l1

T1

l2

MCHA2000 Table
Crank Shaft
Generalised Variables and fundamental
Piston
Q2
l
F
1
Components
44 CHAPTER
COMPONENTS
T2 3. POWER, ENERGY, AND GENERALISED IDEAL
P
F1 v 1

V1

2
Generalised Variables
Table 3.1: Adopted convention of power variables in dierent physical domains and SI units.
Power Variables: PW (t) = e(t) f (t)
Transformer

I1

Pinion Rack
Domain
Eort, e(t)
Flow, 2f (t)
~
Mechanical Translation
Velocity, ~v (t) [m/s]
T1 1 Force, F~ (t) [N]
Mechanical Rotation
Torque, T (t) [Nm]
Ang. Velocity,V!
~ (t)[rad/s]
V1
2
Electrical
Voltage,
V
(t)
[V]
Current,
I(t)
[A]
v2
F
2
Hydraulic
Pressure, P (t) [Pa]
Volumetric Flow Rate, Q(t) [m3 /s]

Thermal
Thermodyn. Temp., T (t) [K] Entropy Flow Rate, S(t)
[J /K s]

Z t
Figure 3.9: Examples of transformers
in dierent physical domains.

46 CHAPTER 3. POWER,
ENERGY, AND GENERALISED
IDEAL
,
e(t)
= p(t)
COMPONENTS
EnergySI
Variables:
3.3
Units p(t) = p(t0 ) + e( ) d

Zt0t

Table 3.3: Adopted

variables
dierent
physical
domains
units.
q(t)
=
q(t0(SI-units)
)+
fin
(
) d
,
f (t)
= q(t)
and
The international
system
ofenergy
units
(Sist
eme International
dUnit
es) isSInowadays
t0
the
system
of
units
agreed
upon,
internationally,
for
expressing
variables
related
to
physical to
An example of a gyrator is an electrical motor, where the torque (eort) is proportional
magnitudes.
The SI-unit system consists of 7 fundamental units plus 2 auxiliary unitssee
the current
(flow).
Domain
Momentum,
p(t)
q(t)
Table
3.2. The rest of units derive from
these fundamental
units using Displacement,
formulas of physics.
Mechanical
Translation
Linear
momentum,
p
~
(t)
[kgm/s]
Displacement,
~
r
(t)
[m]
Some of the derived units have particular names. For example the unit of force is Newton
~
Table[N],
3.4
summarises
the
CCR
of
the
generalised
components.
In
the
following
Chapters
we
2
Mechanical
Rotation
Angular
Angle, (t) [rad]
which from
Newtons second
law, itmomentum,
follows thatL(t)
N =[Nms]
kg m s .
will review
these CCR for the dierent
physical domains.
Electrical
Linkage Magnetic
flux, (t) [Vs]
Electrical charge, q(t) [As]
Hydraulic
Pressure momentum, pP (t) [Ns/m2 ]
Volume, V (t) [m3 ]
Thermal
Entropy, S(t) [J/K]
TableNot
3.2:needed
SI units.
Magnitude

Unit

Symbol

Type

Table
3.4: CCR of generalised
components.
Length
Metre 1- andm2-port
Fundamental
Fundamental Components

If we replace the eort in (3.15) by the derivative of the momentum (3.13), then
Mass
Kilogram
Fundamental
Z t kg
dp Linear
Component
General
CCR
CCR
Time
Second
s
Fundamental
E(t) = E(t0 ) +
f ( )
d.
(3.16)
Resistor
e(t)Ampere
= R (ft0(t)) A de(t)
= R f (t)
Current
Fundamental
Temperature
K p(t)
Inertia
= I (f (t))
= I f and
(t) an electrical inducFor some physical
components (like,p(t)
for Kelvin
example,
a mass,
anFundamental
inertia,
Luminous
intensity
Candela
cd
Fundamental
C e(t) and then energy
tor), we will be Capacitor
able to express theq(t)
flow=as aC (e(t))
function ofq(t)
the =
momentum,
Amount
of substance
Mole
mol
Fundamental
Eort
source
e(t)
=
e(t),
8f
(t)
can be expressed as
Plane Angle
Radian
rad
Auxiliary
Flow source
f (t) = f (t), 8e(t)
Solid Angle
Steradian Z p sr
Auxiliary
Transformer
e2 (t) = m(t) e1 (t)
E(p)
= E(p0 )1 +
f (p) dp.
(3.17)

f2 (t) = m (t) pf01 (t)

Gyrator
f2 (t) = m(t) e1 (t)
1
For example, the kinetic energy of
a point
e2 (t)
= mmass
(t)mf1can
(t) be expressed as

Z pleads to the product of power variables

The use of the international system of units (SI-units)
p
of dierent physical domains to always
have
unit
of Watts
we
T (p) =
T (pthe
)
+
dp. [W] (1W = 1N m/s). If (3.18)
0
m
0
use SI units to model systems made of components pof
dierent physical domains, then we
Link to State-space Modelling
do
not need to ifworry
about conversion
power.ofThis
very important
Alternatively,
we replace
the flow infactors
(3.15) to
bycalculate
the derivative
the is
displacement
(3.14),
when
build models
of dynamic
complex systems,
systems.we canZchoose the energy variables as states. You will
When
modelling
physical
then we
t
also find that power variables are usually inputs and outputs.dqUsing power variables as inputs and
E(t) = E(t0 ) +
e( )
d.
(3.19)
The thermal
power the
variables
given in the Table
3.1 arednot
the of
ones
commonly
used in
outputs
can simplify
task of interconnecting
mathematical
models
physical
systems.
t0
engineering
Therefore,
one must
be careful
theforunits
when amodelling
thermoFor physicalpractice.
components
that store
potential
energywith
(like,
example,
spring, an
electrical
mechanical or thermo-electrical systems and coupling models from standard literature to the
capacitor, and a fluid tank), we will be able to express the eort as a function of the
models derived in this course.