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Control Engineering (Chapter 2)

The document provides an overview of Laplace transforms, detailing their application in converting dynamic equations from the time domain to the frequency domain, allowing for simpler algebraic manipulation. It includes definitions, examples, theorems, and procedures related to Laplace transforms, as well as their use in solving differential equations and transfer functions in various systems. Additionally, it covers concepts such as poles, zeros, and the inverse Laplace transform, along with practical examples in mechanical, electrical, and thermal systems.

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23 views31 pages

Control Engineering (Chapter 2)

The document provides an overview of Laplace transforms, detailing their application in converting dynamic equations from the time domain to the frequency domain, allowing for simpler algebraic manipulation. It includes definitions, examples, theorems, and procedures related to Laplace transforms, as well as their use in solving differential equations and transfer functions in various systems. Additionally, it covers concepts such as poles, zeros, and the inverse Laplace transform, along with practical examples in mechanical, electrical, and thermal systems.

Uploaded by

sadboy.457301
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
Laplace Transform + Laplace transforms allow the representation of the input, output, and system as separate entities. Ing apa + Input-output-system | 2 an relationships (including differential equations) will be = simply algebraic. ups Procedure = 1. Convert dynamic equations (time domain) into frequency domain via Laplace Transform. 2. Perform algebraic manipulation of Laplace functions. 3. Convert back to frequency domain via the Inverse Laplace Transform. Laplace Transform Definition Fis) = Laplace transform of f() [a ies eee, Oe ok Definition: | F(s)=ZL/(@] = Te S(erdt | SW) = function of time (a signal) s =a complex variable = operational symbol indicating that the quantity it prefixes is to be transformed by the Laplace integral [//@e-rdr . ’ eoiagy [ roetan= som Bi dein Examples Example (1): Find the Laplace Transform of /(¢) = u(t) aaa unit step function: | F(s)=Z{u()) = fear f 120 ° u(t)= 0 +<0 wl Stn) aged d 4 s s = Ss Examples Example (2): Find the Laplace Transform of f(t) = Ae““u(t) F(s)=Z[Ae“u(t)] = j Adee“ dt Complex Numbers, “s-plane” A complex number ean jo be written in the form: plane s=ot+jo jo Where, o and @ are Ae oh real numbers, and: java This can also be written in polar form with M=||=Vo +0? magnitude, M, and angle, as: @=arcian( 2) M20 Euler's Formula Eul e/* = cos(x)+ j-sin(x) Formula: for any real x) s=M -(cos0+ j-sin0)=M-e'* So, e* can be thought of as the function that sweeps out a unit circle in the complex plane. Examples Example (3): Find the Laplace Transform of f(t) = Csin ot le’? =cos(x)+j-sin(x) F(s)=Z[Csinor]= [ Csinaredr ° < Pn Tad =f A ~7(2le ]-z[e"}} ZL Ae™*u(ey]=—— ey 2 1 o == = at. 2j\s-jo s+jo| s+ Laplace Transform Table item no. nt) Fis) 1 6) ’ 2 0) t 1 3 mn 2 4 pide) a 5. ut) > 4 ° a ‘sin cute) tra 2 cos witu(t) =a Laplace Transform Theorems LINEARITY; 3 Bla K()+b- f(0]=fe""(a- f(N+b:fin)-dt “les f(drdtsbo fe “fd Lla- fO+b: LOl=a: K(s)+b-F,(9) TIME DELAY: LUFC) aT) = fe" fT That ° rte fe" ‘f-Tdt = je f(r)dt =e" F(s) LLP e- De eo" F(s) Laplace Transform Theorems cont. REAL DIFFERENTIATION THEOREM I[Pa]-rFey-EM OI sro LL f=s0) Brame: 2[8F]-0F(0)-7(0-)-¥10-1-0-) REAL INTEGRATION THEOREM xf s()ar]= 20) Laplace Transform Theorems cont. a CONVOLUTION: SO=hO*WO= [HOA Mde > FOS) =F(IFU8) FREQUENCY SHIFT: Le" f () = F(st+a) TIME SCALING: Lf anl= nF) lal “a MULTIPLICATION BY TIME: ayo=-2 Fe) Laplace Transform Theorems cont. INITIAL VALUE THEOREM: lim f(#) = lim sF(s) oot ee FINAL VALUE THEOREM: lima £(2)= lim sF(6) only if tim f(0) is finite es eae Example: FO)= = sO)=? so =? Examples find x) Y(s)= tim (A) = lim sY(s) = = s+) 5(s +2) s(s+1) s(s+1) 36+2) 14 Hin £2) ~ Fim sF(s) oO” ee Jim (0) = linn sF(s) 2(s +2) | find 10+ X(s)=—————_ | oo s(s +1)(s +3) 2(s+2 x(0+) = limsX(s) = = limi ee) s(s+I(s+3) 13 ‘Tesoro ‘Name 1 sepa = Ren = [neta Defimtion nd Linearity theorem 1. For bey Lol 2 Yash) = Fier FD Uneiy term — racer vied! corect ee ne Frequency sition poles of Fs) must have 5 yum = eR Timestittdeoem Negative real parts, and no 1s more than one can be at the «© sym — = Led) seangibomn own 2 aff] + e209 Diretioa theorem 2. For the initial value theorem to be valid, f(t) ff = PAW)=¥f(0-)=f10-) Difeeniaion theorem TMU Be Continuous or have , (a See a step discontinuity at t = 0 ( thatis, no Impluses or their sft] = ern- derivatives al {= 0), lft xea] « 2 Be ee = beer Final value theorem? a sr) Iota value theorem so) Laplace Transform of a Differential Equation mx + bx +kx = f(t) 1. Laplace m(Z[¥]) = m[s?X(s)—sx(0-)- 4(0-)] Wanstorm —5(ZLs]) =8{sX(6) -x(0)] k(Z[x]) =k X(s) [ms? + bs + k]X (s)—[ms +b]x(0) - mi(Oy= F(s) 2. Algebraic ‘operation X(s)= F(s) [ms + b}x(0) + mx(0) = Jee ms? +bs +k ms? +bs +k Negi 3. Inverse Laplace due to force due to initial conditions Transform vip] — th ges] ee eee MATE ba? ore [ ms’ +bs +k | ae Transfer Function & Block Diagram Zero initial condition: (0) = x(0) =0 Miao 1 ‘Transfer function: ea ta ae POY” metyersk . F@) 1 X(s) Block diagram: a ae Fe) oe) x® Time response: x() = Z"[G(s) F(s)] Poles and Zeros Arational transfer function can be written as: Gay NOY a" tbs tba Tne+s) RDO) Meas" eta, TPN +p) The roots of the polynomials D(s) and N(s) represent poles and zeros, respectively: N(s)=0 — Zeros -:, D(s)=0 — poles -p, IFN(s) and D(s) are polynomials with no common factors, then: zeros: make G(s) = 0 poles: make G(s) = a Inverse Laplace Transform Definition TF (y= ["" FG) et -ds = f0: £"[F(s)]= Fi eo F(s)-e"" -ds = f()-u() Unless specified, all inputs 1 nd outs of systems will Partial-Fraction Expansion Sere 0 ae ee convenience, the u(t) ¥ Real and distinct poles notation will be left off. ¥Real and repeated poles ¥ Complex poles Partial Fractions Factor in ‘Tem in postal + Aka or Partial Fraction genom faction decomposition decomposition oth “4 * Roots are real and distinct . 