Chapter 2 Control system modeling and representation 2-2 Mathematical modeling of mechanical systems Typical mechanical systems may involve two kinds of motion: linear motion and rotational motion. Spring, mass, damper and inverted pendulum are widely used devices to describe a large class of mechanical systems. Example (Automobile suspension system). As the car moves along the road, the vertical displacements at the tires act as the motion excitation to the automobile suspension system, ‘The motion of this system consists of 2-1 Introduction This chapter presents mathematical modeling of mechanical systems and electrical systems. ‘The mathematical law governing mechanical systems is Newton's second law, while the basic laws governing the electrical circuits are Kirchhofi's laws. a translational motion of the center of mass and a rotational motion about the center of mass, and can be simplified as a system with springs, mass and dampers shown below.2-2 Mathematical modeling of mechanical systems Example. Equivalent spring constants. aut kok Systems consisting of two springs in parallel and series, respectively. (b): m1 (Fig.b) ‘The same force fis transmitted through the shaft and therefore, S=6G-x) BQ -2) o from which we have 1 6, +b, =by +bx = Oy +bx) (2) +4) Example, Systems consisting of two dampers connected in parallel and series, respectively. Find their equivalent viscous-friction coefficients b,,With respect to dy/dt and dx/dt. L [wee Solution: (a) The force /that causes the displacements is Since we want to determine the relationship between dy/dt and dx/dt, that is, f=be-8) where b., is the equivalent viscous friction coefficient, by substituting (2) into (1) yields. tage s-afy- ors) -— tbs “Gem bb Hence, b= gU=7 T aExample, Consider the spring-mass-dashpot By Newton's law system mounted on a massless cart. Let u, the displacement of the cart, be the input, and y, the displacement of the mass, be the output. Obtain the mathematical model of the SMD system. 4 ' , . erefore, the system transfer function can A ., ., be obtained as : s ‘ yo) _wek_ Forces acting on Yo), _Wtk the mass: U(s)ms* +bs +k o(#- Bont -y) fa ja eg bardeearDa een oO oO Example. Mechanical system is shown below. Obtain the transfer functions X;(s)/U(s) and X,(s)/U(s), where u denotes the force, and x; and 4%; denote the displacements of the two carts, respectively. Simplifying, we obtain igi tai, +08, +h; =u ty Solution: By, Newt: egond law, we have mx, thi, +(k, +k, =hy, +x, me RR, BGs SON SS mi, =-ky,-kb ic iba) ie Eee Tr patsy y, Za‘Taking the Laplace transforms of these two equations, and assuming zero initial conditions, [m,s? +bs +k, +&,)IX,(9) =U +065 +k, )X (5) Lim,s? +bs + (ke +h, (8) = (bs +k, (8) (2) ng Equation (2) for X,(s) and substituting it quation (1) and simplifying, we get Solv into Xs) _ Ue) Im,s? +bs +k +k] fms? tbs +, +k, lms? hs +, +k) Os +k Example. RLC circuit. Find W.s)/R(s). TT" caren O*[] Gh exe t - source Oe MO. 1 fend ro) R dt Taking the Laplace transform of the above equation yields ro V)=RO) +C8V (5) + 2-3 Mathematical modeling of electrical systems LRLC circuit Example. RLC circuit By using Kirchihoff's law, we have u=iR4y+y, Since we have Hence, Vyh+cs++)=R6) ROOTS Vo)_ 1 RO” Tyest RO, RLs RLC# +Ls+R5. Operational amplifiers In the ideal op amp, no current flows into the input terminals, and the output voltage is not affected by the load connected to the output terminal. In other words, the input impedance is infinitv and the output impedance is zero, a [O Example#6 = Find out the transfer function of the following circuit, Operational Amplifiers Example#7 = Find out the transfer function of the following circuit ¢Example#8 Example#9 + Find out the transfer function of the following circuit and draw the pole zero map. = Find out the transfer function of the following circuit. ‘The Transfer Function of Linear Systems The Transfer Function of Linear Systems Ta KV KHAO ook a i Fol) = KH vidio ( Pe ravenna wot fi rou — ” Taek diagram model of ek-contbd de mone,‘The Transfer Function of Linear Systems Dinar Introduction = The operations of addition and subtraction have a special representation, 1 The block becomes a small circle, called a summing point, with the appropriate plus or minus sign associated with the arrows entering the circle, = The output is the algebraic sum of the inputs. = Any number of inputs may enter a summing point. = Some books put a cross in the circle Spee ep Block Diagram Representation of Control Systems Introduction = A Block Diagram is a shorthand pictorial representation of the cause-and-effect relationship of a system, = The interior of the rectangle representing the block usually contains a description of or the name of the element, gain, or the symbol for the mathematical ‘operation to be performed on the input to yield the output. 