ST mse Ae) eS} if eS Ea mie) eed Find the transfer function, G(s)=X4(s)/F(s) for the translational mechanical system shown below The following ifferental equation describes a system: éy fy été de ha oth ott tus tle tog th Find the expression for the transfer function of the system, Y(s)/X(s). Eien uaae ey 1] For the given following transfer functions, write the corresponding. differential equation. Xo s+3 Fy 8 + 11s? + 128 +18 Eg 25K A “60004 Face 3 smart ne S| a Xi is Fi) (s+ 10)(s + 11) SUPPLEMENTARY PROBLEMS 1s Find the transfer function, G(s)=VL(s)/V(s) for each network shown below 2H 20 1F 22S 78 FE HS LO @ o : ee ea ae) -te ld A he! Find the transfer function, G(s)=Vo(s)/Vi(s) for each operational amplifier circuit shown below rosa me hoa] ow aa on ar f un “ stoks) 24a / Find the transfer function, Vo(s)/Vi(s), for the circuit given in ‘Simply the crultby having twolmpedance a A= VCs+1/R) Sour By= Rat 1/Crn ven AA] Applying the transfer function equation of : sin Mai tit nt Sty heen wa ape tees me recuing circuits cated @ PID controler Implementation nan ‘ite, notog cicut using aperatona ample. SAMPLE PROBLEMS A ha Find the transfer function, Vo(s)/Vi(s), for the circuit giver 5 Site rst yn ride A= MtUGs 2 = (Ra/Crs) {Ra + 1/Crs) ‘Apetying ee wanster ructon equation of non-inverting amp, and simplifying the equation we get GaGa Pas? + (CP + Colts + Cale) +1 GiGilt Ras? + (GR + Gle)s+1 TF OF ELECTROMECHANICAL SYSTEM ff A motor is an electromechanical component that yields a displacement output for a voltage input, that is, a mechanical output generated by an electrical input. sina Toate wo i BA Tang the Laplace transform of each equation, ignoring TF OF ELECTROMECHANICAL SYSTEM 7 Amotor is an electromechanical component that yields a displacement output for a voltage input, that is, a mechanical output generated by an electrical input. ring ten ation an ting te gations ig Schorr non en So E, k, sls ++ Ky Vig Js + Riis + R)+ KK, foyRt+ Lys + KellysTFOF ELECTRICAL SYSTEM \f The table is given below shows the time domain and frequency domair ‘expression for voltage of elements R, Land C. euement |TMEDOMAIN] TIMEDOMAIN LAPLACE DOMAIN (VOLTAGE) | (CURRENT) | (IMPEDANCE) Resistor | Ri) WOR R capacitor | _U/Cfitxt Canna 1s INDUCTOR | Leics [WL jth + Is PEE \/ Usingimpedance simplifies the solution forthe transfer function. [Sum of impedances] 1(5) = Applied voltages inetnaquson ung ts insane (uemed)uor=v9 ¥) ya YC) srgrrnan 1) to. 1 VO" Lars 7 . Find the transfer function relating the capacitor voltage, VCIs), to the input voltage, Vis). Steoigthe tage wound talon sans [toa + eo) Geet Find the transfer function relating the capacitor voltage, VC(s), to ‘the input voltage, Vs) wo 1 + pal =H) Fremarevongectrgereatonngters 4) = Celt) contin uate wo \e Vel cael, pe dvelt) ; TPE pe Fic 5 ace + v0( =) i Using impedance simplifies the solution for the transfer function. [Sum of impedances] 1(s) = Applied voltages ly Rk une vtge srs te capac el 1 Vels) = 10) 2 + a vo 25 77S. YC senna no evo eto + rp to esa reso 1) an Vera kD oe eee, nas Pe / A ‘An operational amplifier is an electronic component used as a basic building block to implement transfer functions. It has the following characteristics: av « Differential input: V2(0)- V2(0) ‘+ High input impedance, Po ‘+ Low output impedance, Zo I. + High constant gain amplification, A + The output voltage Volt, is given by av ott) = A(v2tt) - vA) —_— ea / me 1] Find the transfer function relating the capacitor voltage, VC(s), to the input voltage, Vs). ‘hoot reorngnetemn ‘Dotan (LCF + RCS + 1VVes) = V6) Vets) Vo) how 1 Vets Emteo ve) yc 1) a ns ite, TF OF ELECTRICAL SYSTEM 1 / (Obtain the Laplace transform of the differential equation simply applying Kirchhotf's Voltage Law to the transformed circuit. W summarize the steps as follows: ‘LRedrawv the original network showing all time-domain variable: such as vit), i(0, and velt, as Laplace transforms V{s), I(s), an Vel), respectively. 2.Replace the component values with their impedance values. Th replacement Is similar to the case of DC circuits, where w represent resistors with their resistance values. If V2(0) is grounded, the amplifier is called an inverting operational ‘amplifier. We obtain Vott) = -A'vut) 240 Considering ideal opamp characterise, efor, =O, = = se eso) =WURI,=-voiRe — Equating the two currents, the TF of inverting, opamp ets) vo Zu) 0) - TFOF ELECTRICAL SYSTEM / For non-inverting amplifier, we see that Va(s) = A(Va(s) — Vils)) 240 But, using voltage division, Zils) Wo = 2g hl) i a0) + Zs) ranging, and simplifying the equations, we obtain % A TEAR WMAG +A) For very large A, disregarding the unity value in the denominator, we abatinReplacing the Laplace transforms and initial conditions in the