CH3 - Mathematical-Model - Control Theory - 2020-2021 - Semester01 - DR - Horoub

Copyright © 2020 by Mamon Horoub. All rights reserved.
Control Theory
Thursday, June 10, 2021

Control Theory
.
Thursday, June 10, 2021

ENME438 : Control Theory

CH 3: Mathematical Modeling
Dr. Mamon M. Horoub
Assistant Professor,
Faculty of Engineering & Technology
Department of Mechanical and Mechatronics Engineering
1 Objectives
Recap of the
Introduction
Previous 2
Class 3 Laplace transform
Agenda
4 Inverse Laplace transform
Dr. Mamon Horoub

1 Objectives
Today’s 2 Mechanical Systems
Class 3 Liquid Systems
Agenda
4 Electrical Systems
5 Electro-Mechanical Systems
Dr. Mamon Horoub

Part 1
Objectives
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Objectives
After completion of this Chapter, students should be able to do the following
1. Identify the mechanical, liquid, and electrical elements
2. Obtain Equations of Motion (EOM) for systems.
3. Apply Newton’s second law to obtain EOM.
4. Apply energy methods to obtain EOM.
5. Determine the transfer function in liquid level systems having several fluid pipes and tanks.
6. Apply Newton’s laws, electrical circuit laws, and electromagnetic principles to develop models
of electromechanical systems, including DC motors and sensors.
7. Utilize MATLAB to assist in the response analysis.
Dr. Mamon Horoub

Part 2
Mechanical Systems
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Introduction
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Introduction
Mechanical Elements
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Introduction
Translational Elements
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Introduction
Mass or Inertia Elements
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Introduction
Spring Elements: Translational Motion
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Introduction
Examples of Translating Spring Elements
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Introduction
Spring Elements: Torsional Motion
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Introduction
Examples of Torsional Spring Elements
http://www.esm.psu.edu/courses/emch13d/design/animation/animation.htm
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Introduction
Equivalent Springs: Summary
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Introduction
Equivalent Springs: Summary
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Introduction
Compliance or Mechanical Impedance
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Introduction
Practical Spring versus Ideal Spring
https://phet.colorado.edu/sims/mass-spring-lab/mass-spring-lab_en.html
Dr. Mamon Horoub
Introduction
Damper Elements: Translational Motion
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Introduction
Damping Elements
http://www.acoustics.salford.ac.uk/feschools/waves/shm4.htm
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Introduction
Damping Elements
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Introduction
Examples of Common Uses of Dashpots
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Introduction
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Introduction
Practical Dampers versus Ideal Dampers
http://www.mwit.ac.th/~physicslab/applet_04/fun@learning/JAVA/dho/dho2.html
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Introduction
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Mathematical Modeling of
Mechanical Systems
■ A mathematical model of any mechanical
system can be developed by applying Newton’s
laws to the system.
■ Rigid Body When any real body is

accelerated, internal elastic deflections are
always present. If these internal deflections are
negligibly small relative to the gross motion of
the entire body, the body is called rigid body.
Thus, a rigid body does not deform.
Dr. Mamon Horoub

Mathematical Modeling
First Law: A particle originally at rest, or moving in a
straight line at constant velocity, will remain in this state
provided the particle is not subjected to an unbalanced
force.
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Torque or Moment of Force
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Moment of Inertia
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Moment of Inertia of Some Common Shapes
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Parallel Axis Theorem
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Example
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Forced Response and Natural response
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http://math.mit.edu/daimp/ForcedDampedVib.html
http://www.aw-bc.com/ide/idefiles/media/JavaTools/vibefdmp.html
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Equation of Motion (EOM) Using Newton’s Second Law of Motion:
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Equation of Motion (EOM) Using Newton’s Second Law of Motion:
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Rotational Systems
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Rotational Systems
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Rotational Systems
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Time Constant
http://www.sciences.univnantes.fr/physique/perso/gtulloue/equadiff/equadiff.html Dr. Mamon Horoub

Spring Mass System
http://phet.colorado.edu/sims/mass-spring-lab/mass-spring-lab_en.html Dr. Mamon Horoub

Free Vibration
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Free Vibration
http://www.sciences.univnantes.fr/physique/perso/gtulloue/equadiff/equadiff.html Dr. Mamon Horoub

Free Vibration
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Spring Mass Damper System
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Pole-Zero Map
http://mathlets.org/mathlets/damped-vibrations/ Dr. Mamon Horoub

Work, Energy and Power
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Energy Method for Deriving Equations of Motion (EOM)
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Example
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Example
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Principle of Conservation of Energy
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Example: Kinetic Energy of rolling motion
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Example:
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Example:
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Linearization
Linearization of Nonlinear Systems:
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Linearization
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Linearization
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Linearization
Example:
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Linearization
Example:
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Example:
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Example:
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Example:
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Example:
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Example:
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Example:
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Example:
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Example:
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Example:
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Problem (Solve it at your home):
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Dr. Mamon Horoub

Useful Links
http://www.mwit.ac.th/~physicslab/applet_04/fun@learning/JAVA/dho/dho2.html
http://www.geneseo.edu/~heap/applets/Spring/spring.html
http://www.cabrillo.edu/~jmccullough/Applets/oscillations.html
http://phet.colorado.edu/en/simulation/mass-spring-lab
Dr. Mamon Horoub

Part 3
Liquid Systems
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Introduction
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Introduction
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Resistance and Capacitance of a Liquid Level System
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Resistance in Laminar Flow
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Resistance in Turbulent Flow
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Capacitance
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Modeling of Liquid Level Systems
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Analogous Systems
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Liquid Level Systems with Interactions
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Example
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Example
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Example
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Dr. Mamon Horoub

Part 4
Electrical Systems
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Introduction
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Introduction
Electrical Elements:
https://nationalmaglab.org/education/magnet-academy/watch-play/interactive/current-flow
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Introduction
Electrical Elements:
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Introduction
Current Source and Voltage Source:
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Introduction
Resistance Elements:
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Introduction
Capacitance Elements:
https://nationalmaglab.org/education/magnet-academy/watch-play/interactive/capacitor
Dr. Mamon Horoub
Introduction
Inductance Elements:
https://nationalmaglab.org/education/magnet-academy/watch-play/interactive/inductive-reactance
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Introduction
Electrical Elements Summary:
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Introduction
Fundamentals of Electric Circuits:
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Introduction
Resistances in Series and Parallel:
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Introduction
Kirchhoff’s Current Law (KCL) (Node Law).:
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Introduction
Kirchhoff’s Voltage Law (KVL) (Loop Law).:
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Introduction
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Introduction
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Introduction
Circuits with two or more loops:
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Introduction
Circuits with two or more loops:
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Mathematical Modeling of Electrical Systems

Example 1:
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Example 1:
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Example 2:
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Example 3:
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Transfer Functions of Nonloading Cascaded Elements:
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Transfer Functions of Cascaded Elements:
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Transfer Functions of Cascaded Elements:
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Complex Impedance:
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Deriving Transfer Functions of Electrical Circuits Using Complex Impedances:
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Example 4:
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Example 4:
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Analogous Systems:
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Mechanical Electrical Analogies:
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Force Voltage Analogy:
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Force Voltage Analogy:
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Dr. Mamon Horoub

Part 5
Electro-Mechanical Systems
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Mathematical Modeling of Electro-Mechanical Systems

Modeling of an Armature-Controlled DC Motor:
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Dr. Mamon Horoub


http://www.magnet.fsu.edu/education/tutorials/java/dcmotor/index.html
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Block Diagram representation:
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Block Diagram representation:
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Gear Train:
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Useful Links
http://www.wikihow.com/Calculate-Voltage-Across-a-Resistor
http://www.electronics-tutorials.ws/resistor/res_1.html
http://www.nidec.com/en-NA/technology/motor/basic/00011/
Dr. Mamon Horoub

References
1. Dorf, R. C. and Bishop, R. H. (2008). Modern Control Systems (Eleventh Edition)
Pearson Education.
2. Ogata, K. (2010). Modern Control Engineering (Fifth Edition) Pearson Education.
3. Nise, N. S. (2011). Control Systems Engineering (Sixth Edition) John Wiley and Sons.
4. Bazoune (2019). Lecture Notes KFUPM
Dr. Mamon Horoub

Dr. Mamon Horoub

CH3 - Mathematical-Model - Control Theory - 2020-2021 - Semester01 - DR - Horoub

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Copyright © 2020 by Mamon Horoub. All rights reserved.

Thursday, June 10, 2021

Thursday, June 10, 2021

ENME438 : Control Theory

Class 3 Laplace transform

Dr. Mamon Horoub

Today’s 2 Mechanical Systems

Class 3 Liquid Systems

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

■ Rigid Body When any real body is

Dr. Mamon Horoub

Dr. Mamon Horoub

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Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

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Dr. Mamon Horoub

http://www.sciences.univnantes.fr/physique/perso/gtulloue/equadiff/equadiff.html Dr. Mamon Horoub

http://phet.colorado.edu/sims/mass-spring-lab/mass-spring-lab_en.html Dr. Mamon Horoub

Dr. Mamon Horoub

http://www.sciences.univnantes.fr/physique/perso/gtulloue/equadiff/equadiff.html Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

http://mathlets.org/mathlets/damped-vibrations/ Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub