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The first step in the analysis of dynamic system is to derive its model.
Models may assume different forms, depending on the particular system
and the circumstances.
In obtaining a model, we must make a compromise between the
simplicity of the model and the accuracy of results of the analysis.
Linear systems: Linear systems are one in which the equations of the
model are linear.
A differential equation is linear, if the coefficients are constant or
functions only of the independent variable (time).
d2y dy
(1) 2
3 6 y et is linear differential equation.
dt dt
d3y d 2 y 2 dy
(2) ( 6 t ) t y sin t is linear differential equation.
dt 3 dt 2 dt
or y (6 t ) y t 2 y y sin t
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Non linear system: Non linear system are ones which are represented by
non linear equations. Examples are
Y=sin(x) , y=x2 , z=x2+y2
The most important properties of non linear system is that the principle
of superposition is not applicable.
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Example: Consider the linear time-invariant system
same thing is applied to obtain the L.T. of x(t).by substitute all initial
condition to zero. The transfer function of the system become.
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c d
2- Spring
fk = k ( yc - yd )
3- dashpot e f
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The fundamental law governing mechanical system is Newtons law
for translational system, the law state that
Ma F
d2y dy
M 2
f ky x
dt dt
Taking the Laplace transform of each term
d2y
[M 2
] M (s2Y (s) sy(0) y(0))
dt
dy
[ f ] f [ sY ( s ) y (0)]
dt
[ky ] kY ( s )
( x) X ( s )
Set the initial conditions to zero so that y(0)=0, y (0) 0 the Laplace
transform can be written
( Ms 2 fs k )Y ( s ) X ( s )
Taking the ratio of Y(s) to X(s), we find that the transfer function of the
system is
Y (s) 1
T .F . G ( s )
X ( s ) Ms fs k
2
To draw the mechanical network, the points xa, xb and the reference
are located. The complete mechanical network is drawn in fig. below.
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or f k f m f B M xb BD x b
It is possible to obtain one equation relating xa to f, xb to xa, or xb to f
by combining equation (1) & (2)
k ( MD 2 BD) xa ( MD 2 BD k ) f (3) check
( MD 2 BD k ) xb kxa (4)
( MD 2 BD) xb f (5)
xa MD 2 BD k
Let G1 (6)
f k ( MD 2 BD)
xb k
G2 (7)
xa MD BD k
2
x 1
G b (8)
f MD BD
2
Or by taking L.T. to equation 3,4,5 with all initial condition equal to zero. The
transfer functions are
xa ( s ) Ms 2 Bs k
G1 ( s ) (9)
f ( s ) k ( Ms 2 Bs)
x ( s) k
G2 ( s ) b (10)
xa ( s ) Ms Bs k
2
xb ( s) 1
G (11)
f ( s) Ms Bs
2
Note that the equations 8 & 11 are equal to the product of the (6) * (7) & (9)*(10)
G=G1G2 & G(s)=G1(s)G2(s)
f xa xb f xb
G1(D) G2(D) G (D)
f xa xb f xb
G1(s) G2(s) G (s)
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Example:
Automobile suspension some system of one wheel
M1= mass of the automobile
B = the shock absorber
k1 =the spring
k2= elestance of the tire
M2= mass of the wheel
d 2 x1 dx dx
M 1 2 B( 1 2 ) k1 ( x1 x2 )
dt dt dt
d 2 x2 dx dx
M1 2
f (t ) B( 2 1 ) k1 ( x2 x1 ) k2 x2
dt dt dt
M1s2X1(s) + B(sX1(s)-sX2(s))+k1(X1(s)-X2(s)) =0
M2s2X2(s) + B(sX2(s)-sX1(s))+k1(X2(s)-X1(s))+k2X2(s) =F(s)
X 1 (s) Bs k1
T (s)
F ( s ) M 1M 2 s B( M 1 M 2 ) s ( K1M 2 k2 M 1 ) s 2 k 2 Bs k1k 2
4 3
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Mechanical Rotational System
Consider the system shown below. The system consists of a load inertia
and a viscous – friction damper.
