Laplace Transformation

446 - 5

Prof. Neil A. Duffie

University of Wisconsin-Madison

Neil A. Duffie,
Duffie, 1996
All rights reserved.

Laplace Transformation

f(t)e -st dt

L[f(t)] =
0

s is a new, complex variable

Transform:
Differential equations
Algebraic equations
Functions of time (step, impulse, sine, etc.)
5

DC Motor-Amplifier System

(t),(t)
e(t),i(t)

v(t)

Motor torque

T(t)
(t)
5

(t)

Mechanical System Variables

(t),(t)

v(t)

e(t),i(t)

T(t)

(t)

(t)

(t) = rotational position

(t) = rotational velocity
T(t) = motor torque
5

Mechanical System Parameters

(t),(t)

v(t)

e(t),i(t)

T(t)

(t)

(t)

J = motor inertia
Kt = torque constant
5

Electrical System Variables

(t),(t)

v(t)

e(t),i(t)

T(t)

(t)

(t)

i(t) = motor current

e(t) = amplifier output voltage
v(t) = amplifier input voltage
5

Electrical System Parameters

(t),(t)

v(t)

e(t),i(t)

T(t)

(t)

(t)

R = motor resistance
L = motor inductance
Ke = back emf constant
5

Kv = tachometer gain

Motor-Amplifier Equations

Transforms of Equations

Transformed Model - Velocity

10

Transformed Model - Position

11

Unit Step Function

f(t)

u(t)

t
0

u(t)e -st dt

L[u(t)] =
0

e -st dt

L[u(t)] =
5

12

Unit Step Function

f(t)

u(t)

t
0

L[u(t)] =

e -st
-s

-s
-s0
e
e
L[u(t)] = -s - -s

L[u(t)] = 1
s

13

Unit Impulse Function

(t)

"strength"
(Area) = 1
t
0

t
0

(t)

(t)

(t)

1
t

t
0 t

t
0 t

14

Unit Impulse Function

f(t)

(t)

Area = 1
t
0

(t)e -st dt

L[(t)] =
0

L[(t)] = lim

t0

1 e -st dt
t

15

Unit Impulse Function

f(t)

(t)

strength = 1
t
0

L[(t)] = lim

e -st

t0 -st

-st - e -s0
-st
e
1
e
= lim
L[(t)] = lim
t0
t0
-st
st
Use L'Hopital's rule
16

Unit Impulse Function

f(t)

(t)

strength = 1
0

Differentiate numerator and

denominator with respect to t
-st
se
= lim e -st
L[(t)] = lim s
t0
t0
5

L[(t)] = 1

17

Exponential Function

1
f(t)

f(t) = e

-t

-t -st
e e dt

-t

L[e ] =
0

1 + s )t
(
dt
e

-t

L[e ] =
5

18

Exponential Function

f(t)

f(t) = e

-t

L[e -t ] =

e - (1 + s )t
- (1 + s )

- (1 + s )
- (1 + s )0
e
e
L[e ] =
- (1 + s )
- (1 + s )
-t

L[e ] = 1 1+ s =

s + 1
-t

19

Nonlinear Tank System

Inlet
flow

qi(t)
h(t)

(t)
Tank

Tank area = A

Valve

q0(t)
Outlet
flow

Nonlinear behavior of valve flow:

q0 (t) = k(t) h(t)

20

Nonlinear Tank Model

qs (t) = qi (t) qo (t)
dh(t)
qs (t) = A
dt
qo (t) = k(t) h(t)
dh(t)
A
= qi (t) k(t) h(t)
dt
dh(t)
A
+ k(t) h(t) = qi (t)
dt
5

21

Linearized Model of Valve Flow

qo = k h
qi = qo
qi 2
h=
k
qo
qo (t) qo +

qo
((t) ) +
h
.h

(h(t) h )
.h

k
(h(t) h )
qo (t) qo + k h ((t) )
2 h
5

22

Linearized Tank Model

k
qo (t) qo + k h ((t) ) +
(h(t) h )
2 h
qo (t) k h + k h(t) k h
k
k
h(t)
h
+
2 h
2 h
k
1
h(t) k h
qo (t) k h(t) +
2 h
2

k
1
dh(t)
qi (t) k h(t)
h(t) + k h
A
2 h
2
dt

23

Transformed Tank System Model

1
dh(t) k
h(t) qi (t) k h(t) + k h
+
A
2
2 h
dt
1
dh(t) k
h(t) qi (t) k h(t) + k h u(t)
+
A
2
2 h
dt
k
H(s)
A sH(s) h(0 ) +
2 h

1
1
Q i (s) k h(s) + k h
s
2
How would tank respond to a change in qi(t)?
To a change in (t)? Need solution!
5
24