Physical Assumptions Mathematical system model Computer simulation Model responses Prediction Augment the system structure Expected responses of physical system Modify the system parameters Assuming that a model and the simulation are reliably accurate, computer simulation has the following advantages [14]: 1, System performance can be observed under all conceivable conditions. . Results of field-system performance can be extrapolated with a simulation model for . prediction purposes. Deci Trials of systems under test can be accomplished in a much reduced period of time. . Simulation results can be obtained at lower cost than real experimentation. . Study of hypothetical situations can be achieved even when the hypothetical situation would be unrealizable in actual life at the present time. 7. Computer modeling and simulation is often the only feasible or safe technique to ana- lyze and evaluate a system. n concerning future systems presently in a conceptual stage can be examined. avaTABLE Summary of Through- and Across-Variables for Physical Systems Variable Integrated Variable Integrated Through Through Across Across System Element Variable Element Variable Electrical Current, i Charge, q Voltage Flux linkage, A; difference, v2, Mechanical Force, F Translational Velocity Displacement translational momentum, P difference, v2, difference, ya, Mechanical Torque, T Angular Angular velocity Angular rotational momentum, h difference, oa, displacement difference, 62, Fluid Fluid Volume, V Pressure Pressure volumetric rate difference, P, momentum, ¥2: of flow, Q Thermal Heat flow Heat energy, Temperature rate, q H difference, T.,TABLE 2.4 Summary of Describing Ditferential Equations for Ideal Elements Type of Physical Describing Energy E Element Element Equation or Power P Symbol Electrical _ on a inductance va ee 0 $02, Inductive Translational ldk K uy storage spring Ka 200+ F Rotational lar eee spring on = Ra 0 A Sle =/2 Lig — Fluid inertia Pa = 17 E=310 Po BoP, Electrical ine, capacitance Ue Kes : ‘Translational 1 Fu} 2 = mass 2 constant Capacitive Rotational ti - storage mass See Fluid Py deca capacitance aca Pa Thermal aE E=Cn a igs capacitance dt ‘constant Electrical ee resistance chem Nea) ‘Translational = Shp F—o—]} on, camer F = fun P= fui, 2 Energy Rotational 2 ee T—ro—] foo, dissipators damper T= fon eta or Fluid ko resistance PLA —0P, Thermal ee resistance ToS -0TTABLE 2.7 Transfer Functions of Dynamic Elements and Networks Element or System G(s) 1. Integrating circuit, filter R +o AW Vics) 2. Differentiating circuit roy c + Vals) _ __ RCs Vis) R Vat) 3, Differentiating circuit Vas) st URC vio) (+ RR, VAs) (+ stay + 5m) Vis) tates? + (ty + Te + Tals +1 = + sta) + se) (+ sry + sr) As) Vis) sds + fLys +R) 6. de motor, armature-controlled, rotational actuator Hs) Ko vas Ys Va Ry + Js + f) + KK . Reef (3) AR + Lis + A) + Kl (continued)TABLE 2.7 Continued Element or System Gs) 7. ac motor, two-phase control field, rotational actuator + S) _ __Ka VAs) sits + 1) wo 3 (Seca 7 Reference 8, Amplidyne, voltage and power amplifier 9, Hydraulic actuator 4 20 Conta valve displacement Rew ison Pressure, ‘i a Toad 9%) 10. Gear train, rotational transformer Gear | if ~ m) m = slope of linearized torque-speed curve (normally negative) s) ___(KIRER, Vis) Gr + Dist, +) Te = LelRey Te = LylRy For the unloaded case, iy = 0,7. = 7, 0.05s<7.<05s Vis = Var Van = Vo Lo X(s) — s(Ms + B) noth, a=(ye2) ky Gy ae ag k= A), oa ap, 8 = g(t, P) = flow A = area of piston Ge =n=h ear ratio = n= NB, 4, = 18m 0 = Np (continued)TABLE 2.7 Continued Element or System G(s) 11. Potentiometer, voltage control Vis) 12, Potentiometer error detector bridge 4) * voltage 13. Tachometer, velocity sensor Va(s) = K(O(s) — 03(5)) VS) = K,Bemes) Vey Gos V(s) = Kyo(s) = K,s0(s); 3,043) constant 14, de amplifier + + A Vis) Vals) seed f R, = output resistance 15. Accelerometer, acceleration sensor Frame bg | C, = output capacitance T= Rat KI and is often negligible for servomechanism amplifier x() = WO) ~ X00, XG) -s Xaq(s) 8 + (flM)s + KIM For low-frequency oscillations, where <0, X.Gw) _ _o Xq(j0) K/M (continued)TABLE 2.7 Continued Element or System Gis) 16, Thermal heating system Gs) Gs + (OS + tr “He temperature difference due to thermal process C, = thermal capacitance Q = fluid flow rate = constant S = specific heat of water R, = thermal resistance of insulation (3) = rate of heat flow of heating element 17. Rack and pinion x=r converts radial motion to linear motionArmature ‘Adc motor Stator (a) wiring diagram winding and (b) sketch. oe Rotor windings, Brush. * Le + Brosh Commutator y oo t Inertia = J. ‘Bearings Inertia : joad Load — 7 @ © Alico field magness leoaless low-inductance armature for high powtefweight ratio. ng-life brushes Machined solid copper commutator eearaana for extended brush life Rigid dish shape Lifetime lubricated bearings for armature inegrty Custom shafts available for critical design eres, ‘Cast aluminum housing Wire windings embedded in epoxy for full environmental protection gives high dielectric strength Flat shape for Forced ventilation optional compact conf for increased performance ‘A pancake de motor with a flat wound armature and a permanent magnet rotor. These motors are capable of providing high torque with a low rotor inertia. A typical mechanical time constant isin the range of 15 ms. (Courtesy of Mavilor Motors.)