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Mathematical Modelling of Systems

• For modelling of mechanical systems, we use Newton’s
second law, then derive the transfer function.
– The sum of forces acting on a body is equal to zero.
• e.g. Springs, dampers, free body
• For electrical system or circuits we use Kirchhoff's laws,
then obtain transfer-function models.
– Voltage drops across components in a closed loop circuit are
equal to the voltage source. (KVL)
– Currents leaving a junction are equal to the incoming current
(KCL)
• e.g. operational amplifiers,
 Mechanical Systems
• Lets start with a simple Spring
system, given here:
• Since the springs are in parallel; the
force (F), acting on them is equal.
• F = ma  F = K1x + K2x
– Then F = (K1 + K2)x
– Hence Keq = K1 + K2, Equivalent spring
constant.
• For a series connection of springs, the
force acting on spring 1 is not equal to
force on spring 2; however, still
expressed in the same format.
• Force on K1 moves spring in y only (K1y
= F), but forces on K2 are resultant
force towards K1 and away from it. (K2x
–K2y = F)  K2 (x – y) = F.
• After eliminating y by substitution, Keq
= K1 K2/ K1 + K2
 Mechanical systems cont.
• How about a simple damper • However,
system

• f = b1(z’ –x’) = b2(y’ – z’)

• Where b1, b2 are coefficients of
viscous-friction, and x , y are • After expansion and factorizing
displacement due to forces acting – (b1 + b2)z’ = b2y’ + b1x’

on system. – Z’ = b2y’ + b1x’ / (b1 + b2)

• • After obtaining z equivalent we

f = b1(y’ – x’) + b2(y’ – x’)
substitute it back to the original
• f = (b1 + b2)(y’ – x’) equation and resolve for beq.
• Then beq = b1 + b2 – beq = b1b2/ (b1 + b2)
 Mechanical cont.
• Ma = ∑F
• Forces to the right are( acceleration due to
mass [ma], damping force to the y [by’],
spring force to the y [ky] displacement).
Forces to the resisting motion are spring
force to u [ku], and damping force to u
[bu’].
• Following the sum of forces rule above,
and remembering that acceleration is a
derivative of velocity. (a = y’’)
• my’’ = -by’ - ky + bu’ +ku
• my‘’ + by’ + ky = bu’ + ku
• After applying Laplace transforms
• (m + bs + k) Y(s) = (bs + k) U(s)
• = bs + k/ (m + bs + k)
• Transfer function representation of the massless
body diagram
 Exercise
• Find the transfer function of the mechanical
system(s) given below.
 Electrical Systems modelling
• Basing on IV characteristics of electrical
components and Kirchhoff's laws stated.
• VL + VR + VC = ei and VC = e₀
• VL = Ldi/dt, VR = Ri & VC = 1/C∫idt
• Then
• Ldi/dt + Ri + 1/C∫idt = ei
• 1/C∫idt = e₀
• Applying Laplace transforms • Class Exercise,
• LsI(s) + RI(s) + 1/CsI(s) = Ei(s) solve for the
• 1/CsI(s) = Eo(s) transfer of the
• Hence, G(s) = Eo(s)/Ei(s) cascaded
• G(s) = 1/[LC + RCs + 1] system.
 Electrical Continued.
• Operational amplifiers (also knows as op-amps) • Consider the op-amp given:
are an integral part of electrical system control,
we will derive the transfer function of the one
given. We still follow Voltage laws and Kirchhoff.

– i1 = (ei – e’)/R1, i2 = (e’ - eo)/R2

• Its common to choose ground as 0, and • Negligible current flows into an idea op-amps,
measure e1 and e2 from ground. then; i1 = i2
• Following inputs e1 and e1, give total input e2 – – (ei – e’)/R1 = (e’ - eo)/R2
e1. – e’ ~= 0, then
– ei /R1 = - eo/R2
• An ideal op-amp, no current flows into the input
– eo = -R1/R2(ei)
terminals and the output voltage is not affected
by load connected to the output.
• The circuit is said to be an inverting op=-amp
• For our analysis, we will always assume and
because the results has opposite sign to the
ideal op-amp.
provided input.
 Exercise
• Find the transfer function for the op-amp(s)
given.
Op-Amps and control
 Electro-Mechanical Systems
• As the name suggest, some system are a combination
of the electrical and mechanical system in control
system,
– .e.g., motor or something like the complex system
below.
 Electromechanical cont.
• Given the servo motor system, find the transfer
function given;
Thank you !