Mathematical models of

Systems
Learning objectives
• Use physical laws governing a particular system such as Newton’s law for
mechanical systems and Kirchhoff’s laws for electrical systems etc. to realize
systems.
• Describe physical systems in differential equations.
• Transform DE to Laplace domain and perform analysis and/or design.
• Able to model electrical and mechanical system elements.
Introduction
• To understand and control complex systems, it is necessary to obtain quantitative
mathematical models of the systems under study.
• This means it is necessary to analyze the relationships between the system
variables and obtain mathematical model.
• However, the system under study are dynamic in nature, the descriptive
equations are usually differential equations.
• If the equations can be linearized, then Laplace transform can simplify the
method of solution.
Dynamic system modeling approach
1. Define the system and its components.
2. Formulate mathematical model and fundamental assumptions based on basic
principles.
3. Obtain the differential equations representing the mathematical model.
4. Solve the equations for the desired output variables.
5. Examine the solutions and the assumptions.
6. If necessary, reanalyze or redesign the system.
Variables for physical systems

System Variable 1 Variable 2 Variable 3 Variable 4

Electrical Current Charge voltage Flux

Translational Force Momentum Velocity Displacement

Rotational Torque Angular Angular velocity Angular

momentum displacement
Fluid Rate of flow Volume Pressure

Thermal Rate of flow Heat energy Temperature

Voltage-current, voltage-charge, and impedance
relationships for capacitors, resistors, and inductors
Component Voltage-Current Current-Voltage Voltage-Charge Impedance Admittance
Differential equations of physical systems
• The differential equations describing the dynamics performance of a physical
system are obtained by the physical law of the process.
• In this chapter we will deal with
─ Mechanical systems.
─ Electrical systems.
─ Fluid and thermodynamic systems.
Nomenclatures
• Through variables (variable transmitted through an element):
─ F = force, T= torque, i = current, Q = fluid volumetric flow rate, q = heat flow rate.
• Across-variable:
─ v = translational velocity, w = angular velocity, v = voltage, P = pressure, T =
temperature.
• Inductive storage:
─ L = inductance, 1/k = rotational stiffness, I = fluid inertness.
• Capacitive storage:
─ C = capacitance, M = mass, J = moment of inertia, Cf = fluid capacitance, Ct = thermal
capacitance.
• Energy dissipater:
─ R = resistance, b = viscous friction, Rf = fluid resistance, Rt = thermal resistance.
Modeling mechanical elements
• Translational motion (motion along a straight path)
─ There are three types of forces that resists motion.
i. Inertia force
ii. Damping force
iii. Spring force
Mechanical system components: translation
Applied force = Opposing force
• Translational motion (motion along a straight path) (Newton’s Law)
─ Three types of forces that resists motion.
i. Inertia force
ii. Damping force
iii. Spring force  Com pon en t in pu t : for ce f (t )
 Com pon en t ou t pu t : posit ion x (t )
d 2 x (t )
 Com pon en t ODE (Newt on 's la w): M 2
 M x (t )  f (t )
dt
F is N (n ewt on ) a n d M in kg

F (s ) Taking Laplace transform

X (s ) X (s ) 1
G (s ) M s 2 X (s )  F (s )  G (s )  
F (s ) M s 2
Mechanical system components: translation
• Translational motion (motion along a straight path)
─ Three types of forces that resists motion.
i. Inertia force
Dashpot: piston and cylinder
ii. Damping force (viscous)
iii. Spring force  Com pon en t in pu t : for ce f (t )
 Com pon en t ou t pu t : posit ion x (t )
d x (t )
 Com pon en t ODE (Newt on 's la w): b  x (t )  f (t )
dt
b or B in Ns/m
Taking Laplace transform
F (s ) X (s ) X (s ) 1
G (s ) bsX (s )  F (s )  G (s )  
F (s ) bs
Mechanical system components: translation
• Translational motion (motion along a straight path)
─ Three types of forces that resists motion.
i. Inertia force
 Com pon en t in pu t : for ce f (t )
ii. Damping force (friction)
 Com pon en t ou t pu t : posit ion x (t )
iii. Spring force
 Com pon en t ODE (H ooke's l a w): Kx (t )  f (t )
or f (t )  K  v (t )d t
K is spr in g con st a n t or st iffn ess in N/m

