Chapter 1 Mathematical Modeling of Dynamic Systems in State Space

Chapter 1
Mathematical Modeling
of Dynamic Systems in
State Space
Thursday, February 22, Prof_Dr_MFR_CMED 1

2018
Introduction to State Space
analysis
• Two approaches are available for the
analysis and design of feedback
control systems
– Classical or Frequency domain technique
– Modern or Time domain technique
Thursday, February 22, ProfDrMFRCIED 2

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Introduction to State Space
analysis
• Classical technique is based on converting a
system’s differential equation to a transfer
function
• Disadvantage
– Can be applied only to Linear Time Invariant system
– Restricted to Single Input and Single output system
• Advantage
– Rapidly provide stability and transient response
information

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Introduction to State Space analysis
• Modern technique or state space approach is
a unified method for modeling, analyzing and
designing a wide range of systems
• Advantages :
– Can be used to nonlinear system
– Applicable to time varying system
– Applicable to Multi Input and Multi Output system
– Easily tackled by the availability of advanced digital
computer

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Time varying
• A time-varying control system is a
system in which one or more of the
parameters of the system may vary as a
function of time
• Dynamic system: input, state, output
and initial condition

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The state variables of a dynamic
system
• The state of a system is a set of variables
whose values, together with the input
signals and the equations describing
the dynamics , will provide the future
state and output of the system
• The state variables describe the present
configuration of a system and can be
used to determine the future response,
given the excitation inputs and the
equations describing the dynamics.
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The State Space Equations

x(t )  Ax (t )  Bu (t )
y (t )  Cx (t )  Du (t )

x(t )  derivative _ of _ the _ state _ vector
x(t )  state _ vector
y (t )  output _ vector
u (t )  input _ of _ control _ vector
A  system _ matrix
B  input _ matrix
C  output _ matrix
D  feedfoward _ matrix

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Two types of equation
• State equation

x(t )  Ax (t )  Bu (t )
• Output equation
y (t )  Cx (t )  Du (t )
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Terms
• State equations: a set of n simultaneous,
first order differential equations with n
variables, where the n variables to be
solved are the state variables
• State space: The n-dimensional space
whose axes are the state variables
• State space representation: A
mathematical model for a system that
consists of simultaneous, first order
differential equations and output equation
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Terms
• State variables: the smallest set of
linearly independent system variables
such that the value of the members of the
set
• State vector: a vector whose elements
are the state variables

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Modeling of Electrical Networks
Voltage-current, voltage-charge, and
impedance relationships for capacitors,
resistors, and inductors

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Example 1 : RL serial network
• Figure below shows an RL serial

network with an input voltage vi(t) and
voltage drop at inductance, L as an
output voltage vo(t). Form a state space
model for this system using the current
i(t) in the loop as the state variable.

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• RL serial network – first order system

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RL serial network
• Write the loop equation for the system
using Kirchhoff’s voltage law,
Vi (t )  VR (t )  VL (t )  VR (t )  Vo (t )
di (t )
VL (t )  L  Vo (t )
dt
VR (t )  i (t ) R
di (t )
Vi (t )  i (t ) R  L
dt
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RL serial network
• State variable is given only one, therefore
the system is a first order system
• A state equation involving i is required
di (t )
Vi (t )  i (t ) R  L
dt
di (t )
L  i (t ) R  Vi (t )
dt
di (t ) R 1
  i (t )  Vi (t )
dt L L

 R 1
i (t )   i (t )   Vi (t )
 L L
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RL serial network
• The output equation,
Vi (t )  VR (t )  VL (t )  VR (t )  Vo (t )
Vo (t )  VR (t )  Vi (t )
Vo (t )  i (t ) R  Vi (t )
y (t )   R i (t )  1Vi (t )
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Example 2 : RC serial network
• Figure below shows an RC circuit with
input voltage vi(t) and output voltage at
resistor ie vo(t). Form a state space model
for this system using the voltage vc(t)
across the capacitor as the state variable
R V0
VR
Vi i VC C