previous We obtain the z-transform of the transfer function H(2) equation gives: F(s) = ms*X(s) + esX(s) + kX(s) F(s) = X(s) (ms? + cs +k) The transfer function of the translational mass system with spring and Take the Inverse Z-transform to get back the transfer function He damper: into the time domain, We can divide the numerator and i X(s) a faa a denominator by 2°2 to write this as rational expressions of Po) mat pea tk inverse z. EX 7 7 A simple mechanical accelerometer for detecting microvibration is : 7 Sa Bal te goat vOD af the mace ar ith sconec ta the, Take the inverse z-transform the transfer function Hia) accelerometer is proportional to its house motion What isthe transfer function of the input aeceleration "A" and the dieplacement Y". Eqatranenimctetoemcthgenthemmmtisinetsl -@,001957 + 8.083014 2°-1 + 0.081957 2°-2__¥(2) Be lagen TL Aa 6.508 os md 4 ol + ty = mE = ma He ‘Simply, ve can call the MATLAB function to obtain the inverse 2- transform of the transfer function Hl2) 1% z EEE ER Hz.variable = ‘2*-1' TE / a SY / A In the Control System, through discretization, a transfer function Cross-multiply the term to separate the Viz) and X(z) Hi) is converted from the s-domain (Laplace) into the z-domain Y(2)(2 = 1.953 2*-4 + 0.9609 2%-2) = (discrete) transfer function Ht) X(2)(0.001957 + 0.002014 2°-1 + 0.001957 2°-2) Take the inverse Z-transform to obtain the discrete time domain of the transfer function. yin] - 2.953 yn - 1] + 0.9609 y[n = 2] = @.001957 x{n] + @.003914 x{n - 1] + 0.001957 x{n - 2] Laplace Transform Transform DEE 7 A ees lf Ways to Implement a Transfer Function in Code Ae cE to oihcranca Ehuaton feerflici: + Discrete Differentiation (Slope Differentiation) + Discrete Integration (Forward Euler integration) il + Discrete Integration (Trapezoidal Integration, Tustin Method) YN] = .001957 x[n] + 0.003914 x[n - 1] + 9.001957 x[n - 2] + 1.953 y[n - 1] - + Forward Euler + Tustin 8.969 y[n - 2] * Slope 00 The output only relies on the current and previous input and output values. CY / A EET / A To convert the transfer function from s-domain to z-domain, we're going to use the c2d function, or continuous to discrete function in MATLAB. Hz = c2d(iLs, Ts, method) Where — Sg pica eect ciieck al dea) HARDWARE IMPLEMENTATION Sotho = Gigcretizatlor testhod 0.5, ‘tlstin Discrete Transfer Function of Translational Mas System +HLz = discrete transfer function (2-domain)TRANSFER FUNCTION \/ ii ‘The procedure for determining the transfer function of a control system isas follows: Transfer Function of ‘L.Obtain the equations (ODE) forthe system. 2 Specify system output and input Control System 3.Take the Laplace transform of the system equations, assuming ECE 309/309 Feedback and Control system initial conitions as zero. pnaene 4.Take the ratio of the Laplace transform of the output and the an are Laplace transform of the input which is the required transfer function L/S a / a system represented by a differential equation is dificult to model 2 Fing the transfer a bloc iagram Laplace anor ich we can represent the st, areal equation put, and system as separate entities. #e Pe de @&r es st F(4) wee dt aed f(O)dé Answer C(s) 44543 (s) function of the system corresponding to the Fe)=Lyp= [e Where F(), isthe Laplace transform off Gs) = Rs) ~ P43P 4 TFS C/o C/o ‘The Transfer Function wil azo allow us to algebracally combine Find the ferential equation corresponding tothe transfer function, mnathomatieal representations of subeyrteme field total oyster Faptesintaion, Tho ais of ec transfers ls eed pt baat at) = 22+! Mo)of the sytem's ie ratio of polynomials inthe -5" domain 8) = 5 elit La +6542 ” mt G8) _ Gia) = Dnt + bats +t 9 F dyad Fy e de ae Where the “a” and “b” are the coefficients of output c(t) and input (0) oie gee oe RO) of the system respectively. G(s) is the transfer function also known as 12 fainof the system. dt dt dt ‘The transfer function of a control system is the ratio of the Laplace Find the transfer function for a single translational mass system with transform of output to that of the input while taking the initial spring and damper, Fis the external force acting on the body (input) Conditions, as 0. The transfer function can be represented as a block ands the displacement ofthe body (output diagram as shown below. wo sm Cls) _ Laplace Transform of Output : Ris) — Laplace Transform of Trput P= oa) flO. tat OY / me ES lf a Laplace transform for a function, first-order derivative, and second: First, apply the Laplace transform to each ofthe terms of the equation Answer Gs) = fetiareuctasrcessatcinme pH) | ax, e220 c1f(0)| = Fs) a LU (0) = sF(s) — £0) «(i = 6X(0) 20) grate L{f"(t)] = s°F(s) — sf(0) — f'(0) Fey X(8) 2(0) = dx(0) =0 ‘Where (0) isthe intial condition LIF (t)