J = moment of inertia of
The load kg. m2
Electrical Systems
LRC circuit. Applying kirchhoffs voltage law to the system shown. We
obtain the following equation;
di 1
L Ri idt ei .......(1)
dt C
1
idt eo .......( 2)
C
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Complex impedances. Consider the circuit shown below then the T.F of this
circuit is
Eo ( s ) Z 2 ( s)
Ei ( s ) Z1 ( s ) Z 2 ( s )
Where
Z1= Ls+R
1
Z2
Cs
Z(s) = E(s)/I(s)
Hence the T.F. Eo(s)/Ei(s) can be found as follows;
1
Eo ( s ) Cs 1
Ei ( s ) Ls R 1 LCs RCs 1
2
Cs
Example
Armature-Controlled dc motors
The dc motors have separately excited fields. They are either armature-controlled with
fixed field or field-controlled with fixed armature current. For example, dc motors
used in instruments employ a fixed permanent-magnet field, and the controlled signal
is applied to the armature terminals.
Consider the armature-controlled dc motor shown in the following figure.
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T = kf if k1 ia
For a constant field current
T = k ia where k is a motor-torque constant {(eb=k2ψω)}
For constant flux
d
eb kb where kb is a back emf constant………(1)
dt
The differential equation for the armature circuit is
dia
La Raia eb ea ........(2)
dt
The armature current produces the torque which is applied to the inertia
and friction; hence
Jd 2 d
2
f T Kia ..........(3)
dt dt
Assuming that all initial conditions are condition are zero/and taking the L.T. of
equations (1) ,(2)&(3), we obtain
Kpsθ(s) = Eb(s)
(Las+Ra) Ia(s)+Eb(s) =Ea(s)
(Js2+fs) θ(s) = T(s) = KIa(s)
The T.F can be obtained is
(s) K
.........chek ?
Ea ( s ) s ( La Js ( La f Ra J ) s Ra f KK b )
2
Example:
Field-Controlled dc motor
( s)
Find the T.F For the field-contnalled dc motor shown in figure below
E f ( s)
The torque T developed by the motor is proportional to the product of the air gap flux
ψ and armature current ia so that
T = k1 ψ ia Where k1 is constant
T = k2 if Where k2 is constant
di f
Lf R f i f e f ……….(1)
dt
d 2 d
J 2 f T k2i f . ………(2)
dt dt
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By taking the L.T. of eqs. (1)&(2) & assuming zero initial conditions we get
(Lf s +Rf) If (s) = Ef (s)
(Js2 + fs) θ(s) = k2 If (s)
The T.F. of the this system is obtained as
(s) K2
...........chek ?
E f ( s ) S ( L f s R f )( Js f )
H.W
For the positional servomechanism obtain the closed-loop T.F. for the positional
servomechanism shown below, Assume that the in-put and out put of the system are
input shaft position and the output shaft
r = reference input shaft, radian
c = out put shaft, radian
θ = motor shaft, radian
k1 = gain of potentiometer error detector = 24/π volt/rad
kp = amplifier gain = 10
kb = back emf const.= 5.5*10-2 volts-sec/rad
K = motor torque constant = 6*10-5 Ib-ft-sec2
Ra = 0.2 Ω
La = negligible
Jm = 1*10-3 Ib-ft-sec2
fm = negligble
Jl = 4.4*10-3 Ib-ft-sec2
fL = 4*10-2 Ib-ft/rad/sec
n = gear ratio N1/N2=1/10
Hint J = Jm+n2Jl ,f = fm+n2fL
( s) 0.72
Answer
Ea ( s ) s (0.13s 1)
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UNIVERSITY OF TECHNOLOGY
DEPARTMENT OF ELECTRICAL & ELECTRONIC ENGINEERING
FIRST TERM EXAMINATION
Jan. ,13th, 2009 time allowed 75 minute
Subject: Control Engineering
Year: Third Attempt All Questions
Q1: (A) Define four of the following statements, (1) state vector, (2)
transducer, (3) open loop control system, (4) transfer function, (5) linear
time invariant system. [2 Marks]
R
L
C y
u R
Fig. (1)
Q2: For the block diagram of feedback control system shown in Fig.(2)
the output is Y(s)=M(s)R(s)+Mw(s)W(s)
W(s)
_ H3
+
R(s) + + + + Y(s)
G1 G2 G3
_ _
H2
H1
Fig. (2)