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RC serial network
• Write the equations for the system using
Kirchhoff’s voltage law,
vi (t )  vR (t )  vc (t )  vc (t )  vo (t )      (1)
for _ the _ capacitor
dvc (t )
i (t )  C      (2)
dt
for _ the _ resistor
vo (t )  i (t ) R      (3)
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RC serial network
• State variable is given only one
• Therefore the system is a first order
system
• Therefore a state equation involving vc is
required
• Combine equation (2) and (3) yields
vo (t ) dvc (t )
 i (t )  C
R dt
dvc (t )
vo (t )  RC      (4)
dt
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RC serial network
• Eliminate vo(t) from equation (4) and
combine with equation (1) and rearrange
gives vi (t )  vc (t )  vo (t )
dvc (t )
vi (t )  vc (t )  RC
dt
dvc (t )
RC  vc (t )  vi (t )
dt
dvc (t )  1 1
 vc (t )   vc (t )  vi (t )    (5)
dt RC RC
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RC serial network
• Output of the system
vo (t )  vc (t )  vi (t )      (6)
• Rearrange equation (5) and (6) in matrix
form yields

 1   1 
v c (t )    vc (t )    vi (t )
 RC   RC 
y (t )   1vc (t )  1vi (t )
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RC serial network
x(t )  state _ vector  vc (t )
• Where,  
x(t )  derivative_ state _ vector  v c (t )
u (t )  input _ vector  vi (t )
y (t )  output _ vector  vo (t )  vr (t )
1
A  state _ matrix  
RC
1
B  input _ matrix 
RC
C  ouput _ matrix  1
D  direct _ transmission _ matrix  1

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• Consider RLC serial network
• RLC serial network – second order
system

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State Variables and output
• Select two state variables,
x1 (t )  q (t )
x2 (t )  i (t )
output  y (t )  VL (t )
input  u (t )  Vi (t )
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Loop equation
• Using Kirchoff’s Voltage Law,
vi (t )  vR (t )  vL (t )  vc (t )
di(t ) 1
L  Ri (t )   i (t )dt  vi (t )
dt C
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Converting to charge
• Using equation,
dq (t )
i (t ) 
dt
2
d q (t ) dq (t ) 1
L 2
 R  q (t )  vi (t )
dt dt C
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Derivatives of state vector
x1 (t )  q (t )
 dq(t )
x1 (t )   i (t )  x2 (t )
dt
x2 (t )  i (t )
 di(t )
x2 (t ) 
dt
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State equation
• First state equation
 dq(t )
x1 (t )   i (t )  x2 (t )
dt
• Second state equation, using
q (t )   i (t )dt
di(t ) 1
L  Ri (t )   i (t )dt v(t )
dt C
di (t ) q (t ) Ri (t ) v(t )
  
dt LC L L
 1 R 1
x2 (t )   x1 (t )  x2 (t )  u (t )
LC L L
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State equation in matrix form

x(t )  Ax (t )  Bu (t )
  
  0 1   x (t )   0 
x (t )
x(t )       1
1 R    1    1 u (t )
 x (t )  LC    x2 (t )  
L
 2   L
 dq(t ) 
  dt   0 1  q (t )  0 
x(t )     1 R    1  v(t )
di(t )      i (t )   
   LC L L
 dt 
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Output equation
• Output system is VL
VL (t )  VR (t )  VC (t )  vi (t )
VL (t )  VC (t )  VR (t )  vi (t )
1
V L(t )    i (t )dt  i (t ) R  vi (t )
C
1
VL (t )   q (t )  Ri (t )  vi (t )
C
1
VL (t )   x1 (t )  Rx2 (t )  u (t )
C
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Output equation in matrix form
y (t )  Cx (t )  Du (t )
 1   x1 (t ) 
y (t )    R     1u (t )
 C   x2 (t )
 1  q(t )
VL (t )    R     1v (t )
 C   i (t ) 
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Example 4: RLC network
• Consider RLC serial network
• RLC serial network – second order system

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RLC network
Define state variables as follows, input is
voltage source and output is the voltage
drop at inductor,
x1 (t )  VR (t )
x2 (t )  VC (t )
y (t )  VL (t )
u (t )  Vi (t )
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Voltage formula for R, L and C
VR (t )  i (t ) R
1
VC (t )   i (t )dt
C
di (t )
VL (t )  L
Thursday, February 22,
dt ProfDrMFRCIED 34
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Kirchoff Voltage Laws
Vi (t )  VR (t )  VC (t )  VL (t )
di (t )
Vi (t )  VR (t )  VC (t )  L
dt
di (t )
L  VR (t )  VC (t )  Vi (t )
dt
di (t ) VR (t ) VC (t ) Vi (t )
  
dt L L L
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Derivative of first state equation
x1 (t )  VR (t )

 vi (t )  VR (t )  VC (t )
dVR (t ) d (i (t ) R ) di (t ) R
x1` (t )   R
dt dt dt L
R  cons tan t
 R R R
x1 (t )   VR (t )  VC (t )  vi (t )
L L L
 R R R
x1` (t )   x1 (t )  x2 ( t )  u ( t )
L L L

