Continuous System Simulation
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Continuous system simulation
In a model for a continuous system the relationship describes the rate at which the
variables representing the attributes change and hence the model consists of differential
equations.
The simplest differential equation models have one or more linear differential equations
with constant coefficient.
Non-linear ties are introduced either if any of the derivatives of independent variables
are raised to power greater than one or all combined in any other way, say being
multiplied together.
Both linear and non-linear types of differential equations occur in scientific and engineering
studies. For solving such equation numerical methods are largely applied specially when the
equation is of higher order or non-linearity exists in them.
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Differential Equations
When more than one independent variable occurs in a differential equation, the
equation is said to be partial differential equation.
Example, An equation describing the flow of heat in a three-dimensional body.
There are four independent variables, representing the three dimensions and time and
one dependent variable, representing temperature.
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Differential Equations
The differential equations describing automobile wheel suspension system,
𝑥̈-Acceleration of wheel
M𝑥̈+D𝑥̇+K𝑥=kF (t).........(1)
𝑥̇- Velocity of wheel
𝑥 −Displacement of point
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Analog Computer
Analog Computers are those computers that are unified with devices like adder and
integral so as to simulate the continuous mathematical model of the system, which
generates continuous output.
The electronic analog computer based on the use of high gain dc amplifiers are widely
used analog computer. In such analog computer, voltages are equated to mathematical
variables.
The coefficient of the model equations is obtained by using the scale factors. The circuit
can be arranged to produce integrator that provides integral with respect to time of a single
input voltage or sum of input voltages. Sign inverter is used to reverse the sign of the input
as per the requirement of the model equation. The analog computer provides limited
accuracy
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Limitation of Analog Computer
• Difficulty to carry the accuracy of measuring a voltage beyond a certain point.
• Do not solve the mathematical model with complete accuracy.
• Difficulty to maintain accuracy better than 0.1%.
Advantages of Analog Computer
• An analog computer must usually be dedicated to one application at a time.
• Under certain circumstances, an analog computer is faster than a digital computer
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Analog Computer Methods
The general method by which analog computers are applied can be demonstrated by
using the second order differential equations.
With an electronic analog computer, the variables that have been described would be
voltages and the symbols would represent operational amplifiers arranged as adder’s,
integrators and any sign changers.
The general method by which analog computers are applied can be demonstrated using
the second order differential and solving the equation for the highest order derivative
gives
𝑀𝑥̈+𝐷𝑥̇+𝑘𝑥 = 𝑘𝑓(𝑡)
𝑀𝑥̈ = 𝑘𝑓(𝑡)- 𝐷𝑥̇-𝑘𝑥
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The symbols used in the figures are standard symbols. The circle indicates scale factors
applied to the variables. The triangle symbol at the left of the figure represents the operation
of adding variables. The triangle symbol with a vertical bar represents an integrator, and the
one containing a minus sign is a sign changer.
Sign changers are introduced so that variables of the correct sign can be fed back to the
adder, and the output can be given in convenient form.
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Analog method for solving the model of the Liver
The compartments 1, 2 and 3 represents the blood vessels, the liver, and the bile respectively.
The Mathematical model of the Liver:
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Analog method for solving the model of the Liver
There are three integrators. Reading from left to right, they solve the equation x1, x2, x3.
Interconnections between the three integrators, with sign changers where necessary,
provide inputs that define the differential coefficients of the three variables.
The symbols used in the figures are standard symbols. The circle indicates scale factors
applied to the variables. The triangle symbol with a vertical bar represents an integrator,
and the one containing a minus sign is a sign changer.
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Hybrid Computer
It has come to describe combinations of traditional analog computer elements, giving
smooth continuous outputs and elements carrying out such nonlinear digital operations as
storing values switching and performing logical operations.
Hybrid computer may be used to simulate systems that are mainly continuous but do
have some digital elements.
Example artificial satellite for which both the continuous equation of motion and
digital control signals must be simulated.
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Digital Analog Simulators
To avoid the disadvantage of analog computers, many digital computer
programming languages have been written to produce digital analog
simulators.
They allow a continuous model to be programmed on a digital computer
in essentially the same way as it is solved on an analog computer.
The languages contain micro-instructions that carry out the action of
adders, integrators and sign changers.
A program is written to link together these macro instructions in essentially
the same manner as operational amplifiers are connected in analog computers.
More powerful technique of applying digital computers to the simulations of
continuous system have been developed. As a result, digital analog simulators
are not in extensive use.
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Hybrid Simulation
An analog and digital computer are combined to provide a hybrid
simulation depends upon the application.
It uses of an analog or a digital computer for system simulation depends
on the model (continuous or discrete).
The system being simulated is an interconnection of continuous and
discrete subsystem, which can best be modeled by an analog and digital
computer being linked together.
But in case of hybrid computers the system is neither pure continuous nor a
pure discrete system. The simulation provided by such hybrid computers is
known as hybrid simulation.
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Feedback System
Feedback is used to describe a coupling between the input and output of the system.
An example of continuous system control mechanism using feedback is aircraft system. Input
is a desired aircraft heading and the output is the actual heading. Gyroscope of the autopilot is
difference to operate control surface. The difference between the desired heading 𝚹i and
able to detect the difference between the two headings. A feedback is established by using the
actual heading 𝚹0 is called the error signal ‘E’.
Suppose the control surface angle is made directly proportional to the error signal the force
changing the heading is then proportional to the error and it diminishes the aircraft
approaches the correct heading.
When the aircraft receipt a signal to change direction control surface angle (error signals)
takes non-zero value. The aircraft heading respond to the control surface by moving
toward the new heading but, because of inertia it takes time to respond
Continuous System Simulation Language 16
Continuous System Simulation Languages are high-level languages, designed to model,
simulate continuous system using mathematical equations.
CSSL allow us to write mathematical model directly in equation form and simulate it on
a digital computer.
CSMPIII (Continuous System Modeling Programming III):
A CSMP III program is constructed from three general types of statements.
1. Structural Statement: It defines the mathematical model. They include differential
equations using integrators. Example: Mx¨+Dx˙+Kx=F
2. Data Statements: These give numerical values to all constants and parameters.
Example, CONST M = 3.0, D = 0.5, K = 4.0
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3. Control Statements: These control how the simulation runs.
Statement Meaning
DELT Time step (step size)
FINTIM How long simulation runs
E
PRDEL Print interval
TITLE Title on output
ENDJOB End of program
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Write a CSMP Program of Following Differential Equation
Mx¨+Dx˙+Kx=F
Structural Statement
Mx¨+Dx˙+Kx=F
x¨= (F- Dx˙- Kx)/M
Data Statement Control Statement
M=3.0 DELT=0.05
F=1.0 FINTIME=1.5
K=4.0 PRDEL=2
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