Mathematical Models of Systems - II

446 - 3

Prof. Neil A. Duffie

University of Wisconsin-
Wisconsin-Madison

® Neil A. Duffie, 1996

3 All rights reserved. 1

Obtaining a Workable Model

• Objective is a low-
low-order linear model that
is valid and makes sense "at a glance".
• Understand the physical components.
• Make appropriate assumptions.
• Use basic principles to formulate model.
• Linearize where necessary.
• Write differential and algebraic equations.
• Combine equations and simplify.
• Check validity of model.
3 2

Common Process Types

Delay:
c(t) = Km(t - D)
Integration:
dc(t)
= Km(t)
dt
First-
First-order:
dc(t)
τ + c(t) = Km(t)
dt
Second-
Second-order:
1 dc (t) + 2ζ dc(t) + c(t) = Km(t)
2

3
ωn2 dt2 ωn dt 3
 Assumptions in Spring-
Spring-Mass Model
System y(t), [m]
Model
mass 2
M dy (t) + y(t) = 0
M [kg] k dt2
spring
k [N/m]

• Is the model correct if the spring is

compressed too far to the left?
• Is the model correct if the spring is
extended too far to the right?
3 4

Linearity of Spring-
Spring-Mass Model
y(t), [m]

mass 2
M dy (t) + y(t) = 0
M [kg] k dt2
spring
k [N/m]
• All models incorporate approximation
and therefore incorporate some error.
• There is a range, around an operating
point, over which a system's behavior
can be approximated by a linear model.
3 5

Linearization
• For a linear component in a system,
if input level x1 produces output y1 and
if input level x2 produces output y2, then
x1 + x2 produces output y1 + y2
• Linear example: dy(t)
= K x(t )
dt

• Nonlinear example: dy(t)

= K [x(t )]2
dt
• The real world is nonlinear!
3 6
 Taylor Series Expansion - 1 Variable
1 df 1 d2f
f(x) = f(x 0 ) + (x − x0 ) + (x − x 0 )2
1! dx x 0 2! dx2 x
0
+ higher order terms
• x0 is the operating point about which the
expansion made.
• Over a small range (x - x0), the slope at
the operating point is a good
approximation of the function:
df
f(x) ≈ f(x 0 ) + (x − x 0 )
dx x0
3 7

Taylor Series Expansion - Multi Variable

∂f
f(x, y,…) = f(x 0 , y 0 ,…) + (x − x 0 )
∂x x0 ,y 0 ,…
∂f
+ (y − y 0 ) + …
∂y x
0 ,y 0 ,…

• x0, y0, … is the operating point about

which the expansion made.
• Over a small range (x - x0), (y - y0), … the
slope at the operating point is a good
approximation of the function (higher-
(higher-
3
order terms can be neglected). 8

Nonlinear Spring
y(t), [m] f(y) [N]

mass
M [kg]
spring
f(y) [N]
f0
f0 = f(y 0 )
df y
f(y) ≈ f0 + (y − y 0 ) y0 [m]
dy y
0

df df
f(y) − f0 ≈ (y − y 0 ) ∆f ≈ ∆y
dy y dy y
3 0 0 9
 Component Combination Example
• Flow control valve
• Cylinder
Input
• Mixer + Pipe valve voltage
v(t) [v]
hydraulic
cylinder supply
flow
+ - Output
flow concentration
q(t) [cm3/s] control return c(t) [%]
valve
water
mixtur
concentrated e
solution pipe length flow rate
mixer position
y(t) [cm] dp [m] qp [m/s]
3 10

Mixer and Pipe

valve position
x(t) [%] concentration
Input c(t) [%]
water
mixer
Output

concentrated pipe length flow rate

solution dp [m] qp [m/s]

d
D = qp [s]
p
Delay process
c(t) = x(t - D) [%]
3 11

Hydraulic Cylinder
Input q(t) [cm3/s]

Output
x(t) [cm]

A [cm2]

dx(t)
= Kcq(t) cm
s
Integration dt
process
Kc = 1
A
3 12
 Component Combination Example
flow control valve (2nd-
(2nd-order):
2
1 dq (t) + 2ζ dq(t) + q(t) = K v(t)
ωn2 dt2 ωn dt v

Input
cylinder:
dx(t)
= Kcq(t)
dt Output
pipe:
c(t) = x(t - D)
3 13

Component Combination Example

pipe: cylinder:
c(t) = x(t - D) dx(t)
= Kcq(t)
dt

dc(t) dx(t - D) dx(t - D)

= = Kcq( t - D)
dt dt dt

cylinder + pipe:
dc(t)
= Kcq(t - D)
dt
3 14

Component Combination Example

flow control valve + cylinder + pipe:
1 dc (t) + 2ζ dc2(t) + dc(t)
3

ωn dt3
2 ωn dt2 dt
= K v(t - D)
K = KcKv Third-
Third-order process
with delay

• Simplify? (2nd-
(2nd-order+integration
with delay)
• Verify
3 15
 Can model be simplified?
• If the natural frequency, ωn, is very high
compared to the operating frequencies
expected and damping is neither very high
nor very low (ζ(ζ ≈ 1),
dc(t)
≈ Kv(t - D)
dt
• If the delay D is very short compared to
response times expected,
dc(t)
≈ K v(t )
3
dt 16

Need Laplace Transforms

• Facilitate combining and manipulating
differential equations
• Facilitate simplification of models
• Facilitate drawing block diagrams of
components and systems
• Facilitate solving differential equations
(finding outputs for various inputs)
• Facilitate calculating frequency
response, analysing stability, etc.

3
• Facilitate controller design. 17