Automatic Control Systems

Lecture-3
Mathematical Modelling of Electrical &
Electronic and Electromechanical Systems
 Outline of this Lecture

• Part-I: Electrical Systems

• Basic Elements of Electrical Systems
• Equations for Basic Elements
• Examples
• Part-II: Electronic Systems
• Operational Amplifiers
• Inverting vs Non-inverting
• Examples

• Part-III: Electromechanical Systems

• Examples

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 Electrical Systems

Basic Elements of Electrical Systems

• The time domain expression relating voltage and current for the
resistor is given by Ohm’s law i-e

v R (t )  iR (t )R

• The Laplace transform of the above equation is

VR ( s )  I R ( s )R

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 Electrical
Basic Elements SystemsSystems
of Electrical

• The time domain expression relating voltage and current for the
Capacitor is given as:

1
vc (t )   ic (t )dt
C
• The Laplace transform of the above equation (assuming there is no
charge stored in the capacitor) is
1
Vc ( s )  Ic (s)
Cs

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 Electrical Systems
Basic Elements of Electrical Systems

• The time domain expression relating voltage and current for the
inductor is given as:
diL (t )
v L (t )  L
dt
• The Laplace transform of the above equation (assuming there is no
energy stored in inductor) is

VL ( s )  LsI L ( s )
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 V-I Electrical
and I-V Systems
relations
Component Symbol V-I Relation I-V Relation

v R (t )
Resistor v R (t )  iR (t )R iR (t ) 
R

1 dvc (t )
Capacitor vc (t )   ic (t )dt ic (t )  C
C dt

diL (t ) 1
Inductor v L (t )  L i L (t )   v L (t )dt
dt L

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 Example#1
Example #1
• The two-port network shown in the following figure has vi(t) as
the input voltage and vo(t) as the output voltage. Find the
transfer function Vo(s)/Vi(s) of the network.

vi( t) i(t) C vo(t)

1
vi ( t )  i( t )R   i(t )dt
C
1
vo ( t )   i( t )dt
C
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 Example#1
Example #1
1 1
vi ( t )  i( t )R   i(t )dt vo ( t )   i( t )dt
C C
• Taking Laplace transform of both equations, considering initial
conditions to zero.

1 1
Vi ( s )  I ( s ) R  I (s) Vo ( s )  I (s)
Cs Cs

• Re-arrange both equations as:

1 CsV o ( s )  I ( s )
Vi ( s )  I ( s )( R  )
Cs

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 Example#1
Example #1
1
Vi ( s )  I ( s )( R  ) CsV o ( s )  I ( s )
Cs
• Substitute I(s) in equation on left

1
Vi ( s )  CsVo ( s )( R  )
Cs

Vo ( s ) 1

Vi ( s ) 1
Cs( R  )
Cs

Vo ( s ) 1

Vi ( s ) 1  RCs
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 Example #2
• Design an Electrical system that would place a pole at -3 if
added to another system.

Vo ( s ) 1

Vi ( s ) 1  RCs vi( t) i(t) C v2(t)

• System has one pole at

1
s
RC
• Therefore,
1
  3 if R  1 M and C  333 pF
RC
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 Example #3

• Find the transfer function G(S) of the following

two port network.

vi(t) i(t) C vo(t)

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 Example #3

• Simplify network by replacing multiple components with

their equivalent transform impedance.

Z
Vi(s) I(s) C Vo(s)

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Transform Impedance (Resistor)

iR(t) IR(S)
+ +
Transformation
vR(t) ZR = R VR(S)

- -

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Transform Impedance (Inductor)

IL(S)
iL(t)
+ +

vL(t) ZL=LS VL(S)

LiL(0)
-
-

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Transform Impedance (Capacitor)

ic(t) Ic(S)
+ +

vc(t) ZC(S)=1/CS Vc(S)

- -

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 Equivalent Transform Impedance (Series)
• Consider following arrangement, find out equivalent
transform impedance.

L
ZT  Z R  Z L  Z C
C
1
Z T  R  Ls  R

Cs

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Equivalent Transform Impedance (Parallel)

1 1 1 1
  
ZT Z R Z L ZC L

1 1 1 1 C
  
ZT R Ls 1
R
Cs

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 Equivalent Transform Impedance
• Find out equivalent transform impedance of following
arrangement.
L2

L2
R1 R2

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Electronic System (Operational Amplifiers)
Inverting Amplifier:
An inverting amplifier is a differential amplifier that amplifies
a small difference in voltage between its input terminals to a
large voltage on its output terminal. The output voltage is at
180o out of phase compared to the input voltage. The setup
of an inverting amplifier is shown below.

Vout Z2

Vin Z1

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Electronic System (Operational Amplifiers)
A non inverting amplifier:
is an amplifier that produces an output which is in
phase with the input. The setup of a non-inverting
amplifier is shown below:

Vout Z2
 1
Vin Z1

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1. Find out the transfer function of the following circuit.

Where
R1= 10 k ohm
C= 4 micro Farad
R2= 100 k ohm
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2. Find out the transfer function of the following circuit and
draw the pole zero map.

100 kΩ

10 kΩ

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3. Find out the transfer function of the following circuit and
draw the pole zero map.

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4. Determine the transfer function 𝑉𝑂 (𝑆) 𝑉 𝑆 for the Op-Amp circuit
shown in Figure. Let R1 =167 k ohm, R2 =240 k ohm, R3 =1k ohm, R4
=100 k ohm, and C = 1 micro F. Assume an ideal op-amp.

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 Electromechanical Systems

• Electromechanics combines electrical and mechanical

processes.
• Devices which carry out electrical operations by using
moving parts are known as electromechanical.
– Relays
– Solenoids
– Electric Motors
– Electric Generators
– Switches and e.t.c

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 Example-6: Loud Speaker
• A voltage is typically applied across the terminals of the
loudspeaker and the "cone" moves in and out causing pressure
waves perceived as sound.

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Example-6: Loud Speaker

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 Example-2: Loud Speaker
• The speaker consists of a fixed magnet
that produces a uniform magnetic field
of strength β.
• The speaker has a cone with mass (M),
that moves in the x direction.
• The cone is modelled with a spring (K)
to return it to its equilibrium position,
and a friction (B).
• Attached to the cone, and within the
magnetic field is a coil of wire or radius
"a." The coil consists of "n" turns and it
moves along with the cone.
• The wire has resistance (R) and
inductance (L).
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 Example-2: Loud Speaker
• Mechanical Free body Diagram Electrical Schematic

di
f e  Mx  Bx  kx ein  iR  L  em
dt

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 Example-6: Loud Speaker
di
f e  Mx  Bx  kx ein  iR  L  em
dt
• Force on a current carrying conductor in a magnetic field is given by

f e   il

• Where ℓ is the total length of wire in the field.

• It is equal to the circumference of the coil (2·π·a) times the number of

turns (n).

• That is, ℓ=2·π·a·n).

 i 2an  Mx  Bx  kx (1)

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 Example-6: Loud Speaker
di
ein  iR  L  em
dt
• Back EMF is given by

em  lx   2anv

di
 2anx  ein  iR  L (2)
dt

• To find the transfer function X(S)/Ein(s) we have to eliminate current

i.

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 Example-6: Loud Speaker
di
 i 2an  Mx  Bx  kx (1)  2anx  ein  iR  L (2)
dt

• Taking Laplace transform of equations (1) and (2) considering initial

conditions to zero.

 2anI ( s )  Ms 2 X ( s )  BsX ( s )  kX ( s ) (3)

 2ansX ( s )  Ein ( s )  I ( s )R  LsI ( s ) (4)

• Re-arranging equation (3) as

Ms 2 X ( s )  BsX ( s )  kX ( s )
I (s) 
 2an 33
 Example-6: Loud Speaker
• Put I(s) in equation (4)

Ms 2 X ( s )  BsX ( s )  kX ( s ) Ms 2 X ( s )  BsX ( s )  kX ( s )
2ansX ( s )  Ein ( s )  R  Ls
 2an  2an

• After simplification the transfer function is calculated as

X (s) 2an
 3
Ein ( s ) ( s LM  s 2 ( RM  LB )  s( RB  LK  4 2 a 2 n 2 )  RK )

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 Example-7: Capacitor Microphone
(Home Work)
• The system consists of a capacitor realized by two plates, one is
fixed and the other is movable but attached to a spring.

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