SPC318: System Modeling and Linear Systems

SPC318: System Modeling and Linear Systems
Lecture 2: Mathematical Modeling of Mechanical and Electrical Systems
Dr. Haitham El-Hussieny

Adjunct Lecturer
Space and Communication Engineering
Zewail City of Science and Technology
Fall 2016
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 1 / 43

Lecture Outline:
1 Remarks on The System Transfer Function.
2 Linearization of Non-linear Systems.
3 Mathematical Modeling of Mechanical Systems.
4 Mathematical Modeling of Electrical Systems.
5 Mathematical Modeling of Electromechanical Systems.

Table of Contents

Remarks on The System Transfer Function:
Transfer function of Linear Systems:
numerator L[output] Y (s) b0 s m + b1 s m−1 + . . . + bm−1 s + bm p(s)

G (s) = = = = = (n ≥ m)
denominator L[input] U(s) a0 s n + a1 s n−1 + . . . + an−1 s + an q(s)
Remarks:
1 If the highest power of s in the denominator of the transfer function is equal to n, the
s +1
system is called an nth -order system. (e.g. G (s) = 2 is a second-order system)
s + 2s − 1
2 When order of the denominator polynomial is greater than the numerator polynomial the
transfer function is said to be “proper”. Otherwise “improper”.
3 “Improper” transfer function could not exist physically.
numerator L[output] Y (s) b0 s m + b1 s m−1 + . . . + bm−1 s + bm p(s)

G (s) = = = = = (n ≥ m)
denominator L[input] U(s) a0 s n + a1 s n−1 + . . . + an−1 s + an q(s)
Poles and Zeros: 10

G (s) =
s +3
1 Roots of denominator polynomial,
q(s) = 0, are called ‘poles’.
2 Roots of numerator polynomial, p(s) = 0,
are called ‘zeros’.
3 Poles are represented by x on s-plane.
4 Zeros are represented by o on s-plane.
Consider the following transfer functions:
1 Determine whether the transfer function is
proper or improper.
2 Calculate the Poles and zeros of the
system.
3 Determine the order of the system.
4 Draw the pole-zero map.
s +3
G (s) =
s(s + 2)
(s + 3)2
G (s) =
s(s 2 + 10)
Table of Contents

Linearization of Non-linear Systems:
Non-linear system
A system is nonlinear if the principle of superposition and homogeneous are not applied.
In practice, many electromechanical systems, hydraulic systems, pneumatic systems, and
so on, involve nonlinear relationships among the variables.
The non-linear systems are assumed to behave as linear system for a limited operating
range.
Example of nonlinear system is the damping force. It is linear at low velocity operation
and non-linear at high velocity operation.
Linearization of Nonlinear Systems:

If the system operates around an equilibrium point and if the signals involved are small
signals, then it is possible to approximate the nonlinear system by a linear system.

Linearizion of Non-linear Systems:
Linear Approximation of Nonlinear Mathematical Models:
Consider a non-linear system defined by:
y = f (u) (1)
To obtain a linear model we assume that the variables deviate slightly from some operating
condition corresponds to ū and ȳ . The equation (1) can be expanded by using Taylor
expansion:
y = f (u)
1¨
y = f (ū) + f˙ (ū)(u − ū) +
f (ū)(u − ū)2 + . . .
2!
If the deviation (u − ū) is small, we can neglect the high derivative terms:
y = f (ū) + f˙ (ū)(u − ū)

Linearizion of Non-linear Systems:
Linear Approximation of Nonlinear Mathematical Models:
If the system is non-linear and has two inputs u1 and u2 :
y = f (u1 , u2 )
The linearized model could be obtained by:
∂f (u¯1 ) ∂f (u¯2 )
y = f (u¯1 , u¯2 ) + (u1 − u¯1 ) + (u2 − u¯2 )
∂u1 ∂u2
Solution: Choose x̄ = 6 and ȳ = 11

Example: Linearize the system: ∂f (x̄) ∂f (ȳ )
f (x̄, ȳ ) = 66; = 11; =6
∂x ∂y
z = xy
The linearized model is
in the region 5 ≤ x ≤ 7 , 10 ≤ y ≤ 12.
z = 6(x) + 11(y ) − 66
Table of Contents

