System Modeling

Identification
Lecturer: VU VAN PHONG

Dr. Van-Phong Vu-Department of Automatic Control

Textbook and References

 [1] Bài giảng Mô hình hóa và nhận dạng hệ thống, PGS. TS. Huỳnh
Thái Hoàng, ĐHQG TPHCM.
 [2] Giáo trình mô hình hóa và mô phỏng, PGS. TS. Quyền Huy
Ánh, ĐHSPKT 2010.
 [3] D. L. Smith, Introduction to Dynamic Systems Modeling for
Design, Prentice-Hall, 1994.
 [4] L. Ljung, System Identification – Theory for the users, 2nd
Edition, Prentice-Hall, 1999.
 [5] R. Johansson, System Modeling and Identification, Prentice-
Hall, 1993.
 [6] L. Ljung, System Identification ToolboxTM Getting Started Guide
in Matlab, The MathWorks, Inc, 2016

Dr. Van-Phong Vu-Department of Automatic Control

Contents of This course

 Chapter 1: Introduction
 Chapter 2: System Modeling
 Chapter 3: Non-parameter System Identification
 Chapter 4: Structure of the Parameter System
 Chapter 5: Parameter Estimation System Identification
 Chapter 6: Evaluation model
 Chapter 7: System Identification in Practice

Dr. Van-Phong Vu-Department of Automatic Control

Chapter 2: System Modeling

Dr. Van-Phong Vu-Department of Automatic Control

Contents of Chapter 2

 2.1 Introduction
 2.2 Functional Analysis
 2.3 Physical Characteristic Analysis
 2.3.1 Modeling a Mechanical System
 2.3.2 Modeling an Electrical System
 2.3.3 Modeling of Electromechanical Systems
2.3.4 Modeling of Fluid Systems
2.3.5 Modeling of Thermal Systems
 2.4 Mathematical Model Analysis

Dr. Van-Phong Vu-Department of Automatic Control

2.1 Introduction

 System Modeling: procedure to build the mathematical

model of the system based on the physical laws of the
system

Dr. Van-Phong Vu-Department of Automatic Control

2.1 Introduction

System Modeling

Physical
Functional Mathematical
Characteristic
Analysis Model Analysis
Analysis

Dr. Van-Phong Vu-Department of Automatic Control

 2.2 Functional Analysis

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Function Analysis of the System

 Functional analysis: analyze the system into a set of

subsystems which consist of the functional components.
 During functional analysis, we need to note the
 Connectivity: which parts of the system connect together.
 Causality: How the parts of the system connect?

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Procedure for Functional Analysis:

 Step 1: Isolate the system with environment.
 Step 2: Analyze the subsystems
 Step 3: Determine the causality

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Isolate the system with environment:

 Determine the limited area of the system.
 Cut off all connections between the system with outside
environment.
 Replace each connection by a port to describe the
interactions between system and environment.

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Ports: are the terminals (thiết bị đầu cuối) of the system in

which the energy is transferred in or out. The system can
have single or multiple ports.
 One port can have one/two inputs (U) one/two ouput
(Y).
 Common ports:
 Structural (cơ khí)
 Electrical (Điện)
 Thermal (Nhiệt)
 Fluid (Lưu chất)
Dr. Van-Phong Vu-Department of Automatic Control
2.2 Functional Analysis of the System

 Structural

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Electrical

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Thermal

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Fluid

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Example: Cooling system

Dr. Van-Phong Vu-Department of Automatic Control

 2.2 Functional Analysis of the System

 Example: Cooling system

CHỗ Hot Res

và Cool Res là
FE chứ ko
phải TV

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Subsystem Analysis:
Divide the system into subsystems
Divide the subsystems into components.
Replace the connectivity among components by
ports.

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Subsystem Analysis:

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Subsystem Analysis:

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

 Determine Causality:
 Causality is determined by the variables at the ports.

Dr. Van-Phong Vu-Department of Automatic Control

2.2 Functional Analysis of the System

Dr. Van-Phong Vu-Department of Automatic Control

 2.3 Physical Characteristic
Analysis

Dr. Van-Phong Vu-Department of Automatic Control

2.3 Physical Characteristic Analysis
 Physical Characteristic Analysis: a process to obtain the
mathematical model of each functional component based
on the physical laws.
 Basic physical systems:
 Electrical system
 Mechanical System
 Thermal system
 Fluid system

Dr. Van-Phong Vu-Department of Automatic Control

2.3 Physical Characteristic Analysis

Physical systems

Basic Elements Basic Variables Conservation laws

1. Resistance 1. Quantity Electrical,

2. Capacitance 2. Potentiality Mechanical,
3. Inductance/ 3. Time Thermal,
Inertia Fluid

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Mechanical System:
 Basic Variables:
 Distance (quantity) x [m]
 Force (potentiality) F [N]
 Velocity v [m/s]
 Basic elements:
 Dashpot ( Piston cylinder):

𝑑𝑥
𝑓=𝑏 = 𝑏𝑣
𝑑𝑡
Dr. Van-Phong Vu-Department of Automatic Control
2.3 .1 Modeling of Mechanical Systems
 Spring.

1 2
Energy: 𝐸 = 𝑘𝑥
2

 Mass:
Newton law 2: Energy:
𝑑𝑣 𝑑2 𝑥 1
𝑓 = 𝑚𝑎 = 𝑚 =𝑚 2 𝐸 = 𝑚𝑣 2
𝑑𝑡 𝑑𝑡 2
Dr. Van-Phong Vu-Department of Automatic Control
2.3 .1 Modeling of Mechanical Systems
 Conservation Laws:
 Force equilibrium equations, Newton Laws.
 Euler-Lagrange Equations

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 1: Modeling the following system

Dr. Van-Phong Vu-Department of Automatic Control

2.3 Physical Characteristic Analysis
 Example 2:

F1=kX(t)
F(t)
m

b Fms=bv(t)

F: Force
X(t): Displacement
v: velocity
m: mass
K: spring constant
b: Damping coefficient
2.3 Physical Characteristic Analysis
 Example 3:
2.3 Physical Characteristic Analysis
 Example 3:
2.3 .1 Modeling of Mechanical Systems
 Example 3: Modeling the following system

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 4: Modeling the train

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 3: Modeling the train

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 3: Modeling the train

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 3: Modeling the train

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example 3: Modeling the train

Dr. Van-Phong Vu-Department of Automatic Control

 Consider a system illustrated in Fig. 6. 𝑢1 and 𝑢2 are the external force
(inputs) ; and 𝑦1 and 𝑦2 are the displacement of m1 and m2, respectively.
 Please determine the mathematical model in term of state-space
equation.
 Please simulate the system using Matlab/Simulink
 with inputs are step signal m1=1, m2=2 b=0.1, k1=0.15, k2=0.15

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Rotational Mechanical Systems : The input to a rotational
mechanical system may be the torque T and the output
the rotational displacement, or angle.
 Torsional spring: relationship between torque T and the
angle θ rotated by the spring

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Rotational Mechanical Systems :
 Rotational dashpot:

 Moment of inertia: torque T, angular acceleration a, and

the moment of inertia I,


Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.3 .1 Modeling of Mechanical Systems
 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
Electrical System:
Basic variables:
Charge (điện lượng) q [C]
Voltage (điện thế) u [V]
Current ( dòng điện) I [A]
Basic elements
Resistance: Capacitance:
Inductance:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
 Conservation Laws:
d 1 2
v21 L i E  L i
dt 2

d 1 2
i C v 21 E  M v 21
dt 2

Kirchhoff’s voltage law

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
 Conservation Laws:
 Kirchoff Law for current

 Kirchoff law for voltage

 Analysis circuit methods
Dr. Van-Phong Vu-Department of Automatic Control
2.3.2 Modeling Electrical System
 Example 1:

di
v  i.R  L  vC
dt
dvC d 2 vC
 RC  LC 2  vC
dt dt

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
 Example 2:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
 Example 2:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System
 Example 2:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System

