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L EV
C f in
I, R pipe
Rb
f out f sump
L L
Lth Lth
p p
(a) (b)
Fig. 2. Phase space of evaporator behavior: (a) Continuous model, (b) Piece-
wise linear model.
Behavior can also be abstracted in time. Time scale abstraction
compresses the eects of fast change to occur at a point in time. The
resulting behavior may become discontinuous [8]. An example is the
bouncing ball shown in Fig. 3. A falling ball hits a
oor with negative
velocity, i.e., vball < 0. At the point of contact, the vertical position
of the ball, xball = 0, and this denes the switching surface. At this
point, fast phenomena occur that transform the kinetic energy of
the ball into stored elastic compression energy in the ball, and this
is again turned back into kinetic energy as the ball uncompresses,
and the ball velocity vball reverses. A phase space plot, xball versus
vball , of the continuous behavior is shown on the left of Fig. 4. The
discontinuous change introduced by time scale abstraction is shown
on the right in Fig. 4. The velocity of the ball vball undergoes an
instantaneous jump from vball to vball . This is shown by the double
arrow heads in Fig. 4.
xball
-v vball
xball xball
vball vball
Fig. 4. Phase space of a bouncing ball: (a) Continuous system, and (b) In-
stantaneous mode change.
Introducing parameter and time scale abstractions into physical
system models results in piecewise continuous behaviors. Behavior
switches occur at points in time on switching surfaces, and this often
leads to jumps in state variable values. They dene the notion of
hybrid models [4, 8, 10] of physical systems, best represented by an
integrated formalism that combines continuous dierential equation
models with discrete switching functions implemented as Petri nets
and nite state automata [1].
t t t t
f f f f
n n n n n n n n n n n n
f f f f f f f f f f f f
t t
Fig. 6. Errors with xed step (left) and variable step (right) integration at
a switching surface.
0.04
p s
L th
0.02
0.00
0 100 200 300 t 500
p
Fig. 8. After an initial transient stage, the evaporator level reaches steady
state.
pressure. This can cause L < Lth , which turns o the over
ow mech-
anism, and the system moves back to mode . The grayed out areas
in Fig. 9 in each mode represent state vector values that cause a tran-
sition to the other mode. The elds in the two modes are directed
towards the switching border (Lth ), and, therefore, independent of
the initial conditions. As a consequence, the system can start chat-
tering (see Fig. 10).
L L
L th L th
p p
0.02
p
0.00
0 100 200 300 t 500
Fig. 10. Chattering between modes with an active and inactive over
ow,
Rb = 1; Rpipe = 0:5; I = 0:5; C = 15; fin = 0:25; T = 0:025.
L 2 1
3
p
Fig. 11. Concatenation of pieces of phase spaces from modes and .
L th+
L th
L th -
4 2 53 1 p
Fig. 12. Iteration across hysteresis eect.
x x x x x
rod
base
cam
xrod xrod
vrod vrod
0.1 cam
0.08 rod
0.06
x(cam)
0.04
0.02
0
-1 -0.5 0 0.5 1
v(rod), v(cam)
Fig. 15. The rod may disconnect, R = 10; m = 0:5; C = 0:02; T = 0:01.
0.09 0
contact
collide
F(normal)
0.08 -0.5
x(cam)
collide free
contact
0.07 free -1
0.06 -1.5
0.05 -2
-1.1 -1 -0.9 -0.8 -0.7 -0.6 -0.02 -0.015 -0.01 -0.005 0
v(rod), v(cam) v(rod)-v(cam)
s=0
n
t f f
f
f
n
f d
s=0 t t
f f
f
n e
f
x (ts+T)
f
x (ts+ ) 1
3
x (ts)
2
f
x (ts+ +T)
Lth L
0.06
0.02
p
0.00
0 100 200 300 t 500
Fig. 20. Simulation of the evaporator using the sliding mode algorithm.
0.0805
0.0804
0.0804
0.0803
0.0803
L L
0.0801
0.0801
0.08
0.08
0.0799
0 0.005 0.01 0.015 0.02 p 0.03 0.035 0 0.005 0.01 0.015 0.02 p 0.03 0.035
Fig. 21. Fixed step Euler (left) vs. variable step Euler with sliding mode
simulation (right).
4.2 The Cam-Follower System
The results of numerical simulation of the cam-follower system is
shown in Fig. 16. On the plot on the right in Fig. 16, the negative
plane of the vrod vcam axis results in a non-elastic collision with
vrod = vcam . This mode , where the rod and cam system are con-
nected is active on the vrod = vcam axis as long as Fnormal is positive
or 0. When Fnormal becomes negative, the system switches to mode
, where the rod is disconnected from the cam and moving freely.
For certain parameter values, this moves the system in the plane
where a non-elastic collision occurs, and the system moves back to
the vrod = vcam axis, with Fnormal > 0. This chattering behavior
is an artifact of the numerical time step. For T ! 0, the system
would remain at (0; 0), corresponding to movement along the sliding
surface, vrod = vcam . Fig. 22 illustrates the operation of the sliding
mode algorithm. It shows that in mode the rod and cam are dis-
connected and vrod (thick lines) diers from vcam (thin line). The
non-elastic collision that follows immediately results in a jump from
x (ts + + T ) to x (ts + + T ) which corresponds to vrod = vcam .
In mode , the rod and cam are connected, and vrod = vcam also.
Therefore, the system slides on the switching surface and there is no
error due to chattering. This agrees with the simulation results when
higher order physical phenomena, such as adhesive forces between
the rod and cam, are incorporated into the system model.
Simulation results using a xed step Euler function produce the
chatter error shown on the left plot in Fig. 23. The chatter error
can be reduced by using a smaller step size, but a variable step size
would increase the computational complexity signicantly because
the step size would be reduced to its lower bound very quickly during
simulation. Sliding mode simulation accounts for the discontinuous
jump in rod velocity. As shown on the right in Fig. 23, this produces
an error-free behavior. Simulation results also show that the sliding
mode simulation correctly turns o when system behavior moves
away from the switching surface.
5 Conclusions
Modeling and analysis of hybrid systems present distinct challenges
to researchers. Of particular interest are the development of numer-
xrod
xcam
x(ts+) x(ts)
f
f
x(ts+T)
x(ts++T) x(ts++T)
vrod, vcam
Fig. 22. Sliding mode simulation for the cam-follower system.
0.12 0.12
0.1 0.1
0.08 0.08
0.06 0.06
0.04 0.04
0.02 0.02
0 0
chatter error of (vrod - vcam) sliding
-0.02 -0.02
0 0.5 1 1.5 time 2 0 0.5 1 1.5 time 2
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