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Mathematical Modelling

Mathematical modelling of control systems

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shankarsomana036
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11 views17 pages

Mathematical Modelling

Mathematical modelling of control systems

Uploaded by

shankarsomana036
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
Mechanicel Translational Sptem ¢ @ Te model of mechantel JronshHonal systems Cn be chiained by ysiong Three bei Elemarke | Maas me. 2. Dosh-fok Od * —H) 3 Shing. 50. Moss [ea] + @ Te weight of the mechanicl Sytem i6 srepysouted by the Clearet Massond it is apsumed 40 be Comeettal ad the Conte of the body: Kx — FN. @ Considex an jdeal MryS Blearen} Shown ter Fag: above Whi hye negligible fete Hom “oma Glastictty: @ let a force be applied on th The moss will offer 07 opposrg doce otscs 14 Prcpeteral #8 accelewation oF the body: @ Let f= Applied -foxce ten = opposing, force due to mays: [[-- acceleration ; dy fin he > ton % SE a= mlee ax Neloctty = 3 nls] sd Sun ot Be 3 tm toe dt © scanned with OKEN Scanner P & Newton's semis Now, IF dm a Deh tat Dyk tat © The friction Existing in ropchanieal cpplem Con be Depysented by tbe doak-Pok The dank pak ip 0. Piston moving ley a. GHlimdor cil vis stern flotd. be B Consider an ‘deal fictional 4 + —|H+ Elermuat dostepol- Bown Pe heeener In Fig.© Whaow ja bys Fig.) hegligible moss ond Blosidty: © Dosh-pot will offer an opposing Porepoc eerel to Neladihy of tke body: Let $= Applied force $= opposing gece dee +0 friction Hee, foal v > fo fe > [f= 6 3 By Newton's Secomd Law, | oe @ hem the dosk—bot hos im disblacemet of bot + = a Q& Shown tm ~- al Fig-c, the chpacing force Fig 16 propertomal to differen Nelectty « By Niawlons Second lass, |F= dy= Be Se $ers - afe © scanned with OKEN Scanner force Wide [es] = nd? : © Te Elastic defowmation of tke body Can be aeprserked by a Sbrieng - 7 @ Consider an ideal teed ¢ Elostic lemup Shing — kK hoon im Fig. d- , Fig-d @ When hos negligible mass g fate tion. Reference - @ le a force be epplted om th: The shi alt dee an opposing Perce Dick Js brofertiomol +o disblacerent of the body Let fe Applied force Fy opposing oxce due to Slasticttey Hexe fl ©0 By Nesters Second Laws, @ llhem the Shvierg boys px dtsblocerrest od tee bette > OT Bards gs Shown in Fg.€ eae tke opposing fovce 8 brcbottocrol to ditbewutid dis ploceernes}- te ol (4-2) By Newton Secord Lew, © scanned with OKEN Scanner BO) Waite he diffe sentio! roe governing lke npchanie| System Alcon Ta Fags ced Achecmine Whe deagafior frm Hew ben 7 ~ \ v mM, > $b) 1 my 7 "7 77 aryrtr Sclotion t a a By Nluster ls Secomd lero deny M tel burdens + Fast fet Fy 0 1 oe e dx, dx —x) My So +B Sh SEE gay FEC H) =O on atin Leplce trans fora With Reco initio) Coand i Hom - M, 248) +B SAO) + as[xo xe] + kyo -JFo (6) not Bot 8S + +)]- xo. 25+k] =o Bs+k x) = | MSrt Ort BS +(K 48) OTe free body diagram of mss Ma 3% Shown tn fig: x > Te oppostengy cfoxces oc tora om My one marked oS tir, ton, te ond Se: x Bu Niwtns secomd Low me Sot tutte t t= oH) te Le kede nd peda oe 38) 3. Ket) Li du dt Ko Fk. = $e) © scanned with OKEN Scanner OO ee 3] - eet | Leplace frntformn uth Ze@ tthe) Coordi Borys. F a o£ My S* xis) + BS x69) + Bs fat 9] + K [xed 9psi] =F) x6) [ms freds4 x] | Bst ye Fe) Subsbhoking fox ay(s) foo Eruation (1) in Euctio C9) (Be+k) ng x) [ss (e48)5+X) acs) sr eroe i D . Fo) - ue xis) | Ps + @48)5 + [ms r@restk] s Myst Bs HHO) [rus (@rBs + e8)) xG) z Z = [Ms +@sB5+ J [aseeaverk] est) Resulk @ The differnt Euntions governing: tke system one ot, SE 4 wd awe (eed + Kt RDO a dt daa (xe) + kK Cx) = dt dt @ Tre transfer force js 5 >, @ taser rk wS) _ awe = ol Para e mse) -0or + (Br FG) L 4,8 = Mh © scanned with OKEN Scanner Q) Watt the geves img aiferental Prantions of te wptbenied System Shao tay Ffy pute Ton-aoti] 0 0 [3 bee Bur, 9 fwd 4}— TTS @ By Nuvtoays Secord Law — Fm Fite) = tomy + Sart yt ett ja My ty A dx le dy WS MO 4 99 4g dD is fe get GS ede ta ea K (ym) > 0) (02) Fe) = Miah + yy ew gde Ky dt + «forge 7) - eed Leplace tags form with aro tent Hd Coordi Hope, FG) = Mx) + BS 46) +85 kx] + KANG +K Lx -xe] - Bstk Fo) = xo [ets 40)2+675)] xe [es+k] fons Secocrd Lo? SW @ By Neo! a ithe pee = a 2 ft) = "~ a 7 ee = MPG 4 gp AGW, pg, de ae RO eT ae det + Kage) + Kl) +E for) : { $e) = M gue N @X)-4b Need power y BME + Be = + Ky) Na! fF) + BL +8. +k © scanned with OKEN Scanner [es-a-4] Om tating Laplace trans foray tt arco tattial (omitions Ko= wie _s = aS Xf) + Bs [xysr-nai] + 8,5 x45) +k [xe y5i] + Ka ft) Re 2 : : aS) = x [Ms 4 6 +8)s + (KK erLs+ «] Sw Root! Afferent Erin tions governing ke Syptern OF \- . He) = 48% 0 3 fee] Ke =, dy, ls + BY, + B(y-y)+ & Jude +e Soy oe ® hai-uds 4. “ae 78 ge ker) + kta tee) E®= Mga =) "at BW -\)+ Bit K Seno Jan tk fut © scanned with OKEN Scanner Electvical Anatagoys of Mechanic] Translational Syste Favre ,daea Armke ee eet Fore- Gace Ara loqoy, ao t] | Memantesl : HW) Peper eee} [tetenel | elect rw ip Fee) hope Baa | vip — | —_seategely) © scanned with OKEN Scanner Egshe mye Li = Angular dtshlacement tod de 7 da 3 Arguies Nelecity,, wad] coe oe = Argdax acceleration, sod | See T= Applied toveue, Nom T = Moment of trevta, bg-mt/xod B= Rotateral dotctoral coeltciwt Nom /Gad/see) K = SHiffnus of Ke spring, nl-m/xod G fren sy SE OF Sgmnbsele Yard tr Mecvanteal Retstional System: = Chpesing toreue dee te moment of inertia oF Yee body ar = Opposing fowue due to clastictty: Th = Opposing toveue doe te fete Hom @ We model of sofaticerol Mechanical sypsteams Can be obteined by ysterng thee Elearents, Moment of inewta[T] oF mA, dosh ok with wetatiomol frictoral Co-ephicient [B] wd 4oxsional shuing vai. stiffness [k]- Tongue Barance Equations OF \Denused Everents> >> The Weight of “cotstorel mechanical system 35 pe ented by the moment of teex-to of the mors- >» The moment of ierextiq of the System ov body Ke Comsidered +o be Comcentrated at tke cembe of gravity of te body. >> Comfider an ideal mos Elemet Ahoun in gra wWhicn hoe negligible frictioen ond Elosiicty: [ J J 7 Fig-a 8 © scanned with OKEN Scanner ek Obposiong toxeue due to moment Of trwetg, N Proportional to the ages accele«aMern: im sotational eke nical pot: Sisal @ The friction Existing System Con be aepesorted bi tke dash @ The dosk—pot is a piston wisting inside Hlled wot, Viscous foid- T38 @ Comsider an teal frictiemal i) | 4 Bleama- dosh bot shown in a Fig-b- which hos the negltble Fig-b omer of fmertia od Slastidty: @ let a tore % be applied om it - Wee dask- pot Will offer an opposing toreue WW Ie prefesHoral to ioe angulaw Velocity Of te body: T= Applied toveue 2 Tb = abpestng Fyoxpue dele to Hictom exliendexe do oo Th ~ $2 oy T =e By Newtons Second law Idhen tke dash pot bys axguay displaceamed- act bolk Ears 2 fT ede oe Bhown im fig:c the opposing i toveue j6 proportional 4p tke Ai}fevemtial angular Velocity + © scanned with OKEN Scanner Ti =p&hte-s b Bs Ce, ©.) FF PEeogs o The Elastic ch fosmation of the body Com be orpypeted bys Shag C4oxsteral sping) @ Comsider an ideal