MEEN 364 Lecture 8,9,7

Parasuram August 8, 2001

HANDOUT E.8 - EXAMPLES ON MODELLING OF ELECTRICAL, ELECTROMECHANICAL SYSTEMS

Note that the time dependence of variables is ignored for all manipulations. Example 1: An electrical circuit Consider the circuit shown below. + R i Va C L

Writing the Loop equation for the above circuit, we have di 1 Va Ri L idt = 0. dt C We know that i= dq . dt

(1)

Therefore substituting the above relation in equation (1), we have d 2q dq q Va = L 2 + R + . dt C dt

(2)

Equation (2) represents the governing differential equation of the circuit shown above. State-space representation Let the states of the system be defined as q = x1 , q = x2 . From the above relations, we get x1 = x 2 .
. .

(3)

(4)

MEEN 364 Lecture 8,9,7 Substituting the relations given by equation (3) in equation (2), we get d 2q dq q Va = L 2 + R + , dt C dt . 1 Va = L x 2 + Rx 2 + x1 , C . 1 R 1 x2 = x1 x 2 + Va . LC L L Rewriting equations (4) and (5) in matrix format, we have . 0 x1 = 1 . x 2 LC 1 x 0 R 1 + 1 V . x2 a L L

Parasuram August 8, 2001

(5)

(6)

If the output of the system is the voltage drop across the capacitor, then the output equation can be written as q 1 = x1 , C C 1 x y= 0 1 . C x2 y= Equations (6) and (7) represent the state-space form of the circuit. Example 2: An electrical circuit R2 C + A Vin B i1 C F R1 i2 C L D E Vout

(7)

H Note that, i1 = dq1 , dt i2 = dq 2 . dt

(8)

MEEN 364 Lecture 8,9,7 Writing the loop closure equation for the loop ABFGHA, we have Vin 1 (i1 i 2 )dt R1i1 = 0. C

Parasuram August 8, 2001

(9)

Substituting equation (8) in equation (9), we have Vin q1 q 2 dq R1 1 = 0. C dt (10)

Writing the loop closure equation for the loop BCDEFB, we get di2 1 1 + i 2 dt + (i 2 i1 )dt = 0, dt C C 2 2q dq q d q L 2 2 + R2 2 + 2 1 = 0. dt C C dt R2 i2 + L

(11)

Equations (10) and (11) represent the governing differential equations for the circuit shown. State-space representation Let the states of the system be defined as q1 = x1 , q2 = x2 , q 2 = x3 . From the above relations, the following equation can be deduced. x 2 = x3 . Substituting the relations given by equation (12) in equation (10), we have Vin q1 q 2 dq R1 1 = 0, C dt . 1 1 Vin x1 + x 2 R1 x 1 = 0, C C . 1 1 1 x1 = x1 + x 2 + Vin . R1C R1C R1
. .

(12)

(13)

(14)

MEEN 364 Lecture 8,9,7

Parasuram August 8, 2001

Similarly substituting the relations given by equation (12) in equation (11), we get d 2 q2 dq 2q q L 2 + R2 2 + 2 1 = 0, dt C C dt . 2 1 L x 3 + R2 x3 + x 2 x1 = 0, C C . R 1 2 x1 x 2 2 x3 . x3 = LC LC L Rewriting equations (13), (14) and (15) in matrix format, we have . 1 x 1 R1C . x 2 = 0 . 1 x3 LC 1 R1C 0 2 LC 1 0 x 1 R1 1 x 2 + 0 Vin . R 2 x3 0 L

(15)

(16)

From the circuit it can be seen that the output is given by Vout = 1 i 2 dt + R1i1 , C dq 1 Vout = q 2 + R1 1 , C dt dq1 from equation (10) in the above relation, we get dt

Substituting the value of R1 Vout =

q q2 1 , q 2 + Vin 1 C C 2 1 Vout = x 2 x1 + Vin , C C x1 1 2 Y = 0 x 2 + [1] in . V C C x3

(17)

Therefore equations (16) and (17) represent the state-space form of the above circuit.

MEEN 364 Lecture 8,9,7 Example 3: An electromechanical system Consider the following electromechanical system shown. L i b fs(t) k c x M a R + v

Parasuram August 8, 2001

+y +x

The electromechanical system shown above represents a simplified model of a capacitor microphone. The system consists a parallel plate capacitor connected into an electric circuit. Capacitor plate a is rigidly fastened to the microphone frame. Sound waves pass through the mouthpiece and exert a force fs(t) on plate b, which has mass, M and is connected to the frame by a set of springs and dampers. The capacitance C is a function of the distance x between the plates. The electric field in turn produces a force fe on the movable plate that opposes its motion. Kinematics stage Let the movable plate b move a distance x units. Then the velocity and the acceleration of the plate is given by x,
. ..

x respectively. It can be seen from the figure

that the current i flows through the electric circuit in the counter clockwise direction. Kinetics stage First let us consider the electric circuit. R L + V i C(x) -

MEEN 364 Lecture 8,9,7 Writing the loop closure equation for the above circuit, we get L di 1 + Ri + idt = V . dt C

Parasuram August 8, 2001

(18)

Since, i= dq , dt

equation (18) reduces to L d 2q dq q +R + = V. 2 dt C dt (19)

Free body diagram of the movable plate of mass M fs(t)

kx

M cx fe Writing the Newtons second law of motion, we have

.

= ma,
. ..

kx + c x + f e f s (t ) = m x, m x + c x + kx + f e = f s (t ).
.. .

(20)

Equations (19) and (20) represent the governing differential equations of motion for the electromechanical system considered. The force fe is defined as fe = q2 , 2 A

where A is the surface area of the plates and is the dielectric constant of the material between the plates.

MEEN 364 Lecture 8,9,7

Parasuram August 8, 2001

Since fe is non-linear in nature, equation (20) is a non-linear equation. The linearization of a non-linear equation is explained in the handout on linearization. Once the equation is linearized, then it can be represented in the state-space form. This section is dealt with, in detail in a later handout. Assignment 1) Find the differential equations for the circuit shown below and put them in statevariable form. R1 + Vin C1 R2 L R3 C2

Vout

2) Consider the schematics of an electromechanical shaker as shown below. This system consists of a table of mass M, and a coil whose mass is m. A permanent magnet rigidly attached to the ground provides a steady magnetic field, i.e., the motion of the coil through the magnetic field induces a voltage in the coil that is proportional to its velocity. The passage of current through the coil causes it to experience a magnetic force proportional to the current. Derive the equations governing the dynamics of this system. M x

k1

k2

b2 m

b1

V R L