Taking Laplace transform

X (s ) 1
F (s )
G (s )
X (s ) KX (s )  F (s )  G (s )  
F (s ) K
Mass - spring system
Spr in g F or ce  k x (t ) ta
Applied Movement x(t) d 2 x (t )
Force In er t ia F or ce  M
dt
M
D’ Alembert’s principle is that all forces
and moments on a body must add up to
Inertia Force
zero.
Spring
Force d 2 x (t )
f (t )  M  Kx (t )  0
dt

X (s )
Taking Laplace transform
F (s ) 1
G (s ) X (s )
F (s )  M s 2 X (s )  KX (s )  0  G (s )   2 M
F (s ) s  K
M
Spring damper system
Spring force
Force balance:
d x (t )
f (t )  Kx (t )  b
dt
Taking Laplace transform

d x (t )
Damping f (t )  Kx (t )  b
force dt
F (s )  KX (s )  bsX (s )
F (s ) X (s )
G (s )
X (s ) 1
 G (s ) 
F (s ) bs  K
Mass - spring - viscous damper system
Example: car suspension

F (s ) X (s )
G (s )

Model Force balance

E qu ation of m otion
M s 2 X (s )  bsX (s )  KX (s )  F (s )
d 2 x (t ) d x (t ) 1
M b  Kx (t )  f (t ) X (s ) 1 M
dt dt   G (s ) 
F (s ) M s 2  b s  K s 
2 b
s
K
Taking Laplace transform M M
Viscous friction

Viscous friction is in opposite direction to the velocity; the magnitude of

the friction force is proportional to the magnitude of the velocity
Mechanical system components: rotation
• Rotational motion (motion about a fixed axis)
─ There are four types of torques that resists the rotational motion.
i. Inertia torque.
ii. Damping torque.
iii. Spring torque
iv. Gear
Mechanical system components: rotation
• Rotational motion (motion about a fixed axis)
─ Four types of torques that resists the rotational motion.
i. Inertia torque.
Inertia (J) is the property of an element that stores the kinetic
ii. Damping torque. energy of rotational motion.
iii. Spring torque
iv. Gear  Com pon en t in pu t : t or qu e T (t )
 Com pon en t ou t pu t : a n gle  (t )
d 2 (t )
 Com pon en t ODE (Newt on 's la w): M 2
 T (t )
dt
 (t ) is a n gu la r velocit y in r a d/sec
T (s )
G (s )
 (s )  (t ) is a n gu la r displa cem en t r a d
T (t ), Tor qu e is in N m ; J i n kg-m 2
Mechanical system components: rotation
• Rotational motion (motion about a fixed axis)
─ Four types of torques that resists the rotational motion.
i. Inertia torque.
 Com pon en t in pu t : t or qu e T (t )
ii. Damping torque.
 Com pon en t ou t pu t : a n gle  (t )
iii. Spring torque
d (t )
iv. Gear  Com pon en t ODE : D  T (t )
dt
D is t h e da m pin g coefficien t ,  N-m -s/r a d 
 (t ) is a n gu la r velocit y a n d
 (t ) is a n gu la r displa cem en t
T (s )  (s )
T (t ), Tor qu e is i n Nm
G (s )
Mechanical system components: rotation
• Rotational motion (motion about a fixed axis)
─ Four types of torques that resists the rotational motion.
i. Inertia torque.
ii. Damping torque. Spring torque: Product of torsional stiffness and
iii. Spring torque angular displacement
iv. Gear
 Com pon en t in pu t : t or qu e T (t )
 Com pon en t ou t pu t : a n gle  (t )
 Com pon en t ODE (H ooke's la w): K  (t )  T (t )
N -m
K is in
T (s )  (s ) rad
G (s )
Rotational motion forces

d 2 (t ) d  (t )
J 2
D  K  (t )  T (t )
dt dt
 (s ) 1
 G (s )  2
T (s ) J s  Ds  K

