Mathematical Modelling of
Physical Systems
• Why mathematical models of physical
systems needed?
• Design of engineering systems by trying
and error versus design by using
mathematical models.
• Physical laws such as Newton’s second law
of motion is a mathematical model.
• Mathematical model gives the
mathematical relationships relating the
output of a system to its input.
Mathematical Models of Physical
Systems (continued)
• Control systems give desired output by
controlling the input. Therefore control
systems and mathematical modeling are inter-
linked.
Models of Mechanical Systems
Mechanical translational systems.
• Newton’s second law:
• Device with friction (shock absorber):
B is damping coefficient.
):
• Translational system to be defined is a spring (Hooke’s law
K is spring coefficient
table_02_04
Model of a mass-spring-damper system:
Note that linear physical systems are
modeled by linear differential equations for
which linear components can be added
together.
See example of a mass-spring-damper
system.
Model of a torsional pendulum (pendulum in clocks
inside glass dome);
Moment of inertia of pendulum bob denoted by J
Friction between the bob and air by B
Elastance of the brass suspension strip by K
Mechanical rotational systems.
Moment of inertia:
Viscous friction:
• Torsion:
table_02_05
SERVOMOTOR MODELLING
Model of electromechanical systems.
Modelling of a servomotor:
• Model of temperature-control system:
qe (t ) = heat flow given by electric heater
qi (t ) = heat flow via liquid entering tank = VHTi
ql (t ) = heat flow into liquid = C dT
dt
qo (t ) = heat flow via liquid leaving tank = VHT
qs (t ) = T − Ta
heat flow (loss) via tank surface =
R
qe (t ) + qi (t ) = ql (t ) + qo (t ) + qs (t )
H = specific heat of
liquid C = thermal
capacity
R = thermal
resistance
V = volume of liquid
Models of Electrical Circuits
• Resistance circuit: v(t) = i(t) R
• Inductance circuit:
Models of Electrical Circuits
• Capacitance circuit:
• Open circuit:
• Kirchhoff’ s voltage law:
The algebraic sum of voltages around any closed loop
in an electrical circuit is zero.
• Kirchhoff’ s current law:
The algebraic sum of currents into any junction in an
electrical circuit is zero.
Example 1: Model the following circuit
R-L series circuit, step voltage:
At the moment the switch is closed i=0.
E = step voltage
This is first order differential equation
R-L series circuit, impulse voltage source:
Differential equations as mathematical models of physical
systems: similarity between mathematical models of
electrical circuits and models of simple mechanical systems
(see model of an RCL circuit and model of the mass-spring-
damper system).
This leads to the concept of the Transfer Function which is the
cornerstone of the control theory. Transfer functions will be
introduced after we introduce the Laplace Transform.
System Variable Integrated Variable Integrated
Through Through Across Across
Element Variable Element Variable
Electrical Current, i Charge, q Voltage Flux linkage,
difference, ν21 λ21
Mechanical Force, F Translational Velocity Displacement
Translationa momentum, P difference, ν21 difference, y21
l
Mechanical Torque, T Angular Angular velocity Angular
difference, ω21 displacement
rotational momentum, h
difference, θ21
Fluid Fluid volumetric
rate of flow, Q
Volume, V Pressure Pressure
difference, P21 momentum, γ21
Thermal Heat flow Heat energy, Temperature
rate, q H difference, τ21