4,4 A * Roots are real and repeated (ey ans ath Tare oar a * Roots are complex and distinct artebree = nee * Roots are complex and repeated +B Ant Axt : (eeaned! inte Gee [ene Gas Real and distinct poles (s+2)(s+4) i #iH)= s(s+I(s+3) ee ere Heed ek Mag as ge Repeated Real Poles Floyen 2b s+B ny onan 2] stay (sta) 1. pea af ES S()=kle* +(B-afy | Complex Poles a-jb a+ jb st+(o-jo) s+(o+jo) F(s)= S(t)=(a- jeje" +(a+ bye S()=e*[(a- jb)e* +(a+ jd)e je] f(t) =2Ae* cos(at—¢) Where: A= Vae+b® own?) foe (aub) , laeis) Sro-je ew ryw) jee peruse eF fo (abe + (aside we (eine + canny] = [ caybyfonsesey 1) Sen eoO)f r (ari) § Corot) —fen wot } 2 Et esneous + jj PSnkes Dear) Conte Lab pfoto) J = ET eaeyuraybyeestog MIE Shranjb) en cct)] Ef 20 Cod +) (216) Sen Cw] = E* (ra coscat 25% b Benkot) f ae" (a Corey b Seiten | often ae! A Coslut-) whan Aedlerhy | Ax bash 1 3) 4) 5) Summary: Transfer Functions & Laplace Method (A-$+B-$+C-y=D-a+E-w Take the Laplace Transform of the differential equation: £[ODE] > (..)-¥(s)=(.)-X(6) Solve for the transfer function: a= 20). Xs) Take the Laplace Transform of the input: X(s)= £[x(0] Solve for the output (by multiplying the input and transfer function): ¥(s)=G(s)--X(s) Take the Inverse Laplace Transform of the output to find the output ee 2O= LVN 26 Mechanical Thermal Effort (e) Forco,F ‘Temp. ditt, AT Flow) Current, Velocity, | Vol. ftowrate,@ | Heat flow Displacement(q) | Charge, | _Displacement,x | Volume, V Heat, @ ‘Momentum (p) . ‘Momentum, p Pressure : Momentum, F Resistance | Resistor, R Damper, b Fluide ‘Thermal resistance, resistance, R Capacitance | Capacitor, ¢ Spring, k Fluid Heat capacity, capacitance, mop Iertance Inductor, L Mass, m Inertance, M z ‘Node law ket Continuity of space Mass Heat energy conservation | conservation Mosh law kv Newton's 2'law | Pressure is | Temporature ls ee relative relative 25 (_—_—Trentarenir sapere Source: [Link] Thermal modeling of a water heater Gi ~ Vo = Istorea _T-B_¢ dar R, di, - mek, Feat =A} +7, rn =, giving us Examples - Fig. 1: Submersible water heater a, eta +t, meR, T= Rae + Ty DYNAMIC SYSTEM MODELING AND RESPONSE Outputiinput relationship > Mechanical systems : force = motion > Electrical systems :voltage <> current > Fluid systems pressure © flowrate > Thermal systems —: temperature <> flowrate a toems a . (Ls + RY) = es) Jo+Bo=T (Js+ B)o(s)=T(s) Example: DC motor Armature Clout: 2, $+ Ry =e,-¢ ® Energy Ty = hy, (ki = forque constant ) (0) Conversion ¢,= #,0 k, = back emy constant) (c) Mechanical system: 7, = J%2 + Bo ® O->@ > LA+Rysho-4 —W = 1, Bom), = oe O-@ = T+ Bo-Ki,=0 @ Apply Laplace transform to equations (1)&(2) : Es+R, — k, Ti)_fer -k, Js+Bilo} |o Transfer function : Is+B 5 +R, Is + B)+ RR, k (st Rss BYE, Cramer’s Rule eee =I DC Motor Operation ‘What is the back emf? I's the voltage generated across the motors terminals as the windings move through the motor's magnetic field. The back emf actually opposes the drive voltage and Is proportional to the motor's velocity Usually 1, (8 very small Let 1, +0 he +B 20° Cae Rass B)e EA, Sty specie a" Tasks BD) Eh, a (gy = Hiltes +) |v = eo wel wT ¢.3 Input soltage 08 output speed Simple Circuits via Mesh Analysis {W829 Vapor aay ndings pai oon ict Compact __Watnnt Cansei Ware Zvi) _WNevO in de 2 o om a Me * he » 1 Se ‘eat Vot A -AGoR AS Oe Sonple 26 Transfer Function—Single Loop via the Differential Equation owt: Fad he ram fn rng th cpio on A the lope vag Vo) ia Figure 23 SOLUTION to ay poem. he desigact mus ft ded what £ fa ipa shouldbe tnt networsecralvaraten cold have bees et zp fr eral the ndor ehags he pchonvgt ‘olags ori creat The problem statement, however. ler NGUREDS RLCecwork me jtretthecpecirvallge athe ctputandihe spied wha “Senming the wollages aroun the Ion. astnig ze iit sel the lmeproaiferental equation for Wis aero at Simple Circuits via Mesh Analysis (cont.2) Example 2.7 Transfer Function—Single Loop via Transform Methods PROBLEM: Repeat Example 26 using moth analysis and transform methods ‘without writing a differential equation. {nition igre? rigs eth oti ii ss Sah ae (uemedor-ven om Solving for 1(6)/V6). Mot a Vere oe But the voltage across the capacitor, Ve (6, terpenes cof the current and the impedance of the capacitor. Thus, Vets) = oye @75) Sing 29 or Hi, abt 1p) tn Be (220, and simplifying yields the same result as Eq. (266). Simple Circuits via Nodal Analysis Example 2.8 Transfer Function—Single Node via Transform Methods PROBLEM: Repeat Example 26 using nodal analysis and without writing 2 differential equation SOLUTION: The transfer function can be obtained by summing curents Mowing out ‘ofthe node whose voltage is Vc(s) in Figure 2.5, We assumethat curents leaving the | node are positive and currents entering the node are negative. Theeurrents consist of | the current through the capacitor and the current Bowing through the series resistor ‘and inductor. From Eq, (2.70), each I(s) = V(s)/Z(s). Hence, Vel Tics Yel -Vi9) Yet=VO) 27) | were Vte/4C th erent ring oof he sod oe he gl and [Vc(s) — V4s)}/(R + Ls) is the current flowing out of the node through ‘series resistor and inductor. Solving Eq. (2.76) for the transfer function, V¢(s)/V(s),. Saree se Simple Circuits via Voltage Division Example 2.9 Transfer Function—Single Loop via Voltage Division PROBLEM: Repeat Example 26 using voltage division and tho transformed cireuit SOWUTION: The vokage across the capacitor is some proportion of the input voltage. namely the impedance of the capacitor divided by the sum of the impedances Ths, Vets) = em Is+R. ‘Solving for the transfer function, Vc (s)/V(s), yields the same result as Eq. (2.66), Review Examples 26 through 29. Which method do you think is easiest for this eireuit? Complex Circuits via Mesh Analysis “To solve complex electrical networks —thaxe with multiple loops and nodes — using ames analyais, we can perform the following sep: 1. Replace passive element values with their impedances 2. Replace all sources and time variables with their Laplace transform. 4 Assume a transform current and a current dizection in each mesh. 4 Write Kirchhoffs voltage law around each mesh. §. Solve the simultaneous equations for the output. 6 Form the transfer funetion, Let us look at an example. Complex Circuits via Mesh Analysis (cont.1) ‘hi biota =) cen se er ome nen eniiore Ltoy-tnan~0 amy on)=ti te ae oe gy Vo SRO RTE ! cE Complex Circuits via Mesh Analysis (cont.2) hea i 24 nets tmaeag paseo actin The iso etrgnv as tovambastaas car became nese apt flr rm etl sent apa Std Ey TT form tat Eq hake [ac I fe [See] ane “Ei ose ne J SS a oar’ aioe a anamanesoa cise seemmreramnrrntceen orc Complex Circuits via Nodal Analysis se fiyas Ta aces msc doep oe SoBires cpio tide mpm (east “cane 1044004 tg eet ton YF 9 Example 2.17 Transfer Function—Two Degrees of Freedom Virtual Experiment 2.1 Automotile Suspension PROBLEM: Find the transfer function, X2(s)/F (6), oe the system of Figure 2.17%(a). a i dis _ eaHoring the dynamics of a another two degree of thee- ‘Som yystem—an autocntle fuspenenin 9utcms diving cover 3 barnpy toad demon. strated wih the Ouanser Aative Sapenion Sytem « modeled in LabVIEW, GURE2IT a. Two- Ay nsekD ayn degreeof freedom aye p= translational 3 mechanical system La block di , ars ‘Vernal expeviments are founc on WileyPLUS. 3 Tamplezi7 ‘Late mano ogo of in ns 2 Fem cpa vey e tin are Rae =A Mt tebe the townie 270) ane YM fess 6 tigst) | ta Rs) Ine 6 ag stan oe Sis fix = ne te ae Re epee a sed) ae |. je soe fede] com se ia we E mt) [nea — = sn F penton ins) “oes so [wae nis Hehe. oor eerene) = ete nonpten ong Example 2.18 | Equations of Motion by Inspection PROBLEM: Write, but do not solve, the equations of motion for the mechanical network of Figure 2.20, [MiP + tha abe UR + Rell tah Kets) —adign) (2.138 | =" Soqnamen = iat Sneha acipRla cota a 14+ | tie] ad mg hg (2828) or a — = hekiW Raids [Mito hositsile® aA aah! , erate as fay ayecmne Nin tuk atiereomemeees herd —_ Skill-Assessment Exercise 2.8 Jennie Fie wasn asic, Xe) = SATU 1b epee ‘mechanical system shown in Figure 2.2 Saget ate AGYRE221 Translational mechanical system fot Skill Assessment Exercise 28 3st ANSWER: Gis) =—__#+1_ OO= aT es aD ‘The complete solutian is at [Link]/eollegelnise, Rotational Mechanical System Transfer Functions Sita sos ta in ens in sss erect ee ES eee risagne: ticeon * = Tweod wnat a oAL Example 2.20 Equations of Motion By Inspection PROBLEM: Write, but do not solve, the Laplace transform of the equations of motion for the system shown in Figure 2.25, ao mm OH ext eno te a mt tl Het = paola [n+ aoe f= anne) = poo Skill-Assessment Exercise 2.9 i. PROBLEM: Find the transfer function, G(s) =@2{s)/T{s), for the rotational mechanical system shown in Figure 2.26. FIGURE226 Rotational ™ re) ean ‘mechanical system for Skil. TON ete Assessment Brercise 2.9 t ea ee Ss 1 ANSWER: Gls) = 5 ‘The complete solution is at [Link]/college/nise, 32 Transfer Functions for Systems with Gears ¢ 0 24 aon exo Ten eu) any ps (IP + Ds + Kyoals) = THs) 5* (2.136) aus) 7 U8 +Dss Kol) - runt 137) “ah “fe iis cei, a a PG)? +2) -aGi) Jane ene ewe ‘re tnt ra sar SSopasent in oslew gem and gf Yolo gers Example 2.21 is Transfer Function—System with Lossless Gears PROBLEM: Find the transfer function, 6(s)/T;(s),for the systemof Figure 230(a' Tin an te [wa | eu | Tate 0s +e | _ @ » © FIGURE 2.30 2, Rotational mechanical system with geurs; by system after reSection of tongues and impedancesto the oul shaft; ¢, block diagram Example 221 mi peo nngeectaemte nc dpe yen a sasaki may he mpage Yt neh te Sade ‘Senton propenoy ead ste The mes sen me yen ten seep ev cd perp gore Ts Con iT, saws 20 3S Skill-Assessment Exercise 2.10 PROBLEM: Find the transfer function, G(s) = alld dated the rotational mechanical system with gears shown in Figure 2.33. q nm she mn M50 ANaled FIGURE 2.33 Rotational mechanical system with gears for Skill- Assessment Exercise 210 ‘The complete solution is at [Link]/nise. Electromechanical System Transfer Functions a fap a (2.159) aN DC meres kN pn (21) ‘a Ba @18) I Example 223 ‘Horse Fumeion-OC Matt 39818944 peat roms eae ma usd ane Pe 24 mee on eget tae Shemini 49 39% Fomine albert sot te el deen he sma ote een (2)'<20m(f)'

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