Control Systems

Engineering
Sixth Edition

Norman S. Nise

Chapter 2
Modeling in the Frequency Domain

Copyright © 2011 by John Wiley & Sons, Inc.

 • Next Two Slides

• Assignment Due Next Week Tuesday ,September 27 th

• Students are to put assignments on class table at 11:40am

• Late/individual assignment will not be accepted

• Total Questions = 4
Question:1
A vibrating machine is shown in
figure below. Write down the
differential equations of the
system.

Question:2
Consider the given system which
is the temperature control system.
Suppose that the the physical
plant (GP) is a large chamber used
to test devices under various
thermal stress. The thermal
chamber required temperature is
100 0C. What reference input R(s);
is needed to get the required
output temperature (1000C)? [ The
sensor transfer function is 0.05 100
?
Volts/0C]

Where: ?
GP(s) = Plant transfer function 100
Gc(s)=Compensator transfer function
H(s)= Sensor transfer function
Question:3
The system given in figure is the
temperature control system.
Suppose that the physical plant (GP)
is a large chamber used to test
devices under various thermal stress.
The thermal chamber required
100
temperature is 100 0C. What ?
reference input R(s); is needed to get
the required output temperature ?
(1000C)? [ The sensor transfer 100
function is 0.05 Volts/0C]

Automobile M1
Question:4 X1(t)
A simplified automobile suspension
system is given in the figure. Write
its differential equations. K1
Suspension B
System
X1(t)
Wheel M1
Tire X2(t)
K2
X2(t) f(t) Tire
 Next
Section 2.5
Translational Mechanical
System
Transfer Functions.
Mechanical Translational Systems (Not in Book)
- Mass has only one displacement in one direction.
- Damper (B) & Spring (K) may have displacement in one or both
directions.
 Damping (Friction)
(Shock observer)

Dampers (Friction) – Shock Observer

x(t)
f(t)

dx 1 ( t )
f (t)  B one dislpaceme nt : one side is fixed
dt
F(s) = BSX where S = d/dt = slope
Mechanical Translational Systems (Not in Book)
Damping (Friction or Shock
observer)=B or fv
f(t)
dx 1 ( t )
f (t)  B one dislpaceme nt
dt
x2(t) dx1 ( t ) dx 2 ( t )
f (t)  B B
B dt dt
displaceme nt in other direction
d
f ( t )  B  x1 ( t )  x 2 ( t ) 
x1(t) dt

f(t) d
F(s)  B S ( X1  X 2 ) where s
Damping (Friction) dt
(Shock observer)
Mechanical Translational Systems (Not in Book)
Spring = K
f(t)

f ( t )  K x1 ( t ) one dislpaceme nt
x2(t)

K
f ( t )  K  x1 ( t )  x 2 ( t ) 
displcemen t in other direction

x1(t) Hook’s Law

f(t)

Spring
F(s)  K ( X1  X 2 )
Mechanical Translational Systems Not in Book
Mass = M

f  ma ; Newtons Law

dv ( t ) dx ( t )
f (t)  M ; v
Mass (M)
dt dt
dx 2 ( t )
f (t )  M
dt 2
x(t) displacement 2
F(s)  MS X Laplase
f(t) applied force d
where S 
dt
Car - Suspension System: Damper(B), Spring(K) and
Mass(M)= car body and passengers
Door Closer: Damper(B), No Spring(K) and
Mass(M)= Door body
Bi-Cycle- Suspension System: Damper(B), Spring(K)
and Mass= Bicycle body + Rider
Figure: 2.15 a&b

or B
Example Figure 2.15a How many displacements ?? ONE

How many equations ?? ONE

B K Number of displacements = Equal to

Number of differential equations

Mass (M) dx 2 ( t ) dx( t )

f (t)  M B K
dt dt

F(s)  M S 2 X  B S X  K X
x(t)
f(t)
X(s) 1 m / sec
Transfer Function   
F(s) MS 2  BS  K N
Example

x f  ma Newtons Law
F dx 2
where m  M; a 
F dt
M K
dx 2 ( t )
B fm ( t )  M time domain
dt

Fm (s)  MS 2 X LL  domain
F FB (s)  BSX one displaceme nt( X)
FK (s)  KX one displaceme nt( X)

F(s)  FM  FB  FK
F(s)  M S 2 X  B S X  K X differenti al equation
X(s) 1 m / sec
Transfer Function   
F(s) MS 2  BS  K N
Example
x1 x2
2 f(t)=sint
7
4 5 3
6

Displacements(x1 & x2) =2; number of differential equations =2

2
x1 x2

6
7 4 5 3 f(t)=sint

0 = 4S2X1+7X1 +6S(x1-x2)+2(x1-x2)
1
sin t  2
 F(s) F(s) = 5S2X2+3X2 +6S(x2-x1)+2(x2-x1)
s 1
Example x1 & x2 hence ; equations =2

x1 x2
5 4
f1=10 5 2 3 6 f2=8sin7t
2 6
x1
4 F1 = 2S2X1+5X1 + 4S(x1-x2)
f1=10

3 F2 = 3S2X2+6X2 + 4S(x2-x1)
x2
dx12 ( t ) d
f2=8sint 10  2  4 ( x1  x 2 )  5x1
dt 2 dt

dx 22 ( t ) d
8 sin 7 t  3  4 ( x 2  x1 )  6x1
dt dt
 dx12 ( t ) d
10  2  4 ( x1  x 2 )  5x1
dt 2 dt
dx 22 ( t ) d
8 sin 7 t  3  4 ( x 2  x1 )  6x1
dt dt
 10 
( 2s 2  4s  5)  4s   X1 (s)   s 
 2     56 
  4s (3s  4s  6)  X 2 (s)  
 s 2  49 

30 s 2  40 s  60 224 s
X1(s)  
SD(s) (s  49)D(s)

where D(s)  ( 2 s 2  4 s  5)(3 s 2  4 s  6)

PROBLEM: Find the transfer function,X2(s)/F(s), for the system
of Figure 2.17(a).