Elaste Element, Tee Be [o-0] | K tovsi * oo wane Shing: % Shown im Fad, 4H Fig-d box negligible momet of Imexto ond fatetioen- @ let a Horgue be epplied om tt: The torsional sbxi ill Odfer an opposing forene lick §6 bie bostiomal to Owguby dtsplaceanast of the body: Th XO Or) B=keO By nluvtoms Secomd low kK : wy oe Fig-e @ bken tke Spring bas angola dishlaceanmrd at both, Ends 96 Shown fem fig-€ the oPhosing toxeue js beofertionel to thbeventiol Ongolax dysplecearmmf Te & (G8) Th =k @-8) —o— © scanned with OKEN Scanner sienna al OS) foe om givers thal G) Find the transfer fore Horry ae f Mec han ten below Figure + cysteam Yo ok Ahowr BE Oa) eer } d, ; — 2016 [wren Apatite, | Sclotiom 5 —_—— ‘ny | Wedy Jo at} To = B, 92 eu ; b= ef is ‘ dt \ Fig T= [6-8] By Nlusters Second tan T= Tat tt Te Te 3 Je age, 4 Tee] Jth 8, On Aa tiorg Laplace pemgeform wt: Bere tat Hel Corelitis, FS Qs) + BS qu) +f Of) — Keg) = TS) e©LTS+as + K]-m 98 =16) U1 = Freckody dtagwom of mage wt IL moment of imectio J, WS Shown tm Fig-q + The ctesing spose: Oe octiong, om Tz mowed 98 Tjy5 Thy Teles at | © scanned with OKEN Scanner By Nuwtent Seeond an js 4 Th + 7, Ve, 2 % 7 AP re hoPs sedsy erapa)s te, dv ay = wemg Lanplace dennafeemn uote 2eo tenth | Corel tery fi fy wre J, 9 G64 Bs As) Kfesr- epi] + Kee gol Te +fae+4g} os) Ls ast +x ]- as [a] =° ay 2 LLL ws [s+ as+4 «J *, 4+ tka eo) = Garrard a, y Substite teg fev 6,6) from &@ im &) we get. ( [Bes as+ han] [52+ 8s+k] - +] os) = TCs) —— : kK oo [5 s+ BS+ yes + yak qh Texanpfer foreticen of the systerm: © scanned with OKEN Scanner 4} ae Ks Ky loam \3 TH-/), 5, Larne 7 {) J . (a bp t s Br -aoi6] [aaron Apsi/mey Freckedy diogeen et a iL moment of 8 merBe Jl ie Shown in / /, Fig. fete ate Tea Ta Ty . _ Tea oe The chpost Nactieg om J, Fa Maxked ax Ts G1, Te Ta RETR, By Nesters Secomd lau O = TR t Tey Tet Tet Tk 1 > 74de 1 sit Bde d@,-°, dart Pit B,. ey A 8+ Fs(6,-8,)=0 iS n aed Leplace thansfourn voi 3ex0 Tent Hel Coarlitions TS 6) + 85 86) + BsbO-EL]+ eo K[0-e]-0 Bote reds 4.q, +e JJow~ Bys+eJes) =o => es) = [es tl oar eee Jis + @r48,.)s + (ky) Cees? Oke free body diag mm Of rroas Wi momen} of inertia Th i ; a rr hoon tm Fig-y- Ta T @ We opfesteng ttovemes ove ac-tieng, Om Ty rented g2TS2, Ths, Ty Ted Teg Fg-y © scanned with OKEN Scanner [-n-a] By Nunfomls Se, terd Lew, Tj ot Tht Tost Tet Teh 2 Taye, 3 Tate: fh di ae he 7 a SBe + ky(O,- 2) + Ky On taking Lagloce hapsformn wy 30 Frito! Gordie TE)= Tees) + as es) + 8,80.6-E)]+ les) ) + Ks & TG) = [Be+B Blo + Kat weg) — [bus + eo] ee) — 2) Substtoting for 96) fom GU) in SO) we get, TS) = |e Dt els + Kte]]- [este ent KY Bast &) le TS (Gt Bs) Fer ereowre 7. OG) _ Bes @re)s+Gre] TS) Fererade ere] lLEGt eg B T Cecnfer forcHoen of tke sysheem: © scanned with OKEN Scanner Mea for the Weta el Sclatinal gptemy then tn Figow: Dr the Tory, NeWeqe ool Tevpee Caner b Cle beied annloqoys eter NL] al ‘HHP Y \ By ” Os "Os [vtor August 2014] thy Selotion s e® T= Tt Ty Ty = 38 = ww + aces 4B-eJ>o OM teri, Laplace tapeferen wttk no imtHel Comditaxs TS) = TS os) 4 Bs Logo] + ky o-es] @ ° = Gat Bt Tasty o= de s+ 8 a ro) xe ae +8, KO: oe =) On +o‘ —>e) MY Aeplace hans fora WEL Bere tet Goel tRene OF Teepe Bs [geo 9/5] + 8s [oo -45)]+ Les) ec] @ o= G+ Tht Tks of ak d Os ao aarp op + Ks @, 0G) on toting a oe With Bro Tents) Condi Hoos > o= GS 65) + B,s esos + Keegy © scanned with OKEN Scanner [es-#-4] eon Meplacing Re angular djcplttmrmdzs by ange BO ‘Fe dibeemtal euatioas OO AG Nexn *T89 Be wechantel

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