Dr. Van-Phong Vu-Department of Automatic Control

2.3.2 Modeling Electrical System

Dr. Van-Phong Vu-Department of Automatic Control

2.3.3 Modeling of Electromechanical Systems
 Transfer function of DC motor

Lư Điện cảm phần ứng  Tốc độ động cơ

Rư Điện trở phần ứng Mt Mô men tải

Uư Điện áp phần ứng J Mô men quán tính
Eư Sức điện động phần ứng B Hệ số ma sát
2.3.3 Modeling of Electromechanical Systems
 Phương trình cân bằng điện

diu (t )
U u (t )  iu (t ).Ru  Lu .  Eu (t )
dt
Eu (t )  K(t )

𝑑𝑖𝑢 (𝑡) 𝑅 𝐾𝜙
 = − 𝐿 𝑢 𝑖𝑢 𝑡 − 𝜔 𝑡 + 𝑈𝑢 (𝑡)
𝑑𝑡 𝑢 𝐿𝑢

Dr. Van-Phong Vu-Department of Automatic Control

2.3.3 Modeling of Electromechanical Systems
 Phương trình cân bằng moment

d (t )
M đ (t )  M t (t )  B (t )  J
dt
M đ (t )  Kiu (t )

𝑑𝜔 𝑡 𝐾𝜙 𝐵
 𝑑𝑡 = 𝑖 𝑡 − 𝜔 𝑡 + 𝑀𝑡 (𝑡)
𝐽 𝑢 𝐽

Dr. Van-Phong Vu-Department of Automatic Control

2.3.4 Modeling the Fluid Systems
Fluid Systems:
Basic variables:
Pressure (áp suất) p [N/m2]
Volume (thể tích) V [m3]
Flow ( lưu lượng) z [m3/s]
Basic elements
Hydraulic resistance

Dr. Van-Phong Vu-Department of Automatic Control

2.3.4 Modeling the Fluid Systems
Fluid Systems:
Hydraulic resistance R:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.4 Modeling the Fluid Systems
Fluid Systems:
Hydraulic Capacitance C:
(1)

(2)
Hydraulic Capacitance C

Dr. Van-Phong Vu-Department of Automatic Control

2.3.4 Modeling the Fluid Systems
Fluid Systems:
Hydraulic inertance: Hydraulic capacitance is a measure of
the energy storage in a hydraulic system.
P1 − P2 be the pressure drop
cross-sectional area A
 m is the uid mass and
v is the fluid velocity
 pipe length is L
Newton’s second law

Dr. Van-Phong Vu-Department of Automatic Control

2.3.4 Modeling the Fluid Systems
 Example:

L
Dr. Van-Phong Vu-Department of Automatic Control
2.3.5 Modeling of Thermal System
 Thermal Systems:
Thermal resistance R is the resistance offered to the
heat flow


Dr. Van-Phong Vu-Department of Automatic Control

2.3.5 Modeling of Thermal System
 Thermal Systems:
Thermal capacitance is a measure of the energy
storage in a thermal system
 q1 is the heat flowing into a body
q2 is the heat owing out
the difference q2 − q1 is stored by the body

heat capacity be denoted by C

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2.3.5 Modeling of Thermal System
 Example:

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2.3.5 Modeling of Thermal System
 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.5 Modeling of Thermal System
 Example:

Dr. Van-Phong Vu-Department of Automatic Control

2.3.5 Modeling of Thermal System
 Example:

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 2.4 Mathematical Model
Analysis

Dr. Van-Phong Vu-Department of Automatic Control

2.4 Mathematical Model Analysis
 Combine all mathematical model of all elements to
obtain the mathematical model of a whole system.
 Linearize the nonlinear mathematical model to linear
systems.
 Linearization:
2.4 Mathematical Model Analysis
 Equilibrium point (Điểm dừng).
2.4 Mathematical Model Analysis
 How to find Equilibrium point
2.4 Mathematical Model Analysis
2.4 Mathematical Model Analysis
Thank You For Your Listening

Dr. Van-Phong Vu-Department of Automatic Control