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Derivative of second state
equation
x2 (t )  VC (t )
 dVC (t ) 1 1
x2 (t )   i (t )  VR (t )
dt C RC
 1
x2 (t )  x1 (t )
RC
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State equation in matrix form

x(t )  Ax (t )  Bu (t )
 R R
  
     x (t )   R 
 x1 (t ) 
x(t )    L L  1
     L u (t )
 x (t )  1   x2 (t )  0 
 2  0  
 RC 
 dVR (t )   R R
  dt   L  L  VR (t )   R 
x(t )          L  v(t )

dVC (t )
 
1
0  V C (t )   0 
 dt   RC 
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Output equation
VL (t )  VR (t )  VC (t )  v(t )
VL (t )  VR (t )  VC (t )  v(t )
y (t )   x1 (t )  x2 (t )  u (t )

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Output equation in matrix form
y (t )  Cx (t )  Du (t )
 x1 (t ) 
y (t )   1  1    1 u (t )
 x2 (t )
VR (t ) 
VL (t )   1  1    1 v(t )
VC (t )
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Example 5: 2 loops
• Given the RLC system described a set
of state variables x1 and x2, shown
below,

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Utilizing Kirchhoff’s current
law
• X1 = capacitor voltage = vc(t)
• X2 = inductor current = iL(t)
• This choice of state variables is
intuitively satisfactory because the
stored energy of the network can be
described in terms of these variables
1 1
E  LiL  Cvc
2 2
2 2
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Utilizing Kirchhoff’s current
law
• Determine the state space
representation,
• At the junction
• First order differential equation
• Describing the rate of change of
capacitor voltage
dvc
ic  C  u (t )  iL
dt
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Utilizing Kirchhoff’s voltage
law
• Right hand loop
• Provide the equation describing the
rate of change of inductor current
diL
L   RiL  vc
dt
• Output of the system, linear algebraic
equation
Thursday, February 22,
vo  RiL (t )
ProfDrMFRCIED 44
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State space representation
• A set of two first order differential
equation and output signal in terms of
the state variables x1 and x2
dx1 1 1
  x2  u ( t )
dt C C
dx2 1 R
  x1  x2
dt L L
y (t )  vo (t )  Rx2
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• State space representation,
 1
   0   x   1 

x
x 1 C
.    C .u
1
 x   1  R   x2   0 
 2  
L L
 x1 
y  0 R . 
 x2 

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• If R = L = C = 1,
– Find the numerical values for matrix A, B and
C
– Find the transfer function model
– What is the order of the system
– What is the stability status of the system.

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  x

 0  1  x1  1
x   1    .    .u
 x  1  1  x2  0
 2
 x1 
y  0 1. 
 x2 
0  1
A 
 1  1
1 
B 
0
C  0 1
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Transfer _ Function  G ( s )  C sI  A B  D
1
1 0  0 1  s 1 
sI  A  s    
0 1  1 1   1 s  1

 s  1  1  s  1  1
adj sI  A  1   1 
sI  A1    s    s 
det sI  A s ( s  1)  ( 1)(1) s2  s  1
 s  1  1
 1  1
G ( s )  C sI  A B  D  0 1.  2 .
1 s
s  s  1 0
1
G( s)  2
s  s 1
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Step Response
1.4
System: sys
Peak amplitude: 1.16
Overshoot (%): 16.3
1.2 At time (seconds): 3.59
System: sys
System: sys Final value: 1
Settling time (seconds): 8.08
1
System: sys
Rise time (seconds): 1.64
0.8
Amplitude
0.6
0.4
0.2
0
0 2 4 6 8 10 12
Time (seconds)

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Example 5: 2 loops
• Find a state space representation if the
output is the current through the resistor.
• State variables VC(t) and iL(t)
• Output is iR(t)
• Input is Vi(t)

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Electrical network LRC
L
node 1
VL
Vi iL
VR
R C
iR
iC VC

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Solution : Step 1
• Label all of the branch currents in the
network.
• iL(t), iR(t) and iC(t)

