FCS Lecture Notes - TIPQC - 03 - Modeling

Feedback Control System s 6/30/2021
Fernando Victor V. de Vera, ECE, M.Tech

fvictor.devera@gmail.com
fvictordevera@yahoo.com
University of the East – Manila
College of Engineering
Electronics Engineering Department
Part 3 >>Feedback Control Systems

APPLICATIONS OF LAPLACE TRANSFORM:
DEVELOPING THE MATHEMATICAL MODEL
Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech
118
Mathematical Modeling
• Mathematical Modeling
 The process of representing the behavior of a physical system
through set of mathematical equations.
• Mathematical models of physical systems are key
elements in the design and analysis of control systems.
• The dynamic behavior is generally described by
ordinary differential equations.

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119
Block Diagram Representation
120
Transfer Function
• The ratio between the output and the input functions in
frequency domain of a control system.

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121
Applications of Laplace Transform

• Electrical Networks
 RLC Circuits
o Series/ Parallel
 Other components (transistors, OP-AMPS)
• Mechanical Networks
 Mass, Spring, Damper Systems
o Translational/ Rotational
122
Electrical Networks
Component Voltage as a Current as a Voltage as a
function of the function of the function of the
Current Voltage Charge

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123
Electrical Networks
Component Impedance Admittance
V(s)/I(s) I(s)/V(s)
124
Example No. ___

a) Find the transfer
function of the RLC
circuit network
shown Vc(s)/V(s):
b) If v(t)=12v,
R=200ohms, C=1uF
and L=0.5H,
determine i(t) and
c) vc(t)
d) What is the voltage
across the capacitor
at t=1us? t=1ms?

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125
Series RLC Network
126
Series-Parallel RLC Network

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127
Example No. ___

For the circuit shown,
Find:
a) The transfer
function
Vo(s)/Is(s).
b) If the input
is(t)=2A, R1=5Ω,
R2=10Ω, R3=2Ω,
L=0.5H and
C=20uF, find the
output vo(t) at
t=0.5ms
128
Example No. ___

• Switch A is at x at t=0;
After 1ms, it was switched
to y. Find the current
through the inductor after
0.5ms after switching to y.
Consider the following
values:
𝑣 (𝑡) = 9𝑣
𝑣 (𝑡) = 5𝑣
𝑅1 = 2Ω, 𝑅2 = 10Ω, 𝑅𝑠 = 20Ω
𝐿 = 0.2𝑚𝐻
𝐶 = 5𝑢𝐹
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129
Practice Exercise No.__

A 9-volt dc supplies voltage to series arrangement of the
following components: R1=50 ohms, C=22uF, L=20mH
and R2=100 ohms.
a) Find the transfer function Vo(s)/Vi(s) where Vo is taken
across the series L and R2.
b) Find the time it takes for the voltage at Vo to reach
half the supply voltage.
130

A. Consider the electrical network shown:
a) Find the transfer function I2(s)/Vi(s).

b) Find the transfer function Vo(s)/Vi(s) if the
output voltage is taken across L2.
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131

For the electrical circuit shown:
a) Find the ratio Vc(s)/Ii(s).

b) Find Vc at t=250us
132

Considering the circuit where
V1=10v, R1=5Ω, V2=5V, R2=25Ω,
Rs=15Ω, L=2H, and C=0.01F :
a) When switched at A, find
Vo(s)/V1(s)
b) If switched at B, find
Vo(s)/V2(s)
c) Find the current at Rs at t=1ms
when switched at A.
d) Given that the circuit is
switched at A for 1ms then
switched to B, find the current
through L after another 1ms.

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133

a) Draw the schematic of an electrical motor showing the
electrical and mechanical components.
b) Since an electrical motor converts an input voltage (V)
into an angular displacement (θ), derive its transfer
function θ(s)/V(s).
134
Mechanical Networks
• TRANSLATIONAL MECHANICAL
 The movements are linear.
• ROTATIONAL MECHANICAL
 Motion is rotational.
 May include gears.

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135
Translational Mechanical System Components
136
Mass, Spring and Damper System:

Schematic Diagram and FBD

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137
Mass, Spring and Damper System:

FBD and Transfer Function
138
Example No. ___

• Determine the Transfer Function: X2(s)/F(s)

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139
Example No. ___

• Write the force equations of the 3DOF system shown.
140
Rotational Mechanical System Components

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141
Example No. ___

• Determine the Transfer Function
142
Gear System

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143
Rotational System Driven by Gears
a) Rotational system driven by

gears;
b) Equivalent system at the
output after reflection of
input torque;
c) Equivalent system at the
input after reflection of
impedances
144
Electrical – Mechanical Equivalences

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145

Mechanical Systems
A. For the system
shown:
a) Write the
equations for ∑Fx
and ∑Fy.
b) Solve for the
transfer functions D2
Xx(s)/Fx(s) and
Xy(s)/Fy(s)
146

Mechanical Systems
A. Determine the transfer function

θ(s)/T(s), where θ is the angular
displacement at J1.

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147

Mechanical Systems
A. Find X3(s)/F(s):
148
Transfer Functions of Dynamic Elements

and Networks
Element or System G(s)

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149

and Networks
150

and Networks

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151

and Networks
152

and Networks

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153

and Networks
154

and Networks

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155

and Networks
156

and Networks

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157

and Networks
158

and Networks

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159

and Networks
160

and Networks

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161

and Networks
162

and Networks

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163

and Networks
164

and Networks

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165
Summary
166
Summary

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167
Summary
168
Summary

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169
Summary
170

Thermodynamic Systems
A. For the system indicated above,
a) Define the system parameters.
b) List the components, the time domain equation
relating system parameters, equivalent impedances
and admittances.
c) Create an analogy towards electrical and mechanical
systems.
d) Give an example problem and its solution.

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171

Aerodynamic Systems
and admittances.
systems.
172

Hydraulic Systems
and admittances.
systems.

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173

Pneumatic Systems
and admittances.
systems.
174
End of Part 3
Applications of Laplace Transform:

Developing the Mathematical Model

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175

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Feedback Control System s 6/30/2021

Fernando Victor V. de Vera, ECE, M.Tech

Part 3 >>Feedback Control Systems

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Block Diagram Representation

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Applications of Laplace Transform

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Series RLC Network

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Series-Parallel RLC Network

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

a) Find the transfer function I2(s)/Vi(s).

Practice Exercise No.__

a) Find the ratio Vc(s)/Ii(s).

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Translational Mechanical System Components

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Mass, Spring and Damper System:

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Mass, Spring and Damper System:

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Rotational Mechanical System Components

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Rotational System Driven by Gears

a) Rotational system driven by

Electrical – Mechanical Equivalences

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

A. Determine the transfer function

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Transfer Functions of Dynamic Elements

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Transfer Functions of Dynamic Elements

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Transfer Functions of Dynamic Elements

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech