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ME2142C3 - 162 - Modelling of Physical Systems
ME2142C3 - 162 - Modelling of Physical Systems
ME2142C3 - 162 - Modelling of Physical Systems
Chapter Objective:
Dynamic modeling
Transfer function (Laplace operator)
U Y
Plant
In the plant shown, the input u affects the response of the output y.
In general, the dynamics of this response can be described by a
differential equation of the form
+ + + + = + + + +
f f
1
f f 2
Since m = 0, gives .
Since and
Thus
Or
x is the control variable
Previous Example by Ky Kx
Assuming zero conditions and taking Laplace transforms of both
sides we have
bsY ( s ) KY ( s ) KX ( s ) Recall Laplace transform proper5es for y
Or
m xo
And
fs fd
Transfer Function Free-Body diagram
Second-order system
Jan-17 ME2142 Feedback Control Systems C3.8
Copyright ME, NUS. All Rights Reserved.
Modelling of Physical Dynamic Systems
Electrical Elements Resistance
Capacitance e i R
e i C Laplace Transform
Differentiate w.r.t time
Voltage Law:
The sum algebraic sum of voltage drops around a closed loop is
zero.
Using KVL,
and R L
Giving ei i C eo
or
and
Therefore
where and are the rate of heat flowing in and out of the system
, respectively.
Thermal conductivity
Qi2
Hence,
Qo
= =
= +
or = +
We can further assume that (by symmetry design),
= , Substitute into the flow equation
+
= +
yields
+ = + = +
Defining
= + for = , 1 2 Or
= = = ,
We have
= + and =
= +
= = <0