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Solution : Step 2
• Select the state variables by writing
the derivative equation for all
energy-storage elements i.e.
inductor and capacitor
1
VC (t )   iC (t )dt
C
dVC (t )
 iC (t )  C    (1)
dt
diL (t )
VL (t )  L    (2)
dt
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Solution : Step 3
• Apply network theory, such as Kirchoff’s
voltage and current laws to obtain iC(t)
and VL(t) in terms of the state variable
VC(t) and iL(t)
• At node 1, iL (t )  iR (t )  iC (t )
 iC (t )  iL (t )  iR (t )
1
iC (t )   VC (t )  iL (t )    (3)
R
• Around the outer loop,
Vi (t )  VL (t )  VC (t )
VL (t )  VC (t )  Vi (t )    (4)
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Solution : Step 4
• Substitute the result of equation (3) and
equation (4) into equation (1) and (2)
dVC (t ) 1
C   VC (t )  iL (t )    (7)
dt R
di (t )
L L  VC (t )  Vi (t )    (8)
dt
• Rearrange
dVC (t ) 1 1
 VC (t )  iL (t )    (9)
dt RC C
diL (t ) 1 1
  VC (t )  Vi (t )    (10)
dt L L
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Solution : Step 5
• Find the output equation
1
iR (t )  VC (t )    (11)
R

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Solution : Step 6
• State space representation in vector
matrix form are
 dVC (t )   1 1
 dt   RC C  VC (t )  0 
 di (t )    1 .    1  v(t )    (12)
 L    0   iL (t )   L 
 dt   L 
1  VC (t )
iR (t )   0.     (13)
R   iL (t ) 

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Example 6: 2 loops
• Find the state space representation of the
electrical network shown in figure below
• Input vi(t)
• Output vo(t)
• State variables x1(t) = vC1(t), x2(t) = iL(t)
and x3(t) = vC2(t)

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RLC two loop network
• Identifying appropriate variables on the
circuit yields C1
node R
iR
iC1
Vi iC2 Vo
DC
L C2
iL

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RLC two loop network
• Represent the electrical network shown in
figure in state space where
• Output is v0(t)
• Input is vi(t)
• State variables :-
X1(t) = vC1(t)
X2(t) = iL(t)
X3(t) = vC2(t)

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Solution
• Writing the derivative relations for
energy storage elements i.e. C1, C2 and
L
dvC1 (t )
C1  iC1 (t )
dt
diL (t )
L  vL (t )
dt
dVC 2 (t )
C2  iC 2 (t )
dt
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Solution
• Using Kirchhoff’s current and voltage
laws C
node
1
R
iC1 (t )  iL (t )  iR (t ) iC1
iR
iC2 Vo
iC1 (t )  iL (t )  ic 2 (t )
Vi
DC
L C2
iL
1
iC1 (t )  iL (t )  (vL (t )  vC 2 (t ))
R
vL (t )  vC1 (t )  vi (t )
1
iC 2 (t )  iR (t )  (vL (t )  vC 2 (t ))
R
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Solution
• Substituting these relations and
simplifying yields the state equations as
dvC1 1 1 1 1
 vC1  iL  vC 2  vi
dt RC1 C1 RC1 RC1
diL 1 1
  vC1  vi
dt L L
dvC 2 1 1 1
 vC1  vC 2  vi
dt RC2 RC2 RC2
vo  vC 2
2018
Solution
• Putting the equations in vector matrix
form
 1 1 1   1 
  RC C1

RC1   RC1 

 1
  
 1   1 
x  0 0 x vi
 L   L 
 1 1   1 
 0    
 RC2 RC2   RC2 
y  0 0 1x
2018
Modeling of Mechanical
• Mass
Networks
f (t )  M .a (t )
f (t )  M .
d 2 y (t ) y(t)
dt 2
dv(t )
f (t )  M .
dt
a (t )  acceleration
v(t )  velocity
M f(t)
y (t )  displacement
f (t )  force
M  mass
2018
• Linear Spring
Networks
f (t )  K . y (t )
K y(t)
f (t )  force
y (t )  displacement f(t)
K  spring _ cons tan t

2018
Networks
• Damper
dy (t ) B y(t)
f (t )  B.
dt
f (t )  force f(t)
y (t )  displacement
B  viscous _ frictional

2018
Networks
• Inertia
d (t )
T (t )  J .
dt
T(t)
d 2 (t )  (t )
T (t )  J .
dt 2
T (t )  Torque J
 (t )  angular _ velocity
 (t )  angular _ displacement
J  Inertia

2018
Force-velocity, force-displacement, and
impedance translational relationships
for springs, viscous dampers, and mass

