Polytechnic University of the Philippines Sta, Mesa, Manila CONTROL ENGINEERING LECTURE & LABORATORY MODULE 02 Saggy OOF TO ee RE ‘This module guides you, the student, to learn the caurse you are taking by discussing each of the sylabus’ topic(s) in a digestible and organized approach. It ineludes the topic overview, its objectives or learning outcomes, supplementary course material to aid you on your studies. content, and activities & assessments 2.0.1 Overview In studying control systems, the reader must be able to model dynamic systems in mathematical terms and analyze their dynamic characteristics. A mathematical model of a dynamic system is, defined as a set of equations that represents the dynamics of the system accurately. A system may be represented in many ways and, therefore, may have many mathematical models, depending on one’s perspective. ‘The dynamics of many systems, whather they are mechanical, electrical, and thermal may be described in terms of differential equations. Such differential equations may be obtained by using physical laws governing a particular system —for example, Newton's laws for mechanical systems and laws of thermodynamics for thermal systams, We must always keep in mind that deriving reasonable mathematical models is the most important part of the entire analysis of control systems. 20.2 Module Objectives ‘After working through this module, you will be able to: 4. Define a system for contro! system modeling 2. illustrate a system using schematic diagram and block diagram. 3. Evaluate system requirements for dynamic modeling. 4. Model dynamic systems like hydraulic system, pneumatic system, and thermal system. 5. Convert differential equation to Laplace transformed function. 6. Understand how transfer function works in a control system.To complement this learning module, the students are advised to read, or watch the following resources listed below. Reading Materials: Chapter 2-4: Mathematical Modeling of Control! Systems ‘Ogata, K. (2010). Modem Control Engineering, Fifth Edition, Prentice Hall, USA Chapter 2: Dynamics Model Wahab NA. and Mohamed Z. (2022). Lecture Notes in Electrical Engineering, 921 Control, Instrumentation and Mechatronics: Theory and Practice, Springer, Getmany Chapter 1: Classical Control - Mathematical Models of Systems Paraskevopoulos, PN. (2004). Control Engineering Series: Moder Control Engineering. Marcel Dekker, USA Chapter 3: Mathematical Modeling of Control Systems: Bums, R. (2001), Advanced Control Engineering. Elsevier, USA Online Resources: Contro! System Engineering | Mathematical modeling of control systems htips.yww,youlube.com/watch®v=1-OvNbY G41 Modelling of mechanical system in contro! system problems tips: (/www, youtube. com/waich?vecvPvPkBMM7| 204 Topics Mathematical Modeling of Dynamic Control Systems ‘+ System Modeling of Mechanical Systems, Hydraulic Systems, Pneumatic Systems, and Thermal SystemsMathematical models may assume many different forms. Depending on the system and ‘circumstances, one mathematical model may be better suited than other models. For example, in ‘optimal control problems, it is advantageous to use state-space representations. On the other hand, for the transient-response or frequency-response analysis. of single-input, single-output, linear, time-invariant systems, the transfer-function representation may be more convenient than any other. Once a mathematical model of a system is obtained, various analytical and computer tools can be used for analysis and synthesis purposes. System consisting of two springs in parallel F For the springs in parallel the equivaient spring constant k,g is obtained from, F k, F=(k, +kdx For the springs in series, the force in each spring is the same. Thus, hy! F kax—y)The fluid commonly used in pneumatic system in air. This fluid follows the gas properties and gain the following characteristics: 1, Air and gases are compressible 2. Air lacks tut ing property and always contain water vapor. 3, The normal operating pressure of pneumatic systems is low compared to hydraulic systems. 4, Output power of pneumatic system are considerably less than those of hydraulic systems. ‘Accuracy of pneumatic actuators ls poor at low velocities. 6. The extemal leakage is permissible to a certain extent, but internal leakage must be avoided because the effective pressure difference is small 7. No retum pipes are required in pneumatic systems when air is used. Itis discharge to the atmosphere. 8. Normal operating temperature for pneumatic systems is 5°C - 60°C and can be operated in range of 0°C - 200°C. Pneumatic systems are insensitive lo temperature changes. 