. Hydraulic capacitance
This term is used to describe energy storage with a liquid when it
is stored in the form of potential energy.
h = height of liquid.
q1,q2 = rate of liquid flow.
P = pressure difference
.
Then
q1 q 2 =
dv
dt
where
dv
dt
container.
q1 q2 =
P = gH
P
H =
g
d ( AH
dt
=A
dH
dt
P
d
g
q1 q2 = A
dt
A dP
=
g dt
dP
=C
dt
A
whereC =
, hydraulicc apaci tan ce .
g
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3. Hydraulic inertance
It is equivalent of inductance in electrical systems or a spring in
mechanical systems. To accelerate a fluid and so increase its
velocity a force is required. Consider a block of liquid of mass m.
The net force acting on the liquid,
F1 F2 = P1 A P2
= ( P1 P2 ) A
( P1 P2 ) A = m.a
=m
dv
dt
= AL
dv
dt
dQ1
dt
L dQ1
A dt
=I
dQ1
dt
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PNEUMATIC SYSTEM
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dp
dt
A1
& p1 = h1 g
g
q1 q 2 =
A1 d ( h1 g )
g
dt
A1
dh
g . 1
g
dt
= A1 .
dh1
dt
----------- (1)
The q2= rate at which the liquid leaves the container that
equals the rate at which it leaves the valveR1
p1 p 2 = R1 .q 2
h1 .g h2 .g = R1 .q 2
( h1 h2 ) g = R1 .q2
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( h1 h2 ) g = q
R1
-------------------
(2)
( h1 h2 )
R1
g = A1 .
dh1
-----------(3)
dt
dp
dt
= A2 .
dh 2
dt
---------------- (4)
The rate at which liquid leaves the container q3 equals to the rate
at which it leaves the valve R2
For resistor
p 2 p 3 = R2 .q 3
p3 = 0
p 2 = R2 .q 3
h2 g
R2
---------- (5)
q2
h2 g
dh
= A2 2
R2
dt
------------------ (6)
( h1 h2 ) g
R1
h2 .g
dh
= A2 2
R2
dt
Fig.
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(T2 T1 )
Rth
( T2 T1 )
L
For this
Rth =
L
KA
Ah
Thermal capacitance
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dT
dt
dT
dt
C= specific heat.
of change of temperature.
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ADDITIONAL PROBLEMS
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POTENTIOMETER
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CONTROLLERS
Open-loop control is essentially just a switch on-switch off form
of control, e.g. an electric fire is either switched on or off in order to
heat a room. With closed-loop control systems, a controller is used
to compare the output of a system with the required condition and
convert the error into a control action designed to reduce the error.
In this chapter we are concerned with the ways in which controllers
can react to error signals, i.e. the control modes as they are termed,
which occur with continuous processes.
Control modes:
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PID CONTROLLERS
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DIGITAL CONTROLLERS
The digital controller requiring inputs which are digital, process
the information in digital form and give an output in digital form. The
controller performs the following functions:
1) Receives input from sensors.
2) Executes control programs
3) Provides the output to the correction elements.
As several control systems have analog measurements an analog
to digital converters (ADC) is used for the inputs. The fig shows the
digital closed loop control system which can be used with a
continuous process.
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OR
For a control system it has been assumed that the system once
tuned retains its value of proportional, derivative, and integral
constant until the operator decides to retune. The alternative to this
is an adaptive control system which adapts to changes and changes
its parameters to fit the circumstances prevailing.
The adaptive control system can be considered to have three
stages of operation,
1) Starts to operate with controller conditions set on the basis of an
assumed condition.
2) The designed performance in continuously compared with the
actual system performance.
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MICROPROCESSORS CONTROL
A microprocessor is a programmable digital electronic component
that incorporates the functions of a central processing unit (CPU) on
a single semi conducting integrated circuit (IC). The microprocessor
was born by reducing the word size of the CPU from 32 bits to 4 bits,
so that the transistors of its logic circuits would fit onto a single part.
One or more microprocessor typically serves as the CPU in a
computer system, embedded system, or hand held device.
Microprocessors
made
possible
the
advent
of
the
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REGISTERS
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cannot
access
this
temporary
data
register.
S-sign flag
After the execution of arithmetic or logical operations, if bit
D, of the result is 1, the Sign flag is set. In a given byte if D, is 1,
the number will be viewed as negative number. If D is 0, the
number will be considered as positive number.
The zero flag sets if the result of operation in ALU is zero and flag
resets if result is non zero. The zero flag is also set if a certain
register content becomes zero following an increment or
decrement operation of that register.
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c) Instruction Register
In a typical processor operation, the processor first fetches
the opcode of instruction from memory (i.e. it places an address
on the address bus and memory responds by placing the data
stored at the specified address on the data bus).
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Address Buffer
This is a 8-bit unidirectional buffer. It is used to drive
external high order address bus (A15, -A8,). It is also used to tristate the high order address bus under certain conditions such as
reset, hold, and halt and when address lines are not in use.
Address/Data Buffer
This is an 8-bit bi-directional buffer. It is used to drive
multiplexed address/data bus, i.e., low order address bus (A7,
-A0,) and data bus (D7, - Do). It is also used to tristate the
multiplexed address/data bus under certain conditions such as
reset, hold, and halt and when the bus is not in use.
The address and data buffers are used to drive external address
and data buses respectively. Due to these buffers the address
and data buses can be tri-stated when they are not in use.
Incrementer/Decrementer Address Latch
This 16-bit register is used to increment or decrement
the contents of program counter or stack pointer as a part of
execution of instructions related to them.
Interrupt Control
The processor fetches, decodes and executes instructions
in a sequence. Sometimes it is necessary to have processor the
automatically execute one of a collection of special routines
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