2018
Torque-angular velocity, torque-angular
displacement, and impedance rotational
relationships for springs, viscous dampers,
and inertia

2018
Example 7: Translational
Mechanical System
• Determine the state space
representation of the mechanical
system below if the state variables are
y(t) and dy(t)/dt. Input system is force
f(t) and output system is y(t)
K
y(t)
B M
f(t)

2018
Example 7
• a. Mass, spring, and damper system;
b. block diagram

2018
State variables, input and output
x1 (t )  y (t )
dy (t ) dx1 (t )
x2 (t )  
dt dt
input  u  f (t )
output  y  y (t )
2018
Mass, spring and damper
system
• Draw the free body diagram
y(t)
d 2 y (t )
M
dt 2
Ky (t ) M f(t)
dy(t )
B
dt
2018
Mass, spring and damper system
• a. Free-body diagram of mass, spring, and
damper system;
b. transformed free-body diagram

2018
system
• The force equation of the system is
2
d y (t ) dy (t )
f (t )  M . 2
 B.  K . y (t )
dt dt
• Rearranged the equation yields
2
d y (t ) B dy (t ) K 1
2
 .  . y (t )  . f (t )
dt M dt M M
2018
system
• State equations and output equation

x1 (t )  x2 (t )
 K B 1
x 2 (t )   .x1 (t )  .x2 (t )  . f (t )
M M M
y (t )  x1 (t )
2018
system
matrix form are
 
  0 1   x (t )   0 
x1 (t )
   K B . 1    1 . f (t )
 x (t )  M    x2 (t )  
M M 
 2 
K
 x1 (t ) 
y (t )  1 0.
y(t)
 B M
 x2 (t ) f(t)

2018
• a. Two-degrees-of-freedom translational
mechanical system
• b. block diagram

2018
• a. Forces on M1 due only to motion of M1
b. forces on M1 due only to motion of M2
c. all forces on M1

2018
• a. Forces on M2 due only to motion of M2;
b. forces on M2 due only to motion of M1;
c. all forces on M2

2018
Example 8
• Figure below shows a diagram for a quarter car
model (one of the four wheels) of an automatic
suspension system for a long distance express
bus. A good bus suspension system should
have satisfactory road handling capability, while
still providing comfort when riding over bumps
and holes in the road. When the coach is
experiencing any road disturbance, such as
potholes, cracks, and uneven pavement, the bus
body should not have large oscillations, and the
oscillations should be dissipate quickly.
2018
Example 8
(i). Draw the free-body diagrams of the system
(ii). Determine the state space representation
of the quarter car system by considering the
state vector
T
  

z(t)   x1 (t ) x2 (t ) x1 (t ) x 2 (t )
 
And the displacement of bus body mass M1 as
the output of the system.

2018
2018
Constant value
• Bus body mass, M1 = 2500 kg
• Suspension mass, M2 = 320 kg
• Spring constant of suspension system, K1 =
80,000 N/m
• Spring constant of wheel and tire, K2 =
500,000 N/m
• Damping constant of suspension system, B1
= 350 Ns/m
• Damping constant of wheel and tire, B2 =
15,020 Ns/m
2018
Solution
• Free body diagram for M1
– Forces on M1 due to motion of M1
K1X1
M1s2X1 u
M1
B1sX1

K1X2
M1
B1sX2
– All forces on M1
K1X1 K1X2
M1s2X1 M1 u
B1sX1 B1sX2

2018
Solution
• Free body diagram for M2
K2X2
M2s2X2 K1X2
M2
B2sX2 B1sX2

K1X1
M2
B1sX1
– All forces on M2
(K1+K2)X2
M2s2X2 K1X1
M2
(B1+B2)sX2
B1sX1
2018
Solution
• State variables
 
z1  x1 ; z2  x2 ; z3  x1 ; z4  x 2
• Derivative state variables
       
z1  x1  z3 ; z 2  x 2  z4 ; z 3  x1 ; z 4  x 2
2018
Solution
• Total force for M1
dx2 d 2 x1 dx1
u  K1 x2  B1  K1 x1  M 1 2  B1
dt dt dt
2
d x1 dx1 dx2
2
 32 x1  32 x2  0.14  0.14  0.0004u
dt dt dt

