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Week 05 Systems and Response 123
Week 05 Systems and Response 123
Dynamics
Mechatronics (06-92-412)
General Background
Each electromechanical system responds differently to
General Background
Electrical system
La Ia Ra I a Kb ein (t )
J b Km I a TL
Mechanical system
Complete DC motor model
3rd-order, coupled linear system
dny
d n 1 y
dy
an n an1 n1 a1 ao y bx
dt
dt
dt
where
n = order of the system,
x = input,
y = output,
t = time,
as = constant coefficients
which depend on the characteristics of the measurement system.
dny
d n 1 y
dy
an n ann1 n1 ...a1
ao y F t
dt
dt
dt
Zero-order Systems
Zero order system is independent of time, i.e., n = 0
Output responds instantaneously with any input change
dny
d n 1 y
dy
an n ann1 n1 ...a1
ao y F t
dt
dt
dt
ao y = F(t)
y = (1/ao) F(t)
Output = Constant x Input
Zero-order Systems
Example #1
Linear potentiometer
Eo = (l/L) Ei
Zero-order Systems
Responds instantaneously with respect to any changes in the
input.
Independent of time
Mostly used for static measurements
Example #2
A tire pressure gage with negligible inertia or piston mass.
Dividing by ao
y + y = K F(t)
where is called the time constant = a1/ao
and resistance.
Mechanical systems that have friction and springs, but with
negligible inertial effects of mass
R1 R2 CeC eC R2 Iin (t )
AU(t) = 0
=A
when t 0-,
when t 0+.
y + y = K AU(t)
Solving the above first order differential equation
Boundary condition y(0)=y0
Y(t) = C e-t/ + KA
Steady response
Transient response
y + y = K F(t)
y + y = K A sin t
Magnitude ratio,
Amplitude lag
First-order System:
Periodic Function Input
Phase lag
Input
Output
Magnitude ratio
Phase shift
Filtering
Filtering
Filters Types
Passive filters are circuits made up of resistors, capacitors,
and inductors.
Active filters incorporate operational amplifiers.
The sharp cut off of an ideal filter can not be realized.
Roll off designated in decibels per decade
Phase shift between input and output
Filter design is based on its cut off frequency, which is the
frequency where the signal power is reduced to , which is
equivalent to m(w) = 0.707
Decibels; db = 20 log m(w) = 20 log (0.707) = -3 db
Filters Types
Filters Types
High-Pass RC Filter
We can interchange the resistor and capacitor to convert
L = Inductance
Filter example
Design a one-stage Butterworth RC low-pass filter with a
Solution
differential equations.
a2 d2y/dt2 + a1 dy/dt + ao y = F(t)
Divide by ao
(a2/ao) d2y/dt2 + (a1/ao) dy/dt + y = (1/ao) F(t)
1 d 2 y 2 dy
y KxF(t)
2
2
n dt
n dt
the undamped natural frequency, n = (ao/a2),
the damping ratio, = a1 / [2(ao a2)]
CeC I L 0
LIL RI L eC ein (t )
1 d y 2 dy
y Kx
2
2
n dt
n dt
2
K = 1/k,
n = (k/m),
= c / 2(km).
1 d y 2 dy
y Kx
2
2
n dt
n dt
2
Where, K = 1/k,
n = (k/m),
= c / 2(km).
=1 (critically damped)
<1 (under-damped)
>1 (over-damped)
=1 (critically damped)
<1 (under-damped)
can be obtained at
Practical use
F(t)