MECE 3350U

Control Systems

Lecture 2
Dynamic Models

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Outline of Lecture 2

By the end of this lecture you should be able to

• Model mechanical and electrical systems

• Find the differential equation that describes the behaviour of a physical

system

• Understand the analogy between mechanical and electrical systems

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Elements of a mechanical system

→ Mass: The quantity of matter in a body

→ Inertia: Tendency to resist changes in state of motion
Idealization: Rigid body

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Elements of a mechanical system

→ Spring: Designed to store energy

Idealization: Negligible mass and damping

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Elements of a mechanical system

→ Viscous damper: Designed to dissipate energy

Idealization: negligible mass and stiffness

viscous friction
6=
kinetic/static friction

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Example
Find the equation of motion of the spring-mass-damper system.

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Elements of electrical circuits

→ Resistor: Resistance against electric current

Idealization: No inductance or capacitance

→ Capacitor: Stores energy in an electric field

Idealization: No inductance or resistance

→ Inductor: Stores energy in a magnetic field

Idealization: No capacitance or resistance

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Example
Find the relation between the voltage V , the current, and the charge in the
circuit.

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Mechanical/electrical analogy

d 2x dx
F =m +b + kx (1)
dt 2 dt

d 2q dq 1
V =L +R + q (2)
dt 2 dt C
Impulse response

x (t) = Ke −αt sin(βt + θ) (3)

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Mechanical/electrical analogy

Mechanical Electrical

Force F Voltage V
Velocity v Current i
Displacement x Charge q

Damping b Resistance R
Mass m Inductance L
Compliance k −1 Capacitance C

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Mechanical/electrical analogy

Taking: m = 5 kg, k = 0.25 N/m, b = 0.1 Ns.

7 3
Step Response
Impulse Response
Amplitude

Amplitude

0 -3
0 Time (seconds) 50 0 Time (seconds) 50

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Mechanical/electrical analogy
Taking: m = 5 kg, k = 0.25 N/m, b = 0.1 Ns.

2 Step Response 2
Impulse Response
Amplitude

Amplitude

-2 -2
0 Time (seconds) 50 0 Time (seconds) 50

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Mechanical/electrical analogy
6
displacement/charge
velocity/current

Amplitude

0
Step Response

0 Time (seconds) 50

2
displacement/charge
velocity/current
Amplitude

Impulse Response
-2
0 Time (seconds) 50

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Exercise 3

Find the equations of motion of the mass-spring system shown.

Procedure:
→ Draw the free body diagram of each mass
→ Apply the equation of motion

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Exercise 3 - continued

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Exercise 4

Find the differential equations to model the behaviour of the system shown.

Procedure:
→ Draw the free body diagram of each mass
→ Apply the equation of motion

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Exercise 4 - continued

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Exercise 5

Find the differential equations to model the behaviour of the system shown.

Procedure:
→ Draw the free body diagram of each mass
→ Apply the equation of motion

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Exercise 5 - continued

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Exercise 6

Find the differential equations to model the behaviour of the system shown.

Procedure:
→ Draw the free body diagram of each mass
→ Apply the equation of motion

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Exercise 6 - continued

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Exercise 7

Find the differential equations to model the behaviour of the system shown.

Procedure:
→ Draw the free body diagram of each mass
→ Apply the equation of motion

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Exercise 7 - continued

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Exercise 8

Write the the differential equations (i = f (V )) of the following circuit.

Procedure:
→ Apply Kirchhoff’s voltage law
→ Find the equations for i1 and i2

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Exercise 8 - continued

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Exercise 9

Write the the differential equations (i = f (V )) of the following circuit.

Procedure:
→ Apply Kirchhoff’s voltage law
→ Find the equations for i1 and i2

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Exercise 9 - continued

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Exercise 10

Write the the differential equations (Vout = f (V )) of the following circuit.

Procedure:
→ Apply Kirchhoff’s law
→ Find the equations for Vout as a function of V

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Exercise 10 - continued

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Next class...

• Laplace transform

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