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Contents
Chapter Three
◦ Introduction
◦ Electromechanical Systems
◦ Fluid power systems
◦ Electrical systems
◦ Thermal systems
◦ Analogies in physical system modeling
◦ Dynamic system properties
◦ Control systems
- open loop control
- feedback control
- digital control

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Introduction on modeling of physical system
Definition:
➢ A physical system is a collection of physical objects connected in some
designed pattern to serve some prescribed objective.
Example: Industrial plant, electronic amplifier, governing, mechanism of
steam turbines, satellites, transportation machineries etc.

N.B. No physical system can be represented in its full physical

intricacies, hence ideal assumptions are always made for the
purpose of analysis and synthesis of systems.

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Introduction on modeling of physical system
Dynamic Physical System
❑ Any collection of interacting elements for which there are cause–and-effect
relationships among the time-dependent variables, the present O/P of the
system depend on past I/Ps.
Analysis of the Dynamic Behavior of Physical Systems
❑ Cornerstone of modern technology
❑ More than any other field links the engineering disciplines.
Purpose of a Dynamic System Investigation
❑ Understand & predict the dynamic behavior of a system
❑ Modify and/or control the system, if necessary
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Introduction on modeling of physical system
A Physical Model
❑ Is an idealized representation of physical system.
❑ Complexity of the model depends on the type of study to
be carried out and on the level of accuracy needed.
❑ N.B. Making a model more complex is not proportional
or commensurate with the gain of accuracy.
• Making simple and manipulable mathematical model, but
still gives a greater insight into the dynamic behavior of the
physical system is advisable.

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Introduction on modeling of physical system
Electrodynamic shaker: Physical System vs Physical Model

Physical System Physical Model

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Introduction on modeling of physical system
Engineering System
Investigation Process

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Introduction on modeling of physical system
Essential Features of the study of Dynamic System
Deals with entire operating machines & processes rather than
just isolated components.
➢ Treats dynamic behavior of Mechanical, Electrical,
Electromechanical, Fluid, Thermal, Chemical, & mixed
systems.
➢ Emphasizes the behavioral similarity b/n systems that
differ physically, & develops general analysis & design tools
useful for all kinds of physical system.
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Introduction on modeling of physical system

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Introduction on modeling of physical system
Truth Model Vs. Design Model
❑ In modeling dynamic systems, we use engineering
judgment & assumptions to develop a Physical Model.
❑ The complexity of the physical model depends on the
particular need, & the intelligent use of simple physical
models (understanding of what we are missing).
❑ The Truth Model is the model that includes all the known
relevant characteristics of the real system.
❑ This model is often too complicated for use in engineering
design, but is most useful in versifying design changes or
control designs prior to hardware implementation.

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Introduction on modeling of physical system
Design Model
❑ Captures the important features of the process for which a
control system is to be designed or design r/ns are to be
performed, but omits the details which you believe are not
significant.

Hierarchy of Models
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Introduction on modeling of physical system
The challenges to Physical Modeling
❑ Dynamic behavior of many physical processes is complex.
❑ Cause & effect r/nships are not easily discernible.
❑ Many important variables are not readily identified.
❑ Interactions among the variables are hard to capture.

Hence, Engineering Judgment is the Key!

❑ Because of mathematical complexity of these models,
engineers find it necessary to work on Simpler models
which concentrate matter & energy into discrete lumps
are called lumped-parameter physical models & leads to
ODE mathematical model.

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Introduction on modeling of physical system
Balance in Engineering is the key
❑ The essential characteristics of an
engineer & the key to success is a
balance b/n the following sets of skills:
➢ Modeling (physical & mathematical),
Analysis (closed-form & numerical
simulation), & Control design (analog &
digital) of dynamic physical system.
➢ Experimental Validation of models &
analysis, & understanding the key
issues in hardware implementation of
designs.

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Introduction on modeling of physical system
Stages of a Dynamic System Investigation
1. Physical System
❑ Define the physical system to be studied, along with the
system boundaries, I/P variables, & O/P variables.
2. Physical System to Physical Model
❑ In general, a physical model is an imaginary physical
system which resembles an actual system in its salient
features, but which is simpler, more ideal, & is thereby
more amenable to analytical studies. There is a hierarchy of
physical models of varying complexity possible.

❑ Not oversimplified, not overly complicated – a slice of reality.

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Introduction on modeling of physical system
Physical Model to Mathematical Model
• We derive a Mathematical Model to represent the physical model, i.e.,
write down the differential equations of motion of the physical model.

