MECHATRONICS

ELECTRICAL SYSTEM MODEL

PUSHPARAJ MANI PATHAK
MECHANICAL & INDUSTRIAL ENGINEERING, IIT ROORKEE

1
Introduction

• The basic building blocks of electrical systems 𝑉𝐿

𝑖
are inductors, capacitors and resistors.
• Inductor
𝐿
• Potential difference V across it at any instant
Inductance
depends on the rate of change of current
through it
𝑑𝑖
• 𝑉𝐿 = 𝐿 (Here L is inductance )
𝑑𝑡
1
• 𝑖 = ‫𝑡𝑑 𝐿𝑉 ׬‬
𝐿

2
• Capacitor 𝑉𝑐
• Potential difference across it depends on 𝑖
the charge q on the capacitor plates at the
instant
𝑞 1 𝐶
• For capacitor 𝑉𝑐 = = ‫𝑡𝑑𝑖 ׬‬ Capacitance
𝐶 𝐶
𝑑𝑉𝑐
• 𝑖= 𝐶
𝑑𝑡

3
• Resistor 𝑉𝑅
𝑖
• The potential difference across it at
any instant depends on the current
through it. 𝑅

Resistor
𝑉𝑅 = 𝑖𝑅

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Electrical System Building Blocks

𝑉𝑐
𝑉𝑅 𝑉𝐿
𝑖 𝑖 𝑖

𝐿
𝑅 𝐶
Resistor Inductance Capacitance

𝑉𝑅 = 𝑖𝑅 𝑑𝑖 𝑞 1
𝑉𝐿 = 𝐿 𝑉𝑐 = = න 𝑖𝑑𝑡
𝑑𝑡 𝐶 𝐶
1 𝑑𝑉𝑐
𝑖 = න 𝑉𝐿 𝑑𝑡 𝑖=𝐶
𝐿 𝑑𝑡

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ENERGY/POWER

• Both inductor and capacitor store 𝑖 𝑉𝐿

energy
• A resistor dissipates energy 𝐿
• Energy stored by an inductor when Inductance
there is a current i
1 2
𝐸 = 𝐿𝑖
2

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 𝑉𝑐
• Energy stored by a capacitor when there 𝑖
is a potential difference VC across it
1 2
𝐸 = 𝐶𝑉C 𝐶
2 Capacitance
• Power dissipated by a resistor when
there is a potential difference VR across it 𝑉𝑅
𝑖
𝑉R2
𝑃 = 𝑉𝑖 =
𝑅
𝑅

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Building up a Model for an Electrical System
R1 i1 i3
A
• The equation describing how the
i2
electrical blocks can be combined
V
are Kirchoff’s laws R2 R3
• Law1: Applied
• The total current flowing towards Voltage
a junction is equal to the total B
𝑖1 = 𝑖2 + 𝑖3
current flowing from that junction
𝑉 − 𝑉𝐴 𝑉𝐴 𝑉𝐴
i.e. algebraic sum of currents at a = +
𝑅1 𝑅2 𝑅3
junction is zero.

8
 R1
A
• Law 2:
V
• In a closed circuit or loop, the i1
R2 R3
i2
algebraic sum of the potential Applied
Voltage
differences across each part of the B
circuit is equal to applied emf.
𝑉 = 𝑖1 𝑅1 + 𝑅2 (𝑖1 − 𝑖2 )
• Or sum of the voltages around a
closed loop or path is 0. 0 = 𝑖2 𝑅3 + 𝑅2 (𝑖2 − 𝑖1 )

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Example: Resistor–Capacitor System

i R
𝑉 = 𝑉𝑅 + 𝑉𝐶

VR For resistor 𝑉𝑅 = 𝑖𝑅
v 𝑞 1
C vc For capacitor 𝑉𝑐 = 𝐶 = 𝐶 ‫𝑡𝑑𝑖 ׬‬
Applied 𝑑𝑉𝑐
Voltage 𝑖=𝐶
𝑑𝑡
𝑉 = 𝑖𝑅 + 𝑉𝐶
• This is relationship between output 𝑉𝑐 and
input V 𝑑𝑉𝑐
𝑉 = 𝐶𝑅 + 𝑉𝐶
• As seen it is a first order differential 𝑑𝑡
equation.
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Example: Resistor–inductor System