1 The arrows represent the direction of information or signal flow. . EH ° Introduction = In order to have the same signal or variable be an input to more than one block or summing point, a takeoff (or pickoff) point is used. = This permits the signal to proceed unaltered along several different paths to several destinations. =Example-1 Example-1 fx Consider the following equations in which x, x2, Xa, are variables, and ai, az are general coefficents or mathematical baled xy aya $ayx, — 43 = 41x +g —5 i system Example-2 = Draw the Block Diagrams of the following equations. co ‘t af iH @ a mets wane ston (Hop waster tancion = epersp waster fin e/ha meso ter ssn cn nto = F/fem aang sil atom ere abe FTGCharacteristic Equation +The control ratio is the closed loop transfer function of the system, +The denominator of closed loop transfer function determines the characteristic equation of the system, + Which is usually determined as: 3. Eliminating a feedback loop fo}; — z “te a 7 — a ate iG Reduction techniques 1. Combining blocks in cascade GG, — GG, 2. Combining blocks in parallel G fe a Example-4: Reduce the Block Diagram to Canonical Form. #30 +0—fa}-fa nS ya ‘Sip Combine cae ok - —=- Sep 2 Combine al pre! HasExample-4: Continue. Example-5 + For the system represented by the following black diagram , Sep 3: Blan lr ck ps simpli i to single block diagram tay 7 ©. (Hee Example-5 Example-5 «First we will reduce the given block diagram to canonical form z 1 ©. z K ©. >+O—« at} amen a et fa] 6 a i. . Tar eee *—0—[iei} 7 z aExample-6 «= For the system represented by the following block diagram determine simplify it 6. Moving a pickoff point behind a block ye — G 7. Moving a pickoff point ahead of a block — G oJ Reduction techniques 4, Moving a summing point behind a block ad Gc]: «==» {e]*e - Cre 5. Moving a summing point ahead a block Gc} — lo 8, Swap with two neighboring summingExample-7 Example-7 + Reduce the following block diagram to canonical form, Example-7 Example-7 Hy G, R cExample-7 Example-7 Example-7 Example 8 Find the transfer function of the following block diagram R 6) GGG, Cc cI iG AS 4+ AL ¥(s) _—_@j____RO) + sl tete fq}ist| G+aG [10 +8 as | > {a} HHeE}SJ Solution 3, Moving pickoff point B behind [G+ G.G, 41. Moving pickoff point A al} of block Raa — 2. Eliminate loop | & simplify “EG 1G. GGG, {7} — | (asa . HG, TG +6G) 4, Eliminate loop III Example 9 RO sete 1G Gy +66, ek) Find the transfer function of the - | THG +66) folowing block ciagrams pm GH, Ris), -| -e-E G16 GGG, Y) ; I 15GG,H, +HAG,+G,G) - = He, GG. 96, RG) “TOG VAG, © Ys) MIATA)Solution; 41. Moving pickof point A behind RW) “¢—a He 2, Eliminate loop | and Simplify Re) Yo) * GGG, 7 *. GG, VO vo) 1G S| eGah Ys a. | | $ 7 Ths 1, a A & feedback & Not feedbac GG, H,-GH, 3. Eliminate loop 1! & Ill RO)_+ GGG. Ys) : oy 1+G,G,H,+6,G,H, H,-G.H, z a Fe ein eh sins x9) 6.656, RG) GG + CGH, +6,6.6,H,-[Link], 1 0-E HSH} eHExample-10: Continue. Block Diagram of Armature Controlled D.C Motor liming ep CH ete od _— H “Toei rrp conning Hu wee eS (Ls +R, LO) + K 05) = Vs) Fey by rea tbe mig My alt “ae (Us + e)ex(s) = Kgl) Block Diagram of Armature Controlled D.C Block Diagram of Armature Controlled D.C Motor Motor (L,8 +R, Ml) + Ky) =V(S) (Us + )as) = Kgl aS) VO) 4 LO) 10 [agBlock Diagram of Armature Controlled D.C Motor Signal Flow Graphs * Aleraive to block ciagram 7) *= Consists only branches (systems), and nodes (signals) ots) V0) 4 Ta LE TA) yg] 9. | RE ned [sh Lat ‘Signal Flow Graphs Signal Flow Graphs (Boma futon ‘Conver the cascaded, paral, and feedback forms of the block ie Glagrams shosn in igutes ben, respectively, ino sinal-fow ce raphe. we Tn ei © 2 Fo fein a ©) _fapenan ae salads fete syste m0 © O oan “ineconnct egal coos tn stam wanes G0), G9, 6 moo So oq.Signal Flow Graphs Signal Flow Graphs (Solation, ie fopsm ‘Banos ‘Const the cascade, pralelandfsdback ome of he Hock ‘agams shoo igre bel ne saw gap. er = ia Mason's Rule ——— ‘Ateemique i recuce a sgnaifow graph ioa angle vans fntion ' Requires the application of one formula, ‘The transfer tunction, C(s)R(s) fa system represented by a 3 a 1™( oop gia « nontoucingloep gin tae oat 2 abe = (oop eh doe ret oven he ovina) Mason's Rule — definitions * Loop gain =the product of branch gains fun by taversg 2 path hat stars at @ node and ends at the same node us. Gey) 2 Gunso) & GINGA GIGI)Mason's Rule — definitions orward path =the product of gains found by taversing a path fromthe input node tothe output node of the signaow graph FL. GOIGIEMGLIGING9) F2. GLSIGIGIG GIES) Mason's Rule — definitions ‘ Non-ouching oop = Loops tat donot have any nodes in ‘+ Non-touching oop gain ~The product of oop gains from omtouching oops taken ve, tes four or more at a me wm. [acamco]aco4.c)] nr. [are OMTOoxG.0440)] NT. [GOH GOGH) Mason's Rule ‘Banos rath rans fncto, Ci) fore sgnatio graph in igure boon Mason's Rule FL [Link]Mason's Rule LGA BGO) 2 GHG) 4. G,06,9G,(96,06,96,006,09} Mason's Rule ‘Ties et he nontoucing lope taken two at tne, AONE (9G, (0) CEBRAUEH 6,82, 96, EL MOE OG IH) Mason's Rule MEER on womans Mason's Rule alain Lace) -eu0.0) FGM) AOBMBMGNEOGOGN HOM MAORO+GOR MOH FOOL OGOEIT 16,191 (90401. 696, 00869, ke tome [t ~lop doesnot touch frsara pth d= e0H)