T (s )  (s )
G (s )
Mechanical system components: rotation gears
r1  2
r11  r2 2  
r2 1
{Distance traveled along each gear's circumference
is the same)
r1 N1

r2 N 2
(Number of teeth is proportional to the radius)

 C om pon en t in pu t : a n gle 1 (t )  C om pon en t in pu t : Tor qu e T1 (t )

 C om pon en t ou t pu t : a n gle  2 (t )  C om pon en t ou t pu t : Tor qu e T 2 (t )
N1
 Com pon en t ODE  2  1  Com pon en t ODE T 2 
N2
T1
N2 N1
Gear transformations

• Let T2 denote the torque applied to the left of the inertia J. The equation of motion
is d 22 (t ) d  2 (t )
J 2
D  K  2 (t )  T 2
dt dt
N2 N1
• While from the gear equations we have T2  T1 a n d 2  1
N1 N2

 N  2   N  2   N  2 
• Therefore  1  J  1   1  D  1   1  K  1  T1
 N 2    N 2    N 2  
Rotational mechanical system: example

• Equation of motion
 N  2   N  2  N2 
  J 1  J 2   2    D1  D 2   2  K 2 2    T1
1 1

 N 2    N 2    N1 
Rotary mechanical system
• Torsion bar – a metal rod clamped at one end and twisted at the other end
produces a torque opposing the twisting that is directly proportional to the angle
of the twist.

Torsion T /  = Torsion stiffness, k

stiffness, k T  Nm
  angle of twist in radians
 Angle of twist k  the torsional stiffness in Nm/rad
T (t )  k (t )
Torque
 (s ) 1
This is equivalent to a
T (s )  k  (s )  G (s )  
T (s ) k
mass and spring
Moment of inertia

 Rotating masses oppose changes to the motion and

Moment of Newton’s II law for rotating masses is
Inertia, J
d 2
T (t )  J
dt2

Torque
T (s )  J s 2 (s )
 (s ) 1
 G (s )   2
T (s ) J s
Heating and Cooling
Temperature From law of heat transfer, temperature is directly
indicator proportional to the heat added.
d  M c d 1  Cd 1
M  c : specific heat capacity
1

C : thermal capacitance in joules/kelvin

d d1
C   Rate of heat transfer into mass M
dt dt


 2  1 
2 2 R
R Thermal resistance in Kelvin/watt

Resistance
d 1  2  1  1 (s )  2 (s )
Thermometer  s1 (s )   T  CR
dt CR T T
d 1 1   (s ) 1
  2 G (s )  1 
d t CR CR  2 (s ) T s  1
Electrical network transfer functions
d i (t ) 1 t
L  R i (t )   i ( )d  v (t )
dt C 0
d q (t )
i (t ) 
dt
d 2q (t ) d q (t ) 1
L 2
 R  q (t )  v (t )
dt dt C
q (t )  Cv c (t )
d 2v c (t ) d v c (t )
LC 2
 R C  v c (t )  v (t ) Block diagram
dt dt
V c (s ) 1
 
V (s ) L Cs 2  R Cs  1
L Cs 2V c (s )  R CsV c (s )  V c (s )  V (s )
V c (s ) 1 L C 
 L Cs 2
 R Cs  1 V c (s )  V (s )
  2
V (s ) s   R L  s  1 L C 
Transfer function of armature controlled DC motor
d ia (t )
ia (t ) R a  L a  eb (t )  v a (t )...(1)
dt
T  ia (t ) bu t is  con st a n t .
T  K t ia (t )...(2)
d 2 (t ) d  (t )
J 2
 b  T (t )...(3)
dt dt
d  (t ) d  (t )
eb (t )   eb (t )  K b ...(4)
dt dt
K b ba ck em f con st a n t .