z 3  32 z1  32 z 2  0.14 z3  0.14 z 4  0.0004u

2018
Solution
• Total force for M2
2
dx1 d x2 dx2
K1 x1  B1  ( K1  K 2 ) x 2  M 2  ( B1  B2 )
dt dt dt
d 2 x2 dx1 dx2
2
 250 x1  1812.5 x2  1.094  48.031
dt dt dt

z 4  250 z1  1812.5 z 2  1.094 z3  48.031z 4

2018
Solution
• State space representation
 0 0 1 0   z1   0 

 0 0 0    
1   z2   0  
z   u
 32 32  0.14 0.14   z3  0.0004
    
 250 1812.5 1.094 48.031  z 4   0 
 z1 
z 
y  1 0 0 0  2
 z3 
 
 z4 
2018
Modeling of Electro-Mechanical System
• NASA flight simulator robot arm with
electromechanical control system components

2018
Modeling of Electro-Mechanical System
• Armature Controlled DC Motor

2018
Armature Controlled DC Motor

2018
DC motor armature control
• The back electromotive force(back emf),
VB
d m (t )
VB (t ) 
dt
d m (t )
VB (t )  K B .    (1)
dt
K B  Back _ emf _ cons tan t
2018
• Kirchoff’s voltage equation around the
armature circuit
ea (t )  ia (t ) Ra  Vb (t )
d m (t )
ea (t )  ia (t ) Ra  K b    ( 2)
dt
ia  armature _ current
 m  angular _ displacement _ of _ the _ armature
Ra  armature _ resis tan ce
ignore _ La
2018
• The torque, Tm(t) produced by the motor
Tm (t )  ia (t )
Tm (t )  K t ia (t )
d 2 m d m
Tm (t )  J m 2
 Dm    (3)
dt dt
K t  Torque _ cons tan t
J m  equivalent _ inertia _ by _ the _ motor
Dm  equivalent _ viscous _ density _ by _ the _ motor
2018
• Solving equation (3) for ia(t)
J m d  m Dm d m
2
ia (t )  2
    ( 4)
K t dt K t dt

2018
• Substituting equation (4) into equation (2)
yields
 J m d 2 m Dm d m  d m
ea (t )  Ra  2
   Kb
 K t dt K t dt  dt
 Ra J m  d 2 m  Ra Dm  d m
ea (t )   . 2    K b .    (5)
 K t  dt  Kt  dt
2018
• Define the state variables, input and ouput
x1   m    (6a )
d m
x2     (6b)
dt
u  ea (t )
y  0.1 m
yields  Ra J m  dx2  Ra Dm 
ea (t )   .    K b .x2    (7)
 K t  dt  K t 
2018
• Solving for x2 dot yields,
 Ra Dm 
ea (t )    K b .x2
dx2
  Kt 
dt  Ra J m 
 
 Kt 
dx2  K t   Dm K b K t 
  .ea (t )    .x2
dt  Ra J m   J m Ra J m 
dx2 1  Kb Kt   K 
 
 Dm  .x2   t .ea (t )    (8)
dt Jm  Ra   Ra J m 
2018
• Using equation (6) and (8), the state
equations are written as
dx1 d m
  x2
dt dt
dx2 1  Kt Kb   Kt 
  Dm  .x2   .ea (t )
dt Jm  Ra   Ra J m 
2018
• Assuming that the output o(t) is 0.1 the
displacement of the armature m(t) as x1.
Hence the output equation is
y  0.1x1
matrix form are
   0 1 
 x   0 
 1   
x 1  K t K b .    K t .ea (t )
1
 x  0  J  Dm  R   x2   R J 

 2  m  a   a m
 x1 
y  0.1 0. 
 x2 
2018
Modelling of Electro-Mechanical
System
• Field Controlled DC
+
Rf
ef (t)
Motor if (t)
-
Lf Gelung Medan
Ra La
+
ea
Ba
Ja
ia
- TL(t)
Tm(t)
Gelung Angker  m (t )
Tetap
RAJAH 7.11 : MOTOR SERVO A.T. TERUJA BERASINGAN

DALAM KAWALAN MEDAN
2018
DC motor field control
• For field circuit
di f
e(t )  i f R f  L f    (1)
dt
• For mechanical load, torque
d o d o
2
T (t )  J B    (2)
dt dt
2018
• For torque and field current relationship
T (t )  i f (t )
T (t )  K t i f (t )    (3)
• Define the state variables, input and
output x   (t )    ( 4)
1 o
d o (t )
x2     (5)
dt
x3  i f (t )    (6)
u  e(t )
y   o (t )
2018
• From equation (4) and (5), we can
determine the first state equation as :
 d o
x1 (t )  x2 (t )     (7 )
dt
• Another two state equations are :
 d 2 o
x2  2
   (8)
dt
 di f
x3     (9)
dt
2018
• Substituting x3 and x3 dot into equation (1)
yields 
e(t )  x3 R f  L f x3
d o d o
yields 2
J 2 B  Kti f
dt dt
2018
• Substituting x2 dot, x2 and x3, hence

J x2  Bx2  K t x3
• Rewrite equations
 Rf 1
x3   x3  e(t )
Lf Lf
 B Kt
x2   x2  x3
J J
2018
• Matrix form
 
   

 0 1 0  0 

x 0 
B Kt x   0 u
 J J  1 
 Rf   
0 0    L f 
 Lf 
y  1 0 0x
2018
Block diagrams
• The block diagram is a useful tool for
simplifying the representation of a
system.
• Simple block diagrams only have one
feedback loop.
• Complex block diagram consist of more
than one feedback loop, more than 1 input
and more than 1 output i.e. inter-coupling
exists between feedback loops
2018
Block diagrams
• Integrator
 x2   x1dt
x1
• Amplifier or gain x1 x2 = Kx1
K
x1
+ x4 = x1-x2+x3
• Summer x2 -
x3
+
2018
Signal flow graphs
• Having the block diagram simplifies the
analysis of a complex system.
• Such an analysis can be further simplified
by using a signal flow graphs (SFG) which
looks like a simplified block diagram
• An SFG is a diagram which represents a
set of simultaneous equation.
• It consist of a graph in which nodes are
connected by directed branches.
2018
Signal flow graphs
• The nodes represent each of the system
variables.
• A branch connected between two nodes
acts as a one way signal multiplier: the
direction of signal flow is indicated by an
arrow placed on the branch, and the
multiplication factor(transmittance or
transfer function) is indicated by a letter
placed near the arrow.
2018
Signal flow graphs
• A node performs two functions:
1. Addition of the signals on all incoming
branches
2. Transmission of the total node signal(the
sum of all incoming signals) to all outgoing
branches

2018
Signal flow graphs
• There are three types of nodes:
1. Source nodes (independent nodes) – these
represent independent variables and have
only outgoing branches. u and v are source
nodes
2. Sink nodes (dependent nodes) - these
represent dependent variables and have
only incoming branches. x and y are source
nodes
3. Mixed nodes (general nodes) – these have
both incoming and outgoing branch. W is a
mixed node.
2018
Signal flow graphs
• x2 = ax1
x1 a x2 = ax1

2018
Signal flow graphs
• w = au + bv
• x = cw
• y = dw
a w c x
u
v b d y

2018
Signal flow graphs
• x = au + bv +cw
u
a x
c 1 x
w
v b Mixed Sink
node node
2018
Signal flow graphs
• A path is any connected sequence of
branches whose arrows are in the same
direction
• A forward path between two nodes is one
which follows the arrows of successive
branches and in which a node appears
only once.
• The path uwx is a forward path between
the nodes u and x

2018
Signal flow graphs
• Series path (cascade nodes) – series path
can be combined into a single path by
multiplying the transmittances
• Path gain – the product of the
transmittance in a series path
• Parallel paths – parallel paths can be
combined by adding the transmittances
• Node absorption – a node representing a
variable other than a source or sink can be
eliminated
2018
Signal flow graphs
• Feedback loop – a closed path which
starts at a node and ends at the same
node.
• Loop gain – the product of the
transmittances of a feedback loop

2018
Signal flow graphs
simplification
Original graph Equivalent graph
a b ab
x y z x z

2018
Signal flow graphs
simplification
(a+b)
x y
x y
b
2018
Signal flow graphs
simplification
w ac
a z w
c z
x y x bc
b
2018
Block diagram of feedback
system
R E C
G
B
H

