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Mathematical Modeling of Systems: Textbook
Mathematical Modeling of Systems: Textbook
Textbook
2.1 INTRODUCTION
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Modern Control Systems 2
Ta (t ) − Ts (t ) = 0
It is clear from the above equation that the torque Ta(t) applied at the end of
the spring is transmitted through the spring. Such case is referred as through-
variable. Similarly the angular rate difference associated with the spring is
ω (t ) = ωs (t ) − ωa (t )
Load
ωs, Ts
ωa, Ta
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Modern Control Systems 3
Therefore the angular rate difference is measured across the torsional spring
and is referred to as an across-variable.
This approach applies equally well to mechanical, electrical, fluid, and
thermodynamic systems. Table 2-1 summarizes the variables for various physical
systems.
By’ ky
k
Wall friction, b
Mass M
y
r(t)
r(t)
Summing the forces acting on M and using Newton’s second law yields
d 2 y (t ) dy (t )
M 2
+b + ky(t ) = r (t )
dt dt
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Modern Control Systems 4
x1 (t ) + x2 (t ) + .. + xn (t ) = y1 (t ) + y2 (t ) + .. + yn (t )
The Laplace transform exists for linear differential equations for which the
transformation integral converges.
∞
F ( s ) = ∫ f (t )e − st dt
0
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Modern Control Systems 5
1 σ + j∞
f (t ) = ∫ F (s )e ds
+ st
2πj σ − j∞
d
s=
dt
A table of important Laplace transform pairs is given in your textbook (Table 2.3)
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Modern Control Systems 6
P( s) ( Ms + b) y0
Y (s) = =
q ( s ) Ms 2 + bs + k
( s + 3) y0
Y (s) =
( s + 1)( s + 2)
jω
-3 -2 -1
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Modern Control Systems 7
v1 − vin v1 − v0
+ =0
R1 R2
vin v0
− − = 0, or
R1 R2
v0 R
=− 2
vin R1
R2
R1 I=0
v1
vin
vo
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Modern Control Systems 8
1. Separately-excited DC machines
2. Shunt DC machines
3. Series DC machines
4. Compound-connected DC machines
5. Permanent magnet DC machines
In this section, we will consider the first type as a power actuator that delivers
energy to a load. The equivalent circuit of a separately-excited DC machine is
shown in Figure 6. The armature circuit is represented by an ideal voltage source
representing induced voltage EA and a resistor RA. This representation is really the
Thevenin equivalent of the entire rotor structure, including rotor coils and poles.
The field voltage is represented by VF. The field coils, which produce the
magnetic flux in the generator, are represented by inductor LF and resistor RF.
The separate resistor Rr represents the variable resistor used to control the amount
of current in the field circuit. Very often, RF and Rr are lumped together and
called RF.
IF La ia
Ra
Rr
Rf
RF
VF EA VA
LF
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Modern Control Systems 9
V A = E A + i A Ra )
EA = K φ ω
φ = K f if
• It is evident from the above equation that, to have a linear element, one
current must be maintained constant while the other current becomes the
input current (variable)
Tm ( s ) = ( K1K f I a ) I f ( s ) = K m I f ( s )
Where Km is the motor constant. The field current is related to the field current
V f (s) = ( R f + L f s) I f ( s)
The motor torque Tm(s) is equal to the torque delivered to the load as
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Modern Control Systems 10
Tm ( s ) = TL ( s ) + Td ( s )
Where TL(s) is the load torque and Td(s) is the disturbance torque, which is often
negligible. The load torque for rotating inertia is given as
TL ( s ) = Js 2θ ( s ) + bsθ ( s )
Rearranging equations
TL ( s ) = Tm ( s ) − Td ( s )
Tm ( s ) = K m I f ( s )
V f ( s)
I f ( s) =
Rf + Lf s
Field Load
Vf(s) 1
Km /
1 /( R f + L f s 1 / Js + b s
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Modern Control Systems 11
Exercises
E2.6
A nonlinear device is represented by the function
y = f ( x ) = x1 / 2
Where the operating point for the input x is x0 = ½. Determine the linear
approximation in the form of Eq. (2.9) of the textbook
Where
df 1 −1 / 2 1
k= x 0 =1 / 2 = x x 0 =1 / 2 =
dx 2 2
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Modern Control Systems 12
E2.9
A four-wheel antilock automobile braking system uses electronic feedback to
control automatically the brake force on each wheel. A simplified flow graph of a
brake control system is shown in the following figure, where Ff(s) and FR(s) are
the braking force of the front and rear wheels, respectively, and R(s) is the desired
automobile response on an icy road. Find Ff(s)/R(s)
Ff(s)
-H1(s)
G2(s)
R(s)
1 G1(s)
G3(s)
-H2(s)
FR(s)
Where
L1 ( s ) = −G1 ( s ) G2 ( s ) H1 ( s ) (Loop 1)
L2 ( s ) = −G1 ( s ) G3 ( s ) H 2 ( s ) (Loop 2)
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Modern Control Systems 13
E2.21
The rotational velocity ω of the satellite shown in Figure E2.21 (textbook) is
adjusted by changing the length of the beam L. The transfer function between
ω(s) and the incremental change in beam length ∆L(s) is
ω (s) 2.5(s + 2)
=
∆L( s ) (s + 5)(s + 1)2
The beam length change is ∆L(s) = 1/(4s). Determine the response of the velocity
ω(s).
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Modern Control Systems 14
Problems
P2.7
Obtain the transfer function of the differentiating circuit shown in Fig. P.2.7.
Solution:
Z 2 ( s)
V2 ( s ) = − V1 ( s )
Z1 ( s )
R1
Z1 =
1 + R1CS
Z 2 = R2
R (1 + R1Cs )
V2 ( s ) = − 2 V1 ( s ).
R1
P2.13
An electromechanical open-loop control system is shown in Figure P.2.13. The
generator, driven at a constant speed, provides the field voltage for the motor.
The motor has an inertial Jm and bearing friction bm. Obtain the transfer function
θL(s) / Vf(s), and draw the block diagram of the system. The generator voltage, vg,
can be assumed to be proportional to the field current, if.
Where
n = θ L ( s ) / θ m ( s ) = gear ratio
It is known that
Tm ( s) = K m I g ( s )
and
1
I g ( s) = Vg ( s ), and
( Lg + L f ) s + Rg + R f
Kg
Vg ( s ) = K g I f ( s ) = V f (s)
Rf + Lf s
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Modern Control Systems 15
P2.49
(a) The transfer function is
(b)
V2 ( s ) 0.2(s + 10 )(s + 50 )
=
V1 ( s ) s
P2.50
(a) The closed-loop transfer function is
G ( s) 620s
T (s) = = 3
1 + G ( s ) s + 13s + 128s + 6205
2
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Modern Control Systems 16
Design Problems
DP2.3
y (t ) = 1 + sin t + 2e −2t
1 1 2
Y (s) = + 2 +
s s +1 s + 2
Take the Laplace transform of the ramp input yields
1
R( s) =
s2
Therefore
Y ( s ) 3s 3 + 3s 2 + 5 s + 2
G ( s) = = 3
R( s) s + 2s 2 + s + 2
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