i R
𝑉 = 𝑉𝑅 + 𝑉𝐿

VR
For resistor 𝑉𝑅 = 𝑖𝑅

V L 𝑉 = 𝑖𝑅 + 𝑉𝐿
VL
For inductor
Applied 𝑑𝑖
Voltage 𝑉𝐿 = 𝐿
𝑑𝑡
1
𝑖= න 𝑉𝐿 𝑑𝑡
• This is relationship between output 𝑉𝐿 𝐿
and input V 𝑅
𝑉 = 𝑉𝐿 + න 𝑉𝐿 𝑑𝑡
𝐿
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Example: Resistor–inductor-capacitor System

i R L 𝑉 = 𝑉𝑅 + 𝑉𝐿 + 𝑉𝐶
For resistor 𝑉𝑅 = 𝑖𝑅
VR VL For inductor
v
C vc 𝑑𝑖
𝑉𝐿 = 𝐿
Applied 𝑑𝑡
Voltage 𝑑𝑖
𝑉 = 𝑖𝑅 + 𝐿 + 𝑉𝐶
𝑑𝑡
• This is relationship between output 𝑉𝑐 and 𝑑𝑉𝑐
𝑖=𝐶
input V 𝑑𝑡
𝑑𝑉𝑐 𝑑2 𝑉𝑐
• As seen it is a second order differential 𝑉 = 𝑉𝑐 + 𝐶𝑅 + LC 2
𝑑𝑡 𝑑𝑡
equation.
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Example: Resistor–inductor-capacitor System
Using nodal analysis node B is
𝑖 R 𝑖1 𝑖2 taken as reference node and
A node A to be taken at potential
𝑖3 VA relative to B
𝑖1 = 𝑖2 + 𝑖3
v
L C vc 𝑉 − 𝑉𝐴
𝑖1 =
𝑅
Applied
𝑑𝑉𝐴
Voltage 𝑖2 = 𝐶
B 𝑑𝑡
1
𝑖3 = න 𝑉𝐴 𝑑𝑡
𝑑𝑉𝑐 𝑅 𝐿
𝑉 = 𝑅𝐶 + 𝑉𝑐 + න 𝑉𝑐 𝑑𝑡 𝑉𝐶 = 𝑉𝐴
𝑑𝑡 𝐿
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Analogous Systems i R L

Force due to spring

v C vc
Mass F Applied
Voltage

Electrical Mechanical
Force due to damper Current (i) Force (F)
Potential diff (V) Velocity (v)
For resistance i=V/R and 1/R Damper constant c
for damper F= cv
Inductance Spring
Capacitance Mass

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Electromechanical Systems

• These devices such as potentiometers, motors and generators, transform

electrical signals to rotational motions or vice versa.
• Potentiometer
– It has input of a rotation/linear motion and output of a potential
difference.
• An Electric Motor
– It has input of a potential difference and an output of rotation of a
shaft.
• A generator
– It has input of rotation of a shaft and an output of a potential
difference.
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D.C. Motor

• In mechatronic systems electric

motors are often used as actuators.
• They are mostly used in position
and/or speed control systems.
• The basic principle of operation of a
motor can be explained with the help
of Figure

16
1 A force is exerted on a current carrying
conductor placed in a magnetic field
(Lorentz’s law).
• This force, called Lorentz force is given as
• 𝐹 = 𝐵𝑖𝑎 𝐿
• where B is the magnetic field strength, 𝑖𝑎
is current through conductor and L is
length of conductor.
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2 When a conductor moves in a magnetic field then an electromotive
force (emf)is induced across it. The induced emf is equal to the rate
at which the magnetic flux swept through by the conductor
−𝑑𝜙
changes (Faraday’s law); 𝑒 =
𝑑𝑡
• The negative sign is because the emf is in such a direction as to
oppose the change producing it (Lenz’s Law), i.e. direction of
induced emf is such that it produces the current.
• This current sets up magnetic fields which tends to neutralize the
change in magnetic flux linked by the coil and which was
responsible for the emf. The induced potential is called as back emf.
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 b

• From Lorentz’s law the force, with N wires is given as 𝐹 =

𝑁𝐵𝑖𝑎 𝐿
• The force on armature coil wire results in a torque T=Fb,
where b is the width of the coil. Thus 𝑇 = 𝑁𝐵𝑖𝑎 𝐿𝑏
• The torque is thus proportional to 𝐵𝑖𝑎 , other parameters
being constant.
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• Thus 𝑇 = 𝑁𝐵𝑖𝑎 𝐿𝑏
• 𝑇 = 𝐾1 𝐵𝑖𝑎
• The back emf (Vb) is proportional to the rate of rotation of the
armature (ω) and the flux linked to the coil (B).
• Thus 𝑉𝑏 = 𝐾2 𝐵𝜔
• Where 𝐾2 is a constant.