2018
Block diagram of feedback system
• R=reference input
• E=actuating signal
• G=control elements and controlled system
• C=controlled variable
• B=primary feedback
• H=feedback elements
• C = GE
• B = HC
• E = R-B
2018
Successive reduction of SFG
first second
• 4 nodes • Node B eliminated
R 1 E G C R 1 E G C
-1
H
B -H
2018
Successive reduction of SFG
third fourth
• Node E eliminated, self • Self loop eliminated
loop of value -GH
R G C R C
G/(1+GH)
-GH
2018
SIGNAL FLOW GRAPHS OF
STATE EQUATIONS
• demonstrate how to draw signal flow
graphs from state equations.
• Consider the following state and output
equations:

x1  2 x1  5 x2  3x3  2r          (1a)

x2  6 x1  2 x2  2 x3  5r          (1b)

x 3  x1  3x2  4 x3  7r          (1c)
y  4 x1  6x 2  9x 3          (1d)
2018
STATE EQUATIONS
• Step 1 : Identify three nodes to be the
three state variables, , and three nodes,
placed to the left of each respective
state variables. Also identify a node as
the input, r, and another node as the
output, y.
R(s) Y(s)
sX (s) X (s) sX (s) X (s) sX (s) X (s)
3 3 2 2 1 1

2018
STATE EQUATIONS
• Step 2 : Interconnect the state variables
and their derivatives with the defining
integration, 1/s.
1 1 1
s s s
R(s) Y(s)
3 3 2 2 1 1

2018
STATE EQUATIONS
• Step 3 : Using Eqn (1a), feed to each node
the indicated signals.
2
1 1 1
s s -5 s
R(s) Y(s)
X (s) X (s) sX (s) X (s)
sX (s) 3 sX (s) 2 1 1
3 2
3
2018
STATE EQUATIONS
• Step 4 : Using Eqn (1b), feed to each node
2
1 1 1
s 2 s -5 s
R(s) Y(s)
X (s) sX (s) X (s) sX (s) X (s)
sX (s) 3 2 2 1 1
3
-2 2
3 -6
2018
STATE EQUATIONS
• Step 5 : Using Eqn (1c), feed to each node
2
1 1 1
7 s 2 s -5 s
R(s) Y(s)
3 3 2 2 1 1
-4 -2 2
-3 3 -6
1
2018
STATE EQUATIONS
• Step 6 : Finally, use Eqn (1d) to complete
the signal flow2 graph. 9
5 6
1 1 1
7 s 2 s -5 s -4
R(s) Y(s)
3 3 2 2 1 1
-4 -2 2
-3 3 -6
1
2018
Example 9
• Draw a signal-flow graph for each of the
following state equations :
0 1 0   x1  0


x(t )   0 0     
1 . x2   0 r (t )
 2  4  6  x3  1
 x1 
y (t )  1 1 0. x2 
 x3 
2018
Solution
• State and output equations

x1 (t )  x2 (t )

x2 (t )  x3 (t )

x3 (t )  2 x1 (t )  4 x2 (t )  6 x3 (t )  r (t )
y (t )  x1 (t )  x2 (t )
2018
Solution
• Signal flow graph 1
1 1/s 1 1/s 1 1/s 1

r y
x3 x2 x1
-6
-4
-2
2018
Example 10
0 1 0 0 


x(t )   0   
 3 1  x(t )  1 r (t )
 3  4  5 1
y (t )  1 2 0x(t )
2018
Solution

x1 (t )  x2 (t )

x2 (t )  3 x2 (t )  x3 (t )  r (t )

x3 (t )  3 x1 (t )  4 x2 (t )  5 x3 (t )  r (t )
y (t )  x1 (t )  2 x2 (t )
2018
Solution
• Signal flow graph
1 2
1 1/s 1 1/s 1 1/s 1

r y
x3 x2 x1
-5
-3
-4
-3
2018
Example 11
7 1 0 1 


x(t )   3   
2  1 x(t )  2 r (t )
  1 0 2  1 
y (t )  1 3 2x (t )
2018
Solution

x1 (t )  7 x1 (t )  x2 (t )  r (t )

x2 (t )  3 x1 (t )  2 x2 (t )  x1 (t )  2r (t )

x3 (t )   x1 (t )  2 x3 (t )  r (t )
y (t )  x1 (t )  3 x2 (t )  2 x3 (t )
2018
Solution
• Signal flow graph
1
2
2 3
1 1/s -1 1/s 1 1/s 1

r y
x3 x2 x1
2 2 7
-3
-1
2018

Chapter 1 Mathematical Modeling of Dynamic Systems in State Space

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Chapter 1 Mathematical Modeling of Dynamic Systems in State Space

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Chapter 1

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• Figure below shows an RL serial

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– Forces on M1 due to motion of M2

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– Forces on M2 due to motion of M1

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• Armature Controlled DC Motor

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RAJAH 7.11 : MOTOR SERVO A.T. TERUJA BERASINGAN

• Amplifier or gain x1 x2 = Kx1

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