9. Pneumatic systoms are fire and explasion proof. Consider the system: ieaeereea a pressure pressure Py Po inflow outflow 2 m ee Pt Po pressure pressure Gs) inflow outflow Ps) P,(s) Left: System and, sight: Transfer function for pneumatic systemFor the resistance & of a pneumatic system, change ingas pressure difference _d(AP) change in gas mass flowrate dq For the capacitance of the pressure vessel may be defined by change im gas stored (mass) _dm _Vdp “change in gaspressure dp dp For small values of p, and p, the resistance then, Pi=Po ,, PinPs pePiaPe, ga Mam Ae er Given the definition of capacitance in pneumatic system, and since the pressure change dp, times the capacitance ¢ Is equal to the gas added to the vessel during dr seconds, then, Combining the equations, Using Laplace Transform, where the initial values are zero, then RCS P, (6) + Py(s) = Bs) Pe) 4 Ps) Resta G(s) Transfer function for pressure inflow and pressure outflow The capacitance of a tank is defined 10 be the change in quantity of stored liquid necessary to cause change in height, Capacitance, € is defined as the change in volume of liquid stored (mn) over the change in liquid height (rm) in the tank, The inflaw rate, q, and outflow rate, q, are in m®/s . The resistance, R can be written as h/d.# Water sup, ie ua Inlet flow Level a h ee ay e xcs) H(s) Left: System and, right: Transfer funetion for water tank ‘As for the dynamic mathematical model and transfer function of this system: rate of change of fluid in tank = flow intake ~ flow discharge Based on the definition of Capacitance, ¢ is simple the cross-sectional area, A of the tank. change in volume dV _ adh changeinheight dh dh Then, Since the flow resistance is defined as, change in height dh_h R= ciangein flow discharge dq ~ qo Combining equations, dh Ree +h = Ra Using Laplace Transform, where the initial values are zero, then,RCs H(s) + H(s) = ROCs) HG) oR . GS) = GG) RCs Transfer function for height (output) and fluid flow input inlet flow Outlet flow = cee) % es) ‘As for qa taken as output and the input is the same as fluid flow, recall h=qoR dh RCT th = Ra Combining equations, Using Laplace Transform, where the initial values are zero, then RES Gals) + Qals) = Gils) Qu{s) 1 SO) = Gs)" Rts +1 Transfer function for fluid flow output and fluid flow input Thermal systems are those that involve the transfer of heat from one substance to another. ‘Thermal systems may be analyzed in terms of resistance and capacitance, although the thermal capacitance and thermal resistance may not be represented accurately as lumped parameters, since they are usually distributed throughout the substance,There are three different ways heat can flow from one substance to another: conduction, convection, and radiation. It can be expressed by the equation below: q=Kae Where, 9 is the heat flow rate (kW), 49 is the temperature difference (°C) and K is the coefficient/constant depending on the mode of heat transfer (kJ/s-"C), KA = 52 for conduction K=hA forconvection Where, k is the thermal conductivity (kJfms:*C), 4 is the area normal to heat flow (m7), Ax is the thickness of the material (m), and h is the convection coefficient (k.lim?-s-*C). For the thermal resistance R for the heat transfer, it can be defined with the equation below. Since the thermal conductivity and convection coefficients are almost constant, the thermal resistance for both is constant. change in temperature difference change in heat flow rate For the thermal capacitance C is defined as: change inkeat stored _ Change in temperature" Where, m is the mass of the substance (kg), and c is the specific heat of the substance. Consider the system: —> Hot liquid Cold Added +8 Liquid Terperaive 6, @ — +) — Ox(s) es) ‘The heat balance equation of the system is given as:ag Mp Fe 6; = ey — meV From the definition of output enthalpy h, and resistance R Substituting R, Using Laplace Transform, where the initial values are zero, then RCs @(s) + fs) = (5) os) 1 6) Gi) ~ Rost Transfer function for added temperature (output) and fluid inflow temperature —» Hot PE siquid: «Cold Ade 6,48 Liquid ‘Temperature hy e Cold —S i) = — liquid Hits) 8{s) — hE da ACG + 0 = Rh,Using Laplace Transform, where the initial values are zero, then REs O(s) + @(s) = RHA(s) (8) Rg 6) - FG) Rost 4 Transfer funetion for added temperature (output) and fluid inflow enthalpy Answer the following questions with brief and concise description/explanation. Write the references you used. 1, Solve the transfer function of the following system using dynamic mathematical modeling. a. Mechanical system as shown below: Find X,(s)/U(s) and X2(5)/U(s). Where x is displacement, m is mass, k is spring constant and u is force. b. Hydraulic system as shown below: CyFind (a) Ff; (s)/0s(s), (b) Ma(s)/Q2(s), (c) @(s)/M;(s). Where his height, and g is flow rate. ‘Ogata, K. (2010). Modem Control Engineering, Fifth Edition. Prentice Hall, USA Wahab N.A. and Mohamed Z. (2022). Lecture Notes in Electrical Engineering, 921: Control, Instrumentation and Mechatronics: Theory and Practice. Springer, Germany Paraskevopoulos, P.N. (2001). Control Engineering Series: Modem Control Engineering. Marcel Dekker, USA. Burs, R. (2001). Advanced Control Engineering, Elsevier, USA