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EN 83002
Lecture 02
1
Outline
• Basic System Models
• Mathematical Models
• Electrical System Building Blocks
• System Models
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Mathematical models
• A mathematical model of a system is a description of it in terms of
equations relating inputs and outputs so that outputs can be predicted
from inputs.
• In devising a mathematical model of a system it is necessary to make
assumptions and simplifications and a balance has to be chosen between
simplicity of the model and the need for it to represent the actual real-
world behavior.
• For example the rotation of a motor shaft controlled by a microcontroller.
The speed will not immediately assume the full-speed value but will only
attain that speed after some time
• Any mathematical model is provided by the fundamental physical laws that
govern the behavior of the system.
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System Building Blocks
• Systems can be made up from a range of building blocks.
• Each building block is considered to have a single property or
function.
• A system is called lumped parameter system if each parameter of
function is considered independently.
• Example- in an electrical system the basic building blocks can be combined in
different ways to make a variety of electric circuit systems.
• Overall input/output relationships of the electrical system can be obtained by
combining in an appropriate way, the relationships for the building blocks.
• Thus a mathematical model for the system can be obtained.
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Electrical System Building Blocks
• The basic building blocks of electrical systems are inductors,
capacitors and resistors.
• Assumptions – resistor building block is assumed to have purely the
properties of resistance, the capacitor purely that of capacitance and
the inductor purely that of inductance.
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Inductor
• For an inductor the potential difference 𝑣 across it any instant
depends on the rate of change of current (di/dt) through it.
𝑑𝑖
𝑣 = 𝐿 L is the inductance.
𝑑𝑡
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Capacitor
• For a capacitor , the potential difference across it depends on the charge 𝑞 on the capacitor plates at the
instant concerned.
𝑞
𝑣 = 𝐶 C is the capacitance.
• The current 𝑖 to or from the capacitor is the rate at which charge moves to or from the capacitor plates.
𝑑𝑞
𝑖 = 𝑑𝑡
Total charge 𝑞 on the plates is :
𝑞 = 𝑡𝑑 𝑖
So
1
𝑣 = 𝐶 𝑡𝑑 𝑖
Alternatively since 𝑣 = 𝑞/C then,
𝑑𝑣 1 𝑑𝑞 1
= = 𝑖
𝑑𝑡 𝐶 𝑑𝑡 𝐶
And so
𝑑𝑣
𝑖 = 𝐶 𝑑𝑡
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Resistor
• For a resistor, the potential difference 𝑣 across it at any instant depends on the current 𝑖 through it :
𝑣 = R𝑖 R is the resistance.
• Both the inductor and capacitor store energy which can be released at a later time. A resistor just
dissipates it.
• The energy stored by an inductor when there is current 𝑖 is :
1
𝐸 = 𝐿𝑖 2
2
• The energy stored by a capacitor when there is a potential difference 𝑣 across it is :
1
𝐸 = 𝐶𝑣 2
2
• The power 𝑃 dissipated by a resistor when there is a potential difference 𝑣 across it is :
𝑣2
𝑃 = 𝑖𝑣 =
𝑅
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Summary
Summary of the equations defining the characteristics of the electrical building blocks when the input
is current and the output is potential difference.
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Building up a model for an electrical system
• The electrical building blocks can be combined using Kirchhoff’s Law
as outlined below:
• Law 1: the total current flowing towards a junction is equal to the total
current flowing from the junction, i.e. the algebraic sum of the currents at the
junction is zero.
• Law 2 : in a closed circuit of loop, the algebraic sum of the potential
difference across each part of the circuit is equal to the applied e.m.f.
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Example
• Consider a simple electrical system consisting of a resistor and capacitor in series.
If the output from the circuit is the potential difference across the capacitor:
Since 𝑣𝑅 = 𝑖𝑅 and 𝑖 = C (d𝑣𝑐 /dt)
𝑑𝑣𝑐
𝑣 = 𝑅𝐶 + 𝑣𝑐
𝑑𝑡
Resistor–capacitor system
the relationship between the output 𝑣𝑐 and the input 𝑣 and is a
first-order differential equation.
