ELET343

LECTURE 2 (Mathematical modelling of physical systems)

𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑖𝑖𝑖𝑖 ℎ𝑖𝑖𝑖𝑖𝑖𝑖𝑖 = 𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 − 𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜
𝑑𝑑
ℎ(𝑡𝑡) = 𝑞𝑞(𝑡𝑡) − ℎ(𝑡𝑡)
𝑑𝑑𝑑𝑑
𝑑𝑑
ℎ 𝑡𝑡 = 𝑞𝑞(𝑡𝑡) − ℎ(𝑡𝑡)
𝑑𝑑𝑑𝑑
𝑑𝑑 1
A ℎ 𝑡𝑡 = 𝑞𝑞 𝑡𝑡 − ℎ 𝑡𝑡 𝐻𝐻(𝑠𝑠) 𝑅𝑅
𝑑𝑑𝑑𝑑 𝑅𝑅 =
1 𝑄𝑄(𝑠𝑠) A 𝑠𝑠 + 1
A 𝑠𝑠𝑠𝑠(𝑠𝑠) = 𝑄𝑄(𝑠𝑠) − 𝐻𝐻 𝑠𝑠
𝑅𝑅
Six Steps Approach to Physical System
Modeling Procedure
1. Define the given system to be controlled and its components,
2. Formulate the mathematical model using known physical laws and formulas,
3. Write the differential equations describing the model,
4. Determine the equations that describe the desired input/output variables and their
relations,
5. Examine the solutions and the assumptions,
6. If necessary, re-analyze or re-design the system model
Our interest
For Electrical networks:
◦ Kirchoff’s Voltage Law (KVL):- The sum of voltages around a closed path (or Loop) is zero. (Mesh analysis)
◦ Kirchoff’s Current Law (KCL):- The sum of currents flowing in or out of a node is zero. (Nodal analysis)
For Mechanical Systems:3 - Newton’s Laws
Transitional movement
◦ The sum of forces acting on a body is zero.
Rotational movements
◦ The sum of moments (Torques ) on a body is zero.

Industrial System
◦ Level
◦ Temperature
◦ Flow
◦ Pressure
 u(t) y(t)
Process

𝑑𝑑 𝑣𝑣 𝑡𝑡 1 𝑡𝑡
𝑖𝑖 𝑡𝑡 = 𝐶𝐶 𝑣𝑣 𝑡𝑡 + + � 𝑣𝑣 𝜏𝜏 𝑑𝑑𝜏𝜏
𝑑𝑑𝑑𝑑 𝑅𝑅 𝐿𝐿 −∞

𝑑𝑑 1 𝑡𝑡
𝑣𝑣 𝑡𝑡 = 𝐿𝐿 𝑖𝑖 𝑡𝑡 = 𝑅𝑅 𝑖𝑖(𝑡𝑡) = � 𝑖𝑖 𝜏𝜏 𝑑𝑑𝜏𝜏
𝑑𝑑𝑑𝑑 𝐶𝐶 −∞
(a) Modelling of Electric Circuits

1
v (t ) = R ⋅ i (t ) V (s) = R ⋅ I (s) I (s) = V (s)
R

∫
1 1
v(t) = i( τ )dτ V ( s) = I ( s) I ( s ) = CsV ( s )
C Cs
0

d i (t ) 1
v(t ) = L V ( s ) = Ls ⋅ I ( s ) I (s) = ⋅V ( s)
dt Ls
 t
di(t) 1
v(t) = L + Ri(t) + ∫ i(τ )dτ 1
dt C0 Vc ( s ) Cs
=
V ( s ) = Ls ⋅ I ( s ) + R ⋅ I ( s ) +
1 V (s)  1 
I (s)  Ls + R + 
Cs  Cs 
 1  1
V ( s ) =  Ls + R +  ⋅ I ( s )..........(1) LC
 Cs  =
R 1
1 s +
2
s+
Vc ( s ) = I ( s ).....................(2) L LC
Cs
Ex. If the parameters given as: R =6Ω , L=2H , C =0.25F

