Lecture 36 - Review Part B

Welcome back to MCEN30020: Systems Modelling and Analysis (SMA) with Dr Airlie Chapman

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Fluid Problem
Two tanks are placed in series with an incompressible uid en- Let A = 4, R = 3 and g ≈ 10.
tering the rst tank with ow rate of qin . The conguration is
shown on the right. The mass ow rate through a valve is

1
ṁ0 = ρgh.
R

Assume an in-ow rate of the form qin = u0 1 + M sin (ωt + φ)

for some u0 , M, ω and φ.
The height h1 oscillates sinusoidally with a maximum value
is 5 m. The minimum is 1 m and is obtained at t = 0, 10, 20, . . .

What is the minimum value of h2 at steady state?

Method:
1. Find the dynamic equations for the two tank dynamics.
2. For an input u0 1 and M sin (ωt + φ), characterize the h1,ss (t) = h10 1 + M1 sin (ωt + φ1 ) and h2,ss (t) =
h20 1 + M2 sin (ωt + φ2 )
3. Formulate h1,ss (t) with the characteristic information provided and use it to nd u0 , M and ω .
4. Find the minimum at steady state h20 − M2 .
Answer:
Modelling Method 1 (long version):
Tank 1
By conservation of mass and using the valve equation,

ṁ = ṁi − ṁ0
d 1
(ρAh1 ) = ρqin − ρgh1
dt  R 
1 1
ḣ1 = qin − gh1
A R

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with Laplace transform

1 1
sh1 (s) = qin − gh1 (s)
A AR
1 1
sh1 (s) + gh1 (s) = qin
AR A
 g  1
s+ h1 (s) = qin
AR A
1
qin Rqin
h1 (s) = A g =
s + AR ARs + g
1
h1 (s) A
R
G1 (s) = = g =
qin (s) s+ AR
ARs + g

Tank 2
By conservation of mass and using the valve equation,

ṁ = ṁi − ṁ0
d 1 1
(ρAh2 ) = ρgh1 − ρgh2
dt R R
g
ḣ2 = (h1 − h2 )
AR

with Laplace transform

g
sh2 (s) = (h1 (s) − h2 (s))
AR
 g  g
s+ h2 (s) = h1 (s)
AR AR
g
AR
h2 (s) = g h1 (s)
s+ AR
g
= h1 (s)
ARs + g
g Rqin
=
ARs + g ARs + g
h2 (s) Rg
G2 (s) = = 2 .
qin (s) (ARs + g)

Modelling method 2 (short version):

From previous modelling of a single tank in class then
Tank 1
h1 (s) R
G1 (s) = =
qin (s) ARs + g

Flow between tanks q1→2

1
ṁo = ρq1→2 = ρgh1
R
Tank 2
1
q1→2 (s) = gh1 (s)
R

2
 h2 (s) R
=
q1→2 ARs + g
R g
h2 (s) = h1 (s)
ARs + g R
g R
= qin
ARs + g ARs + g
Rg
= 2 qin
(ARs + g)
h2 (s) Rg
G2 (s) = = 2
qin (s) (ARs + g)

For A = 4 and R = 3.
3
G1 (s) =
12s + 10
30
G2 (s) = 2
(12s + 10)

Properties of h1 (t)
As minimum is at T = 10 s separation then ω = 2π/T ≈ 0.63 and the magnitude of the sinusoidal
oscillation is h1a = 2 m with an oset of h10 =3 m.
For qin = u0 1 + M sin (ωt) (which should be positive as a negative ow rate in this problem would be
gravity defying) then h1 (t) would oscillate about a nonzero value. A sketch of the relationship between
qin (t), h1 (t) and h2 (t) is shown below.

Examining the input u0 separately from the input M sin (ωt):

Step input u0 1

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For a step input u0 then

3u0
h1 (s) =
s (12s + 10)
30
h2 (s) = 2
s (12s + 10)

By nal value theorem

3
h10 = lim h1 (t) = lim sh1 (s) = u0
t→∞ s→0 10
30
h20 = lim h1 (t) = lim sh1 (s) = u0
t→∞ s→0 100

Hence,
h10
u0 = 10 = 10.
3
and
30 30
h20 = u0 = 10 = 3,
100 100
i.e., the oset of the sinusoid for h2 (t) at steady state is 3 m.
Sinusoid M sin (ωt) for ω = 0.63
For G1 (jω) = 3
12jω+10

h1,ss = M |G1 (j · 0.63)| sin (0.63t + ∠G1 (j · 0.63))

3
|G1 (jω)| = √
122 ω 2
+ 102
3
|G1 (j · 0.63)| = √ ≈ 0.24
12 × 0.632 + 102
2

−h1a = − min h1,ss = −M |G1 (j · 0.63)|

h1a
M= (1)
|G1 (j · 0.63)|

For G2 (jω) = 30
(12jω+10)2

h2,ss = M |G2 (j · 0.63)| sin (0.63t + ∠G2 (j · 0.63))

30
|G2 (jω)| =
122 ω 2
+ 102
3
|G2 (j · 0.63)| = 2 ≈ 0.19
12 × 0.632 + 102

with

−h2a = − min h2,ss = −M |G2 (j · 0.63)|

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so using (1) and h1a = 2 then

h2a = M |G2 (j · 0.63)|

h1a
= |G2 (j · 0.63)|
|G1 (j · 0.63)|
2
= × 0.19
0.24
= 1.6

i.e., the magnitude of the sinusoid for h2 (t) at steady state is 1.6 m.
So the minimum is the oset minus the magnitude of the sinusoid

h20 − h2a = 3 − 1.6 = 1.4 m

Nyquist Problem

s+a with its Nyquist Diagram shown here. Match

Let G1 = k(s+1)
the steady state response yss (t) for an input u(t) = e−3t +
3 sin (t − 1).
(a) yss (t) = 7.88 sin (t − 1.4)
(b) yss (t) = 2.63 sin (t − 0.4)
(c) yss (t) = 2e−2t + 2.63 sin (t − 1.4)
(d) yss (t) = 5e−2t + 7.88 sin (t − 0.6)
(e) yss (t) = 2.63 sin (t + 0.4)

Method:

1. Find k and a by examining the critical nyquist crossing points, ω = 0, ∞, and ∠G (jω) =
0, −90, −180, −270, . . .

2. Break the problem into u(t) = u1 (t) + u2 (t) and calculate yss (t) = y1,ss (t) + y2,ss (t)

Answer: (a)
For s = 0 then G1 (0) = k
a = 5. For s → ∞ then

d
k (s + 1) ds k (s + 1) k
2 = G(∞) = lim = lim d
=
s→∞ s + a 1
ds (s + 1)
s→∞

So k = 2 and a = 25 . The output will be

yss (t) = 3 |G1 (j · 1)| sin (t − 1 + ∠G1 (j · 1))

Magnitude:
k (jω + 1)
G(jω) =
jω + a

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 √
k ω2 + 1
|G (jω)| = √
ω 2 + a2
√
2 2
|G (j · 1)| = q
2 = 2.63
1 + 52

and
3 |G (j · 1)| = 7.88

Checking the multiple choice options then (a).

Could stop here but let us nish...

∠G(jω) = ∠ (k (jω + 1)) − ∠ (jω + a)

= atan2 (kω, k) − atan2 (ω, a)

For ω = 1, k = 2 and a = 25 .
Phase:
 
2
−1 + ∠G(j · 1) = −1 + atan2 (2, 2) − atan2 1,
5
   
2 1
= −1 + atan − atan 2
2 5
= −1.4

Hence,

yss (t) = 3 |G1 (j · 1)| sin (t − 1 + ∠G1 (j · 1))

= 7.88 sin (t − 1.4)

Rotational/Translation Modelling Problem

Two masses can oscillate with small angles θ1 and θ2 respec-
tively. The input u(t) is the displacement of the slider. The
L-length is a massless rod. Find the two equations of motion

Method:

1. Assign variables such as x and θ that are both necessary and sucient to describe an arbitrary
point of the object.

2. Draw a free-body diagram (FBD) of each component. Indicate all forces acting on each body
and their reference.

3. Apply Newton's law in translation and/or rotation to get equations of motion (EOM).

4. Combine all EOMs and eliminate internal reaction forces.

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Answer:
Dene the location of mass m1 as (px1 , py2 ) and of mass m2 as (px2 , py2 ).
The free body diagram of m1 is

Geometry:

px1 = u + L sin θ1
py1 = −L cos θ1
px2 = u + b + L sin θ2
py2 = −L cos θ2
I1G = I2G = 0

Pendulum:

d2
(2)
X
Fx = m(px )
dt2
d2
(3)
X
Fy = m 2 (py )
dt
(4)
X
G
Mz = I α = I G θ̈
G

From (2)

d2
m1 px = Rx − k (px1 − px2 )
dt2 1
d2
m1 (u + L sin θ1 ) = Rx − k (u + L sin θ1 − (u + b + L sin θ2 ))
  dt2 
m1 ü + −Lθ̇12 sin θ1 + Lθ̈1 cos θ1 = Rx − k (L sin θ1 − L sin θ2 − b)
Rx = m1 u̇ − m1 Lθ̇12 sin θ1 + m1 Lθ̈1 cos θ1 + k (L sin θ1 − L sin θ2 − b)

and

Rx cos θ1 = m1 u̇ cos θ1 − m1 Lθ̇12 sin θ1 cos θ1 + m1 Lθ̈1 cos2 θ1 + k (L sin θ1 − L sin θ2 − b) cos θ1 (5)

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From (3)

d2
m1 py = Ry − m1 g
dt2 1
d2
m1 (−L cos θ1 ) = Ry − m1 g
 dt2 
m1 Lθ̈1 sin θ1 + Lθ̇12 cos θ1 = Ry − m1 g
Ry = m1 Lθ̈1 sin θ1 + m1 Lθ̇12 cos θ1 + m1 g

and
Ry sin θ1 = m1 Lθ̈1 sin2 θ1 + m1 Lθ̇12 cos θ1 sin θ1 + m1 g sin θ1 (6)
From (4)

0 = −Rx L cos θ1 − Ry L sin θ1

0 = Rx cos θ1 + Ry sin θ1

Substituting (5) and (6) then

0 = Rx cos θ1 + Ry sin θ1
0 = m1 u̇ cos θ1 + m1 Lθ̈1 cos2 θ1 − m1 Lθ̇12 sin θ1 cos θ1 + k (L sin θ1 − L sin θ2 − b) cos θ1
+ m1 Lθ̈1 sin2 θ1 + m1 Lθ̇12 cos θ1 sin θ1 + m1 g sin θ1
0 = m1 u̇ cos θ1 + m1 Lθ̈1 + k (L sin θ1 − L sin θ2 − b) cos θ1 + m1 g sin θ1

Small angle:
−m1 u̇ = m1 Lθ̈1 + k (Lθ1 − Lθ2 − b) + m1 gθ1
Similarly for mass m2 then

−m2 u̇ = m2 Lθ̈2 − k (Lθ1 − Lθ2 − b) + m2 gθ2 .

Nyquist-Bode Problem
Only one of the Bode diagrams on
the right (a,b,c, or d) matches the
Nyquist diagram on the left. Which
one? Explain your answer.

Method:

1. Examine the critical nyquist crossing points, ω = 0, ∞, and ∠G (jω) = 0, −90, −180, −270, . . .

2. Examine the distinctive characteristics of the bode plot, G(j · 0), G (j · ∞) and break points.

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Answer: (a)
At −180◦ , the magnitude of the bode plot is a little above 10 = 20 log10 10dB = 20dB. The only nyquist
plot with magnitude and phase plot matching the requirement is the blue line.
So (a).

Feedback and Stability of Continuous and Discrete systems Problem

Find the ranges of the constant gain controllers Kc (for system
A) and Kd (for system B ) for which the systems are stable.
Note: Feedback for discrete system follows the same rule as
continuous.

Method:

1. Simplify the block diagrams using series and feedback rules

2. For continuous check the poles are in the LHP and for discrete check the poles are inside the
unit circle

Answer:
System A:
1
Kc s(s−1)
G(s) = 1
1 + Kc s(s−1)
Kc
=
s2 − s + Kc

The poles of G(s) are

1 p 
p1,2 = 1 ± 1 − 4Kc
2
The system is not stable for any Kc as for Kc = 0 the system is marginally stable all for Kc 6= 0 there
will be a pole in the RHP.
System B:

z
Kd z−1
G(z) = z
1 + Kd z−1
Kd z
=
(Kd + 1) z − 1

For stability the pole z = 1

Kd +1 must be inside the unit circle so
 
 1 
 Kd + 1  < 1
 

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or
 2
1
<1
Kd + 1
2
1 < (Kd + 1)
0 < Kd2 + 2Kd + 1 − 1
0 < Kd (Kd + 2)

so Kd > 0 and Kd < −2.

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