• The goal is a generalized treatment of dynamic systems, including

Mechanical, Electrical, Electromechanical, Fluid, Thermal, Chemical,
& mixed systems.
❑ Define System: Boundary, I/Ps, O/Ps
❑ Define Variables: Through & Across Variables
❑ Write System R/ns: Dynamic Equilibrium R/ns & Compatibility
R/ns
❑ Write Constitutive R/ns: Physical Relations for each element
❑ Combine: Generate State Equations.
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Introduction on modeling of physical system
Some of Engineering
judgments & Assumptions

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Introduction on modeling of physical system
Some of Engineering judgments & Assumptions
A mathematical model is developed from the physical model using
appropriate physical laws & some considerations.
❑ Mathematical model can be:
❑ Scalar differential equation
❑ State variable vector-matrix differential equation
❑ When the mathematical model is solved for various input
conditions, then the result represents the dynamic response of the
physical system.
❑ Linear Mathematical model of physical systems: obeys the
principles of superposition and homogeneity.

Inputs Outputs
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Introduction on modeling of physical system
Some of Engineering judgments & Assumptions

For analysis and synthesis of the mathematical models available

mathematical tools have to be utilized.

Example: Laplace, Fourier Transforms & Linearization

❑ Unfortunately, no physical system in nature is perfectly linear.

❑ Certain assumptions must always be considered to get a linear

model,
▪ which is a compromise between the simplicity of the
mathematical model and the accuracy of results obtained.

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 Modeling of Mechanical Systems

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Introduction on modeling of physical system
Modeling of Mechanical Systems
The building blocks are:
❑ Spring: represents the stiffness of a system

❑ Damper (dashpot) : represents the force which opposes motion

(frictional or damping effects)

❑ Mass: represents the inertia or resistance to acceleration

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Introduction on modeling of physical system
Modeling of Mechanical Systems
Simple Model:

Such models are applied for:

• Models of machine tools mounted on the ground and is a basis for
studying the effects of ground disturbances on the displacement of
the machine bed (Base Excitation).
• Models of the wheel and its suspension for a car or track and can be
used for the study of the behavior that could be expected when the
vehicle is driven over a rough road and hence used as a basis for the
design of the vehicle suspension.
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 Modeling of Electrical Systems

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Introduction on modeling of electrical physical systems
Power electronics
Power electronics:
❑ Power electronics refers to control and conversion of electrical power by
power semiconductor devices wherein these devices operate as switches.
❑ Power electronics relates to the control and flow of electrical energy.
❑ Control is done using electronic switches, capacitors, magnetics, and
control systems.
❑ Scope of power electronics: milliWatts ⇒ gigaWatts
❑ Power electronics is a growing field due to the improvement in switching
technologies.
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Introduction on modeling of electrical physical systems
Tasks of Power Electronics
DC-to-AC conversion
DC-to DC conversion
AC-to-AC conversion

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Introduction on modeling of electrical physical systems
Power Electronic
Converters: Electronic power converter is the term that is used to refer to a
power electronic circuit that converts voltage and current from one form to
another.
• Rectifier converting an ac voltage to a dc voltage

• Inverter converting a dc voltage to an ac voltage

• Chopper that converts a dc voltage to another dc voltage

• Cycloconverter and cycloinverter converting an ac voltage to

another ac voltage.
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Introduction on modeling of electrical physical systems
Electrical circuit and Components
• Practically all mechatronic systems contain electrical circuits and
components. To understand how to design and analyze the fundamentals of
basic electrical components and circuit analysis techniques is a necessity.
• When electrons move, they produce an electrical current, and can do useful
things with the energized electrons.
• A measure of the electric field’s potential is called voltage.
• The movement of electrons is the current, that moves through the field.

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Introduction on modeling of electrical physical systems
Electrical circuit and Components
• When we measure current through a circuit, we place a meter
in the circuit and let the current flow through it.
• When we measure a voltage, we place two conducting probes
on the points across which we want to measure the voltage.
Voltage is sometimes referred to as electromotive force,or emf.
• Current is defined as the time rate of flow of charge:

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Introduction on modeling of electrical physical systems
Electrical circuit and Components
• The SI unit for current is the ampere(A), and charge is measured in
coulombs (C = A · s).
• When voltage and current in a circuit are constant (i.e., independent
of time), their values and the circuit are referred to as direct current
or DC.
• When the voltage and current vary with time, usually sinusoidal we
refer to their values and the circuit as alternating current or AC.

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Introduction on modeling of electrical physical systems
Electrical circuit and Components
• An electrical circuit is a closed loop consisting of several
conductors connecting electrical components.
• Conductors may be interrupted by components called switches

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Introduction on modeling of electrical physical systems
BASIC ELECTRICAL ELEMENTS
Active electrical elements
• Requires an external energy source

• Fundamental properties vary with input

• Usually fabricated from semi-conductor materials

• can switch the flow of current

• Diodes, Transistors, etc…

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Introduction on modeling of electrical physical systems
Electrical circuit and Components
Passive electrical elements
There are three basic passive electrical elements:
• Resistor ( R)
• Capacitor ( C)
• Inductor ( L)
Passive elements require no additional power supply, unlike
active devices such as integrated circuits.
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Introduction on modeling of electrical physical systems
Electrical circuit and Components
Schematic symbols for basic electrical elements and semiconductor devices

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Introduction on modeling of electrical physical systems
Electrical circuit and Components
Resistor:
A resistor is a dissipative element that converts electrical energy into heat.
Ohm’s law defines the voltage-current characteristic of an ideal resistor.
A resistor dissipates energy
❑ For a resistive element, Ohm's Law can be written

V = IR …………………Ohms Law

Resistance (R)
𝑽𝟏 (t) - 𝑽𝟐 (t) = R i(t)

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Introduction on modeling of electrical physical systems
Electrical circuit and Components
Capacitor: A capacitor is a passive element that stores energy in the form of an electric field.
It is the measure of energy storing ability of a capacitor in the form of electric field.
❑ The potential difference across it depends on the charge q on the capacitor plates.

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Introduction on modeling of electrical physical systems
Electrical circuit and Components
Dielectric Material
The dielectric material is an insulator that increases the capacitance as a result
of permanent or induced electric dipoles in the material.

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Introduction on modeling of electrical physical systems
Electrical circuit and Components

• For capacitive element, the electrostatic equation is;

Q(t) = C(𝑉1 (t) - 𝑉2 (t))
• Differentiate both sides w.r.t. time t.
𝑞
𝑑𝑄 𝑑 • V = 𝐶 , 𝑤ℎ𝑒𝑟𝑒 𝐶 𝑖𝑠 𝑡ℎ𝑒 𝑐𝑎𝑝𝑎𝑐𝑖𝑡𝑎𝑛𝑐𝑒
=𝑖 𝑡 =C (𝑉1 (t) - 𝑉2 (t))
𝑑𝑡 𝑑𝑡

• Note if both sides of equation above are integrated then,

1
𝑉1 (t) - 𝑉2 (t) = ‫𝑡𝑑𝑖 ׬‬
𝐶

i(t)

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Introduction on modeling of electrical physical systems
Electrical circuit and Components
Inductor: An inductor is a passive
energy storage element that stores
energy in the form of magnetic field.
• Inductance is the property of a coil
of wire that opposes a change in
current

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Introduction on modeling of electrical physical systems
Electrical circuit and Components
Inductor:
❑ For an inductive element, the relationship between voltage and current is

Inductance (L) L
𝑽𝟏 (t) 𝑽𝟐 (t)
i(t)

𝒅𝒊
𝑽𝟏 (t) - 𝑽𝟐 (t) = L
𝒅𝒕

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Introduction on modeling of electrical physical systems
Kirchhoff's Law:
Describe how the electrical building blocks can be combined.
1. KCL: the algebraic sum of the currents at the junction is zero.

1. KVL: In a closed circuit or loop, the algebraic sum of the potential

difference across each part of the circuit is equal to the applied emf.

෍𝑽 = 𝟎

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Physical Modeling of Thermal System

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Physical Modeling of Thermal System
Mathematical models of Thermal System
❑Thermal system: involves the transfer of heat from one substance to
another. There are 3-modes of heat transfer.
1. Conduction: is the transfer of heat energy by collisions of particles
within a body due to a temperature gradient.
2. Convection: it is the transfer of heat from one place to another by
the movement of fluids (dominant form in liquids & gases).
3. Radiation: Heat transfer through radiation, takes place in the
form of electromagnetic waves mainly in the infrared region.

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Physical Modeling of Thermal System
Mathematical models of Thermal System

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Physical Modeling of Thermal System
Mathematical models of Thermal System
❑Thermal system may be ❑Thermal capacitance (Ct):
analyzed in terms of thermal thermal capacitance Ct is defined
resistance and thermal by
capacitance.
Thermal resistance (Rt): Rt for
heat transfer between two
substance may be defined as
follows

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Physical Modeling of Thermal System
Mathematical models of Thermal System

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Physical Modeling of Fluid System

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Physical Modeling of Fluid System
Fluid System:
• It is a system that utilizes fluid properties to generate motion.
• Application areas: Automotive, industrial, aerospace, etc.
Example: Fluid system (hydraulic press)

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Physical Modeling of Fluid System
Mathematical models of Fluid System
❑Mathematical Modelling of Liquid Level Systems
❑There are two types of flow
1. Laminar Flow: it is characterized by a smooth, parallel line motion of the fluid
2. Turbulent Flow: it is characterized by an irregular motion of the fluid

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Physical Modeling of Fluid System
Mathematical models of Fluid System
❑Resistance of Liquid Level Systems.

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Physical Modeling of Fluid System
Mathematical models of Fluid System

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 The end!

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 The end!

Adisu Tadesse|MSc|
Lecturer, Mechatronics Eng. | Agro-Technical and Technology College/ATTC/ - Menschen fuer Menschen
Foundation – MFM

Email: officialadisu1996@gmail.com |adisu.tmtmd19@sot.pdpu.ac.in

URL: http://www.mfmattc.edu.et/ | Harar, Ethiopia

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