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Example
• Resistor-inductor-capacitor System.
If the output from the circuit is the potential difference across the capacitor, 𝑣𝑐 :
𝑑𝑖 𝑑(𝑑𝑣𝑐 Τ𝑑𝑡) 𝑑2 𝑣𝑐
= 𝐶 =
𝑑𝑡 𝑑𝑡 𝑑𝑡 2
Hence
𝑑𝑣 𝑑2 𝑣𝑐
𝑣 = 𝑅𝐶 𝑑𝑡𝑐 + 𝐿𝐶 𝑑𝑡 2 + 𝑣𝑐
𝑣 = 𝑣𝑅 + 𝑣𝐿
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Example
• Resistor –capacitor-inductor system.
Consider the relationship between the output, the potential difference vC
across the capacitor and the input v .
Applying Kirchhoff ’s law 1 to node A gives
𝑖1 = 𝑖2 + 𝑖3
𝑣 − 𝑣𝐴
𝑖1 =
𝑅
1
𝑖2 = න 𝑣𝐴 𝑑𝑡
𝐿
𝑑𝑣𝐴
𝑖3 = 𝐶 𝑑𝑡
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System Models
• Many systems encountered in engineering involve aspects of more
than just electrical systems.
• Building blocks of translational mechanical, rotational mechanical,
electrical, fluid and thermal systems may need to be considered.
• Example – Electric motor
• Single-discipline building blocks can be combined to give models for
multidiscipline systems.
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Electro-mechanical Systems
• Electromechanical devices transform electrical signals to rotational
motion or vice versa.
• Example – Potentiometers, Motors , Generators.
• Potentiometer – has input of a rotation and an output of a potential
difference.
• Electric motor – has input of a potential difference and output of
rotation of a shaft.
• Generator – has input of rotation of a shaft and an output of a
potential difference.
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Potentiometer
• The rotary potentiometer is a potential divider.
• The relationship can be given by:
𝑣𝑜 𝜃
=
𝑉 𝜃𝑚𝑎𝑥
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Direct Current Motor
• In a d.c. motor a current through the armature coil of the motor
results in a shaft being rotated and hence the load rotated.
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Direct Current Motor
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Direct Current Motors
Two equations that describe the conditions occurring for an armature-controlled motor are:
𝑑𝑖𝑎 𝑑𝜔
𝑣𝑎 − 𝑘3 𝜔 = 𝐿𝑎 + 𝑅𝑎 𝑖𝑎 and 𝐼 = 𝑘4 𝑖𝑎 − 𝑐𝜔
𝑑𝑡 𝑑𝑡
The equation relating to the output 𝜔 with the input 𝑣𝑎 to the system by eliminating 𝑖𝑎 using Laplace
transform.
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Direct Current Motors
The equation relating the output 𝜔 with the input 𝑣𝑓 to the system can be obtained by eliminating 𝑖𝑓
using Laplace transform.
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Linearity
• Often real components are not linear.
• Non-linear models are much more difficult to deal with and non-
linear systems might be approximated by a linear model.
• Example – A simple model for a spring assumes that force and extensions are
proportional regardless of how large force was. Thus the mathematical model
can be a simplification of a real spring.
• In combining blocks to create models of systems it is assumed that
the relationship for each block is linear.
• It is required to make a linear approximation for a non-linear item.
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Linearity
• A system needs to satisfy Principle of superposition for it to
be termed as linear system.
• Example if an ideal spring system is given by F = kx, then if force
F1 produces extension x1 and force F2 produces extension x2 ,
then force equal to (F1+F2) will produce an extension (x1+x2).
• If force F1 produces an extension x1, then an input cF1 will
produce an output cx1 ,where c is a constant multiplier
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Linearity
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Linearity
Non-linear relationship.
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