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DC Motor with Armature and Field Coil Separately
Excited

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Armature Controlled Motors

• In this type of motor field

current 𝑖𝑓 is held constant
• Motor is controlled by adjusting
armature voltage 𝑉𝑎
• A constant 𝑖𝑓 means constant B
• So 𝑉𝑏 = 𝐾2 𝐵𝜔 = 𝐾3 𝜔

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• Using Kirchoff’s law
𝑑𝑖𝑎
• 𝑉𝑎 − 𝑉𝑏 = 𝐿𝑎 + 𝑖𝑎 𝑅𝑎
𝑑𝑡
𝑑𝑖
• 𝑉𝑎 − 𝐾3 𝜔 = 𝐿𝑎 𝑎 + 𝑖𝑎 𝑅𝑎
𝑑𝑡
• Current 𝑖𝑎 in the armature generates a
torque T. Since for an armature
controlled motor B is constant so 𝑇 =
𝐾1 𝐵𝑖𝑎 = 𝐾4 𝑖𝑎
• This torque is input to load system.

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• If we neglect the torsional effect of the shaft
• If 𝑅𝑏 is bearing resistance then
• Net torque acting on the load = 𝑇 − 𝑅𝑏 𝜔 = 𝐾4 𝑖𝑎 − 𝑅𝑏 𝜔
• This net torque will be responsible for the angular
acceleration of the load so,
𝑑𝜔
• 𝐼 = 𝐾4 𝑖𝑎 − 𝑅𝑏 𝜔
𝑑𝑡

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• Thus the relation for an armature controlled motor are
𝑑𝑖𝑎
• 𝑉𝑎 − 𝐾3 𝜔 = 𝐿𝑎 + 𝑖𝑎 𝑅𝑎
𝑑𝑡
𝑑𝜔
• 𝐼 = 𝐾4 𝑖𝑎 − 𝑅𝑏 𝜔
𝑑𝑡
• We can substitute for 𝑖𝑎 in second equation from first in
order to get the relation between input 𝑉𝑎 and output 𝜔.

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Field Controlled Motor

• In this type of motors armature

current is held constant.
• Motor is controlled by varying the
field voltage.
• For field circuit
𝑑𝑖𝑓
• 𝑉𝑓 = 𝑖𝑓 𝑅𝑓 + 𝐿𝑓
𝑑𝑡

26
• The field current leads to production of a magnetic field thus a torque acts
on the coil.
• The torque is given by
• 𝑇 = 𝐾1 𝐵𝑖𝑎
• 𝑇 = 𝐾1 𝑖𝑎 𝐵
• 𝑇 = 𝐾5 𝐵 (Since 𝑖𝑎 is constant)
• 𝑇 = 𝐾5 𝑖𝑓 (Since 𝐵 ∝ 𝑖𝑓 )
• So neglecting the torsional effect in shaft, net torque = 𝑇 − 𝑅𝑏 𝜔
𝑑𝜔
• 𝐼 = 𝑇 − 𝑅𝑏 𝜔 = 𝐾5 𝑖𝑓 − 𝑅𝑏 𝜔
𝑑𝑡

27
• Thus behaviour of field current motor can be described as
𝑑𝑖𝑓
• 𝑉𝑓 = 𝑖𝑓 𝑅𝑓 + 𝐿𝑓
𝑑𝑡
𝑑𝜔
• 𝐼 = 𝐾5 𝑖𝑓 − 𝑅𝑏 𝜔
𝑑𝑡
• The output is ω and input is 𝑉𝑓 .
• One can eliminate the 𝑖𝑓 from the above two equations and
get a relation between output (ω)and input (𝑉𝑓 ).

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Reference

• W. Bolton, Mechatronics: Electronic Control Systems in

Mechanical and Electrical Engineering (6th Edition), Pearson,
2015
• R. Merzouki, A. K. Samantaray, P. M. Pathak, B. Ould
Bouamama, Intelligent Mechatronic Systems: Modeling,
Control and Diagnosis, ISBN 978-1-4471-4627-8, 2013,
Springer, London

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Thank You

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