From (1) I a (s ) R a  sL a I a (s )  E b (s )  V a (s )...(5)

From (2) T (s )  K t I a (s )...(6)
From (3) J s 2 (s )  bs (s )  T (s )...(7)
From (4) E b (s )  K b s (s )...(8)
Transfer function of armature controlled DC motor
Js 2  (s)  bs  (s)
F r om (6) & (7) I a (s) 
Kt
F r om (8) E b (s)  K b s (s)...(8)
F r om (1) I a (s) R a  sL a I a (s)  E b (s)  V a (s)
 I a (s)  R a  sL a   E b (s)  V a (s)
Js 2  (s)  bs  (s)
  R a  sL a   K b s (s)  V a (s)
Kt
 s  (s)   Js  b  R a  sL a   K b K t   K t V a (s)
 (s)  (s) Kt
 
Kt  
V a (s) s  Js  b  R a  sL a   K b K t  sV a (s) s  Js  b  R a  sL a   K b K t 
 (s) Kt
 
V a (s)  Js b  R a  sL a   K b K t
Block diagram (DC Motor)
• Develop block diagrams referring the equations.
V a (s )  E b (s )
I a (s )
V a (s )  E b (s ) V a (s ) 1
I a (s )  
 R a  sL a   R a  sL a 
E b (s )

1
 (s )   (s )
T (s )  K t I a (s ) T ( s )   J s  b   (s ) s
  
I a (s ) T (s ) T (s ) 1  (s )  (s ) 1  (s )
Kt
J s b s
Block diagram (armature controlled DC Motor)
 V a (s)  sK b (s )
I a (s ) 

I a (s )  R a  sL a   E b (s)  V a (s)   R a  sL a 
 T (s ) V a (s)  sK b (s ) Kt
E b (s )  sK b (s ) I a (s )    T (s )  V a (s)  sK b (s )
T (s )  K t I a (s )
 Kt  R a  sL a   R a  sL a 

 T (s )   J s  b  s (s )   J s  b   (s )
J s 2 (s )  bs (s )  T (s )
 T (s )  (s )
  (s )  a n d  (s ) 
J s  b  s

V a (s )
Kt T (s )  (s )  (s )
1 1
R a  sL a s
J s b

E b (s )  K b  (s )  (s )
Kb
Transfer function of field controlled DC motor
T (t )  i f (t )  T (t )  K tf i f (t )  T (s )  K tf I f (s )
T (s )
 I f (s ) 
K tf
d i f (t )
R f i f (t )  L f  v f (t )  R f I f (s )  sL f I f (s )  V f (s )
dt
V f (s )
 I f (s ) 
R f  sL f
d 2 (t ) d  (t )
J 2
 b  T (t )  J s 2
 (s )  sb (s )  T (s )
dt dt

 I f (s ) 
 J s 2 (s )  sb (s ) 
K tf
Transfer function of field controlled DC motor
V f (s ) s (s )  J s  b 

R f  sL f K tf
 (s ) K tf
 
V f (s ) s J s  b   R f  L f s 
 (s ) K tf
 
sV f (s ) s J s  b   R f  L f s 
 (s ) K tf

V f (s ) J s  b   R f  L f s 
Transfer function of field controlled DC motor
 (s ) K tf

V f (s ) s J s  b   R f  L f s   (s ) Km

 (s ) K tf K tf V f (s ) s 1  T m  1  sT f 
 
V f (s ) s J s  b   R f  L f s   J  Lf 

 (s )

Km
sR f b 1  s  1 
 b   R f
s


V f (s ) 1  T m  1  sT f 
K tf
 (s ) Rfb Km
 
V f (s )  J  Lf  s 1  T m  1  sT f  J
s 1  s  1  s Tm  Mech. time constant
 b   R f 

b
L
 (s ) Km T f  f Field time constant
  Rf
V f (s ) s 1  T m  1  s T f  Ktf
Km  Motor gain constant
Rfb