1
Vc ( s ) ( 2 × 0.25) 2
= = 2
V ( s) 6 1 s + 3s + 2
s +  s +
2

2 (2 × 0.25)

2
s + 3s + 2
2

Block diagram of this RLC network

Example 2: Find the transfer function I2(s)/V(s) , of the given

Given that: R1=2Ω , R2=3Ω , L=4H , C =0.5F

 R1 ⋅ I1 ( s ) + Ls ⋅ I1 ( s ) − Ls ⋅ I 2 ( s ) = V ( s )
(2 + 4s )I1 ( s) − 4s ⋅ I 2 ( s) = V ( s)
1
− Ls ⋅ I1(s) + Ls ⋅ I 2(s) + R2 ⋅ I 2(s) + I 2(s) = 0
Cs
(
− 4 s 2 ⋅ I1(s) + 4 s 2 + 3s + 2 I 2(s) = 0)
I (s) =
(4s 2
+ 3s + 2 )
I 2(s)
1 2
4s
 
 (2 + 4 s )
(4 s 2 + 3s + 2 ) 
− 4 s  ⋅ I 2 ( s ) = V ( s )
2
 4s 
 16 s 3 + 20 s 2 + 14 s + 4 − 16 s 3 
 2
 ⋅ I 2 ( s ) = V ( s )
 4s 

I 2 (s)  4s 2 
=  
V ( s )  20 s + 14 s + 4 
2

V(s)  4s 2
 I2(s)
 
 20s + 14s + 4 
2
Operational Amplifiers
Inverting

Noninverting
V (s) = R ⋅ I (s)
1
V ( s) = I ( s)
Cs
V ( s ) = Ls ⋅ I ( s )

𝑉𝑉𝑜𝑜 (𝑠𝑠) −(𝑠𝑠 + 5)

=
𝑉𝑉𝑖𝑖𝑖𝑖 (𝑠𝑠) 5(𝑠𝑠 + 1)
V (s) = R ⋅ I (s)
1
V ( s) = I ( s)
Cs
V ( s ) = Ls ⋅ I ( s )
Application
Application
Modelling of Mechanical Systems
𝑥𝑥(𝑡𝑡)

Position (displacement)
The motion of elements can be described in various dimensions as
translational , rotational , or combined . d
The equations governing the motion of mechanical systems are often 𝑣𝑣 𝑡𝑡 = x(t)
dt
formulated directly or indirectly from Newton's law of motion.
Velocity

Newton's law states that: the algebraic sum of forces acting on a rigid 𝑑𝑑 𝑑𝑑 2
body in a given direction is equal to the product of the mass of the body 𝑎𝑎 𝑡𝑡 = 𝑣𝑣 𝑡𝑡 = 2 𝑥𝑥 𝑡𝑡
𝑑𝑑𝑑𝑑 𝑑𝑑𝑡𝑡
and its acceleration in the same direction

Acceleration
Mass – Spring – Damper
 m Inertial force
frication

𝐹𝐹 𝑠𝑠 = 𝑀𝑀𝑀𝑀 𝑉𝑉 𝑠𝑠 + 𝐵𝐵 𝑉𝑉(𝑠𝑠)

𝐹𝐹 𝑠𝑠 = 𝑀𝑀𝑀𝑀 + 𝐵𝐵 𝑉𝑉 𝑠𝑠

𝑉𝑉 𝑠𝑠 1
=
𝐹𝐹 𝑠𝑠 𝑀𝑀𝑀𝑀 + 𝐵𝐵
 Force- The Impedance
Component displacement In Laplace Transform
relationships Z(s)=F(s)/X(s)
Spring

f(t)=K x(t) F(s) = K X(s) K

Viscous Damper
dx(t )
f (t ) = D ∴ F ( s ) = D.s X ( s ) Ds
dt
D
Mass
d 2 x(t ) ∴ F ( s ) = M s 2 X ( s ) Ms2
f (t ) = M
dt 2
 D sX(s)

2
d x(t ) dx(t )
M 2
+D + Kx (t ) = f (t )
dt dt
 d 2 x(t ) dx(t )
M 2
+D + Kx (t ) = f (t )
dt dt

Ms X ( s ) + DsX ( s ) + KX ( s ) = F ( s )
2

X (s) 1
G (s) = =
F ( s ) Ms + Ds + K
2
 X 2 ( s) / F ( s)

M 1s 2 X 1 ( s )

D1sX 1 ( s )
M1
K1 X 1 ( s )

K1 X 2 ( s )

F ( s ) = M 1s 2 X 1 ( s ) + D1sX 1 ( s ) + K1 X 1 ( s ) − K1 X 2 ( s )

M 2 s 2 X 2 ( s ) + D2 sX 2 ( s ) + K 2 X 2 ( s ) + K1 X 2 ( s ) − K1 X 1 ( s ) = 0

( )
F ( s ) = M 1s 2 + D1s + K1 X 1 ( s ) − K1 X 2 ( s ) (M s 2
2
)
+ D2 s + K 2 + K1 X 2 ( s ) − K1 X 1 ( s ) = 0
 ( )
F ( s ) = M 1s 2 + D1s + K1 X 1 ( s ) − K1 X 2 ( s )

(M s2
2
)
+ D2 s + K 2 + K1 X 2 ( s ) − K1 X 1 ( s ) = 0

 M 2 s 2 + D2 s + K 2 + K1 
X 1 ( s) =   X 2 ( s )
 K1 

 + D2 s + K 2 + K1 
( )
2
M s
F ( s ) = M 1s + D1s + K1 
2 2
 X 2 ( s ) − K1 X 2 ( s )
 K1 

X 2 (s) K1
=
F (s) ( )(
M 1s 2 + D1s + K1 M 2 s 2 + D2 s + K 2 + K1 − K1
2
)
Rotational System Modelling:

Torsional
spring

Torsional
damping
Moment of
Inertia
The general differential equation of motion for rotational systems using
Newton's law , can be written as:
d 2θ (t ) dθ (t )
T (t ) = J 2
+B + Kθ (t )
dt dt
 Torque-
Impedance
Component Angular Displacement In Laplace Transforms
Z(s)=T(s)/ θ(s)
relationship

Spring
T(t) = K θ(t) ∴T(s) = K θ(s) K

dθ (t )
T (t ) = D ∴T ( s) = D s θ ( s) Ds
dt

d 2θ (t ) Js2
T (t ) = J ∴T ( s) = J s θ ( s)
2

dt 2
 d 2θ m (t ) dθ m (t )
Jm 2
+ Bm + Kθ m (t ) − Kθ L (t ) = Tm (t ) (1)
dt dt
In Laplace Transform :
J m s 2θ m ( s ) + Bm sθ m ( s ) + Kθ m ( s ) − Kθ L ( s ) = Tm ( s ) (2)
 J L s 2θ L ( s ) + Kθ L ( s ) − Kθ m ( s ) = 0 (4)

 K 
From equation (4) ∴θ L ( s ) =  θ m ( s ) (5)
 JLs + K 
2

Now, substituting equation (5) into equation (2) :

 K 
J m s θ m ( s ) + Bm sθ m ( s ) + Kθ m ( s ) − K 
2
θ m ( s ) = Tm ( s )
 JLs + K 
2

Thus, the Transfer Function is:

θ m (s) 1
G ( s) = =
Tm ( s )  K 2


J m s + Bm s + K − 
2

 JLs + K 
2

θ m (s) J Ls2 + K
=
[
Tm ( s ) s J m J L s 3 + Bm J L s 2 + K ( J m + J L ) s + Bm K ]