EE3011: Modelling and Control

System Modelling
(Modelling of Physical Systems)
Prof Soh Yeng Chai
 EE3011: Modelling and Control

Appendix
 EE3011: Modelling and Control

Appendix 3.1
Applying Laplace transform on the ODE,
𝑑2 𝑖 𝑑𝑖 1 𝑑𝑒
𝐿 +𝑅 + =
𝑑𝑡 2 𝑑𝑡 𝑐 𝑑𝑡
Assuming zero initial conditions, we get:
1
𝑠 2 𝐿 + 𝑠𝑅 + 𝐼 𝑠 = 𝑠𝐸 𝑠
𝑐
𝐼 𝑠 𝑠
Or = 1
𝐸 𝑠 𝑠 2 𝐿+𝑠𝑅+
𝑐

i.e., we have

𝐸 𝑠 𝑠 𝐼 𝑠
1
𝑠 2 𝐿 + 𝑠𝑅 +
𝑐

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 EE3011: Modelling and Control

Appendix 3.2
Basic Force Components
Translational systems
Mass, friction and spring are 3 idealized parameters used in the analysis
of mechanical systems.

The symbols and units used are : x [m], M [Kg], F [N], t [sec],
B[N/m/sec], K [N/m]

Mass
x(t)

Force= mass x acceleration

F( t ) M 𝑑2𝑥
𝐹=𝑀 2
𝑑𝑡

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 EE3011: Modelling and Control

Appendix 3.2
Damper (viscous friction)
x1(t) x2(t)

F( t )
Force= 𝐵x relative velocity
B 𝑑𝑥1 𝑑𝑥2
𝐹 = 𝐵( − )
𝑑𝑡 𝑑𝑡
Where, 𝐵 = viscous friction coefficient

Spring
x1(t) x2(t)

F( t ) Force= 𝐾x elongation (compression)

𝐹 = 𝐾(𝑥1 − 𝑥2 )
K Where, 𝐾 = spring constant.

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 EE3011: Modelling and Control

Appendix 3.3
1
From 𝑋 𝑠 = 𝐹 𝑠 , we have the following sub-system:
𝑠 2 𝑀+𝑠𝐵

𝐹 𝑠 𝑋 𝑠
1
𝑠 2 𝑀 + 𝑠𝐵

From F 𝑠 = 𝐵𝜙 𝑙𝐼 𝑠 , we have:
I(s) 𝐹 𝑠
𝐵𝜙 𝑙

They are inter-connected to give:

I(s) 𝐹 𝑠 𝑋 𝑠
𝐵𝜙 𝑙 1
2
𝑠 𝑀 + 𝑠𝐵
Hence,
𝑋 𝑠 𝐵𝜙 𝑙
=
𝐼 𝑠 𝑠 𝑠 2 𝑀 + 𝑠𝐵
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 EE3011: Modelling and Control

Appendix 3.4
1
From 𝑋 𝑠 = 𝐹 𝑠 , we have the following sub-system:
𝑠 2 𝑀+𝑠𝐵

𝐹 𝑠 𝑋 𝑠
1
𝑠 2 𝑀 + 𝑠𝐵

From 𝐹 𝑠 = 𝐵𝜙 𝑙𝐼 𝑠 , we have:
I(s) 𝐹 𝑠
𝐵𝜙 𝑙

From 𝐸𝑐𝑜𝑖𝑙 𝑠 = 𝑠𝐵𝜙 𝑙𝑋 𝑠 , we have:

Ecoil(s) X(s)
sBf l

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 EE3011: Modelling and Control

Appendix 3.4
𝑉𝑎 𝑠 −𝐸𝑐𝑜𝑖𝑙 𝑠
From 𝐼 𝑠 = , we have:
𝑠𝐿+𝑅

Va(s) + 1 I(s)
𝑠𝐿 + 𝑅
-
Ecoil(s)

They are inter-connected to give:

Va(s) I(s) F(s) X 𝑠

+ 1 1
Bf l
𝑠𝐿 + 𝑅 𝑠 2 𝑀 + 𝑠𝐵
-
Ecoil(s)
sBf l