Mathematical Modeling of Mechanical Systems:
Equivalent Spring Constant:
Connected in Parallel Connected in Series
F = k1 y = k2 (x − y )
F = k1 x + k2 x = keq x 1 k1 k2
keq = =
1 1 k2 + k2
+
keq = k1 + k2 k1 k2

Equivalent Friction Constant:
Connected in Parallel Connected in Series
F = b1 (ż − ẋ) = b2 (ẏ − ẋ)

F = b1 (ż − ẋ) + b2 (ẏ − ẋ) 1 b1 b2
beq = =
1 1 b2 + b2
beq = b1 + b2 +
b1 b2

Example 1:
Spring-mass-damper system mounted on a cart
Consider the spring-mass-damper system mounted on a massless cart, u(t) is the displacement
of the cart and is the input to the system. The displacement y (t) of the mass is the output.
In this system, m denotes the mass, b denotes the viscous-friction coefficient, and k denotes
the spring constant.
For translational systems, Newton’s second

law is used:
X
ma = F
m is the mass.
a is the acceleration.
F is the force.

Example 1:
X
ma = F
d 2y dy du
m = −b( − ) − k(y − u)
dt 2 dt dt
Taking the Laplace transform of this last
equation, assuming zero initial condition:
(ms 2 + bs + k)Y (s) = (bs + k)U(s)
The transfer function:
Y (s) bs + k
G (s) = =
U(s) ms 2 + bs + k

Example 1:
To obtain a state-space model of this system:
ẋ = Ax + Bu
y = C x + Du
1 Write the system differential equation.
d 2y dy du
m 2
= −b( − ) − k(y − u)
dt dt dt
mÿ = −b ẏ − ky + b u̇ + ku

Example 1:
To obtain a state-space model of this system:
ẋ = Ax + Bu
y = C x + Du
2 Put the output highest derivative at one side:

b k b k
ÿ = − ẏ − y + u̇ + u
m m m m

Example 1:
4 Differentiate the two states:
b k b k b
ÿ = − ẏ − y + u̇ + u ẋ1 = ẏ = x2 + u
m m m m m
b
3 Define two states: ẋ2 = ÿ − u̇
m
x1 = y b k b k b
ẋ2 = − ẏ − y + u̇ + u− u̇
m m m
m m

b b b k k
x2 = ẏ − u Why ? ẋ2 = −
m
[x2 + u] − [x1 ] + u
m m m
m
k b b k
ẋ2 = − x1 − x2 + (( )2 + )u
m m m m

Example 1:
5 Write the equations in state-space form:

 
" # " #" # b
ẋ1 0 1 x1
= −k −b +  k m b u
 
ẋ2 m m x2 − ( )2
m m
" #
x1
y= 1 0
x2

Example 2:
(3) Laplace transform,
(1) Equation of motion: (4) Substitute by X2 (s),
(5) Finally,
(2) Simplifying,

Example 3:
Inverted Pendulum
An inverted pendulum mounted on a motor-driven cart. The inverted pendulum is naturally
unstable in that it may fall over any time in any direction unless a suitable control force is
applied.
Inverted Pendulum Solid Rocket Booster Free-body diagram

Example 3:
Define u as the input force.

The rotational motion of the pendulum
rod around its center of gravity:
X
I θ̈ = Moments
I θ̈ = V ∗ L ∗ sinθ − H ∗ L ∗ cosθ
I : Mass moment of inertia. (kg .m2 )
θ: Rotational angle.
V : Vertical reaction force.
H: Horizontal reaction force.
L: Half length of the rod.
Free-body diagram

Example 3:
The horizontal motion of rod center of

gravity:
X
ma = F
d2
m (x + L ∗ sinθ) = H
dt 2
The vertical motion of rod center of
gravity:
X
ma = F
d2
m (L ∗ cosθ) = V − mg Free-body diagram
dt 2

Example 3:
The horizontal motion of the cart:

X
Ma = F
d 2x
M =u−H
dt 2
Since we need to keep the pendulum
˙ are
vertical, we can assume θ and theta
small quantities. So,
I sinθ ≈ θ.
I cosθ = 1.
I θθ̇2 = 0. Free-body diagram

Example 3:
Using the linearity assumptions:
1
I θ̈ = V ∗ L ∗ sinθ − H ∗ L ∗ cosθ
I θ̈ = V ∗ L ∗ θ − H ∗ L (1)
2
d2
m (x + L ∗ sinθ) = H
dt 2
m(ẍ + Lθ̈) = H (2)
3
d2
m (L ∗ cosθ) = V − mg
dt 2 Free-body diagram
0 = V − mg (3)
Example 3:
From the cart horizontal motion:
H = u − M ẍ
So, substitute by H in (2):
(M + m)ẍ + m ∗ L ∗ θ̈ = u
From the pendulum equations (1),(2) and

(3):
V = mg
So,
Free-body diagram
2
(I + mL )θ̈ + m ∗ L ∗ ẍ = m ∗ g ∗ L ∗ θ
Table of Contents

Mathematical Modeling of Electrical Systems:
Electrical Resistance, Inductance and Capacitance:
Resistance Inductance Capacitance
V-I in time domain V-I in time domain

V-I in time domain Z
1
diL (t) νc (t) = ic (t)dt
νR (t) = iR (t)R νL (t) = L C
dt
V-I in s domain V-I in s domain V-I in s domain
1
VR (s) = IR (s)R VL (s) = sLIL (s) Vc (s) = Ic (s)
Cs

Example 1:
RLC circuit
Eo (s)
We need to find the transfer function G (s) = of the RLC network.
Ei (s)
Applying the Kirchhoff’s voltage law:
X
V =0
Z
di 1
ei (t) − L − R.i − i dt = 0
dt C
Z
1
RLC circuit i dt = eo
C

Example 1:
Taking Laplace transform with zero initial

conditions:
11
L.s.I (s) + RI (s) + I (s) = Ei (s)
Cs
11
I (s) = Eo (s)
Cs
So,
RLC circuit
Eo (s) 1
G (s) = = 2
Ei (s) LCs + RCs + 1

Example 1:
To find the state-space model from TF:
Eo (s) 1
G (s) = = 2
Ei (s) LCs + RCs + 1
The differential equation for the system:

R 1 1
e¨o + e˙o + eo = ei
L LC LC
Defining state variables:
RLC circuit x1 = eo = y
ẋ1 = ėo = x2
x2 = e˙o
1 R 1
ẋ2 = e¨o = − x1 − x2 + u
LC L LC

Example 1:
Put equations in state-space form:

#" #  
0
" # "
ẋ1 0 1 x1
= 1
+  1 u
ẋ2 − LC − RL x2
LC
" #
x1
y= 1 0
RLC circuit x2

Example 2:
Cascaded RC circuit
Eo (s)
We need to find the transfer function G (s) = of the cascaded RC network.
Ei (s)
Applying the Kirchhoff’s voltage law:
X
V =0
RLC circuit

Example 2:
Taking Laplace transform:
Eliminate I1 (s) and I2 (s). So,
RLC circuit

Example 3:
Series/Parallel RLC
Eo (s)
We need to find the transfer function G (s) = of the cascaded RC network.
Ei (s)
Series/Parallel RLC
We need to find the equivalent impedance Z
for the connected components.
RLC circuit

Equivelent Impedance:
ZL (s) = Ls 1
Zc (s) =
ZR (s) = R Cs
Series/Parallel Impedance
Series
Parallel
1 1 1 1
= + +
ZT Z1 Z2 Z3
ZT = Z1 + Z2 + Z3
Example 3:
Equivalent Impedance of R and L:

1 1 1
= +
ZT Z1 Z2
1 1 1
= +
ZT R Ls
RLs
ZT =
RLC circuit 1 + RLs

Example 3:
X
V =0
1
Ei (s) = I (s)ZT + I (s) (1)
Cs
1
Eo (s) = I (s) (2)
Cs
Eo (s)
Divide (2) by (1) to find G (s) =
Ei (s)
RLC circuit

Table of Contents

Mathematical Modeling of Electromechanical Systems:
Mathematical Modeling DC Motor:
DC Motor
An actuator, converting electrical energy into rotational mechanical energy. For this
example, the input of the system is the voltage source (ν) applied to the motor’s armature,
while the output is the rotational speed of the shaft θ̇.
For the armature electrical circuit KVL:

di
V − Vemf − L − Ri = 0
dt
The back emf, Vemf , is proportional to the
angular velocity of the shaft, θ̇, by a
constant factor Ke . So,
di
DC Motor V − Ke θ̇ − L − Ri = 0
dt
For the shaft mechanical system:
J θ̈ = Tmotor − b θ̇
b θ̇ is the viscous damping force.

The motor torque Tmotor is proportional
to the armature current i by a constant
factor Kt . So,
J θ̈ = Kt i − b θ̇
DC Motor
in SI units, the Kt and constants are
equal, that is, Kt = Ke = K .

By taking the Laplace transform,
di
V − K θ̇ − L − Ri = 0
dt
V (s) = Ksθ(s) + Ls ∗ I (s) + RI (s) (1)
J θ̈ = K ∗ i − b θ̇
Js 2 θ(s) = KI (s) − bθ(s) (2)
Eliminate I (s) chose sθ(s) = W (s) as the
DC Motor rotational speed:
W (s) K
G (s) = =
V (s) (Js + b)(Ls + R) + K 2
End of Lecture
Best Wishes
haitham.elhussieny@gmail.com

SPC318: System Modeling and Linear Systems

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SPC318: System Modeling and Linear Systems

Lecture 2: Mathematical Modeling of Mechanical and Electrical Systems

Dr. Haitham El-Hussieny

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 1 / 43

1 Remarks on The System Transfer Function.

2 Linearization of Non-linear Systems.

3 Mathematical Modeling of Mechanical Systems.

4 Mathematical Modeling of Electrical Systems.

5 Mathematical Modeling of Electromechanical Systems.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 2 / 43

1 Remarks on The System Transfer Function.

2 Linearization of Non-linear Systems.

3 Mathematical Modeling of Mechanical Systems.

4 Mathematical Modeling of Electrical Systems.

5 Mathematical Modeling of Electromechanical Systems.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 3 / 43

numerator L[output] Y (s) b0 s m + b1 s m−1 + . . . + bm−1 s + bm p(s)

numerator L[output] Y (s) b0 s m + b1 s m−1 + . . . + bm−1 s + bm p(s)

Poles and Zeros: 10

1 Remarks on The System Transfer Function.

2 Linearization of Non-linear Systems.

3 Mathematical Modeling of Mechanical Systems.

4 Mathematical Modeling of Electrical Systems.

5 Mathematical Modeling of Electromechanical Systems.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 7 / 43

Linearization of Nonlinear Systems:

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 8 / 43

y = f (ū) + f˙ (ū)(u − ū)

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 9 / 43

The linearized model could be obtained by:

Solution: Choose x̄ = 6 and ȳ = 11

1 Remarks on The System Transfer Function.

2 Linearization of Non-linear Systems.

3 Mathematical Modeling of Mechanical Systems.

4 Mathematical Modeling of Electrical Systems.

5 Mathematical Modeling of Electromechanical Systems.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 11 / 43

Connected in Parallel Connected in Series

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 12 / 43

Connected in Parallel Connected in Series

F = b1 (ż − ẋ) = b2 (ẏ − ẋ)

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 13 / 43

For translational systems, Newton’s second

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 14 / 43

(ms 2 + bs + k)Y (s) = (bs + k)U(s)

The transfer function:

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 15 / 43

To obtain a state-space model of this system:

1 Write the system differential equation.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 16 / 43

To obtain a state-space model of this system:

2 Put the output highest derivative at one side:

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 17 / 43

4 Differentiate the two states:

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 18 / 43

5 Write the equations in state-space form:

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 19 / 43

(3) Laplace transform,

(1) Equation of motion: (4) Substitute by X2 (s),

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 20 / 43

Inverted Pendulum Solid Rocket Booster Free-body diagram

Define u as the input force.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 22 / 43