Chapter 3 - Dynamic System and Control

8/3/2021
Adama Science and Technology

University
Chapter 3
SoMCME Dynamic system: Modeling and
Department of Design and Manufacturing Control system
Introduction to Mechatronics (MEng4204)
By: Tesfaye Olana (MSc)
(Design of Mechanical Systems, Mechanical Engineer)
tesfitti2016@gmail.com
2021, Adama
A) Mathematical modeling
Objective
• A mathematical model of a mechanical system can be
• Modeling techniques for mechanical systems will be
constructed based on physical laws(such as Newton’s
discussed in this chapter.
laws and the conservation of energy) that the elements
• Mechanical systems are in either translational or
and their interconnections must obey.
rotational motion, or both
• Elements can be broadly divided into three classes
• Mechanical elements, include mass elements, spring
according to whether element forces are proportional
elements, and damper elements.
to accelerations, proportional to displacements, or
• For rotational systems, moment equations are used
proportional to velocities.
to obtain dynamic models.
• Correspondingly, they can be divided into elements that
store and release kinetic energy, store and release
potential energy, and dissipate energy.
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Mechanical systems Rotational and translational system
• The basic building blocks of springs, dashpots and masses. • The spring, dashpot and mass are the basic building blocks
• Springs represent the stiffness of a system, dashpots the for mechanical systems where forces and straight line
forces opposing motion, i.e. frictional or damping displacements are involved without any rotation
effects, and masses the inertia or resistance to acceleration • If there is rotation then the equivalent three building blocks
are a torsional spring, a rotary damper and the moment of
inertia,
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Cont… Cont.
• The torsional spring and the rotating mass store energy
• The energy stored by a mass rotating with an angular

velocity v is the kinetic energy E, where
• The power P dissipated by the rotatory damper when

rotating with an angular velocity v is
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Building up a mechanical system Cont.
• Many systems can be considered to be essentially a mass, a • Net force applied to the system
spring and dashpot combined in the way
• A diagram of the mass and just the forces acting on it is
called a free-body diagram • This net force is the force applied to the mass to cause it to
accelerate. Thus
Modeling of mechanical system Example
• Modeling of half of motor cycle • Driving differential equation
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Cont. Example
• Rotating mass at the end of a shaft • Derive differential equation for the following system
Example Example
• Derive differential equation
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B) Control Modes Temperature control system

• There are a number of ways by which a control unit can
react to an error signal and supply an output for
correcting elements.
• TYPES OF CONTROL MODES:
(i) The Two – Step Mode:
• controller is essentially just a switch which is activated by the
error signal and supplied just an on-off correcting signal.
• Example: bimetallic thermoset at that might be used with a
simple temperature control system.
• This is just a switch which is switched on or off according to
the temperature then the bimetallic ship is in an off position
and the heater is off.
• If the room temperature falls below the required temperature
then the bimetallic strip moves into an on position and the
heater is switched fully on.
• The controller in this case can be in only two positions, on or
off.
• Change in controller output = Kp

(ii) The Proportional Mode (P): % Change in controller output from set point = Kp * % change in error K
• The proportional mode (P) which produces a control =100 / Proportional Band Change in Output (s)
action that is proportional to the error. i.e. the bigger the = Kp * E(s)
error, the bigger the output from the controller. Transformer function= Change in Output (s) / E(s)
• Thus as the error is reduced the amount of correction is
reduced and the correcting process slows down. Electronic Proportional Controller
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Cont. Cont.
(iii) Derivative mode
(iv) The integral mode
• produces a control action that is proportional • produces a control action that is
to the rate at which are errors is changing. proportional to the integral of the error
• When there is a sudden change in the error with time.
signal the controller gives a large correcting • Thus a constant error signal will
signal produce an increasing correcting
signal.
• When there is a gradual change only a small • The correction continues to increase
correcting signal is produced. as long the error persists.
• Derivative mode of control the change in • The integral mode of control is one
controller output from the set point value is where the rate of change of the control
proportional to the rate of change with time output is proportional to the input
error signal.
of the error signal
Digital controller Cont.

• The term digital control is used when the digital controller, • The samples are then converted to digital signals which
basically a microprocessor is in control of the closed-loop are compared by the microprocessor with the set point
control system. value to give the error signal.
• The controller receives inputs from sensors, executes control • The microprocessor can then initiate a control mode to
programs and provides the output to the correction elements. process the error signal and give a digital output.
• The controllers require inputs which are digital, process the • The control mode used by the microprocessor is
information in digital form and give an output in digital determined by the program of instruction used by the
form.
microprocessor for processing the digital signals, i.e.,
• Since many control systems have analogue measurements the software.
an analogue-to-digital converter (ADC) is used for the
inputs. • The digital output, generally after processing by a
• A clock supplies a pulse at regular time intervals and dictates
digital-to-analogue converter since correcting elements
when samples of the controlled variable are taken by the generally require analogue signals can be used to
ADC. initiate the correcting action.
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A digital controller basically operates the

following cycle of events: Velocity control
• Samples the measured value.
• Compares it with the set value and establishes the error. • Consider the problem of controlling the movement of a
• Carries out calculations based on the error value and load by means of a motor.
stored values of previous inputs and outputs to obtain the • Time will thus be taken for the system to respond to an
output signal Sends the output signal to the DAC. input signal.
• Waits until the next sample time before repeating the • A higher speed of respond, with fewer oscillations, can
cycle. be obtained by using PD rather than just P control.
• There is, however, alternative of achieving the same
effect and this is by the use of a second feedback loop
which gives a measurement related to the rate at which
the displacement is changing.
• This is termed velocity feedback.
Cont. Adaptive control

• The velocity feedback might involve the use • An adaptive control system which 'adapts' to changes and
of a tachogenerator giving a signal proportional to the changes its parameters to fit the circumstances
rotational speed of the motor shaft, and prevailing.
• hence the rate at which the displacement is changing, and • The adaptive control system is based on the use of a
the displacement might be monitored using a rotary microprocessor as the controller.
potentiometer.
• Such a device enables the control mode and the control
parameters used to be adapted to fit the circumstances,
modifying them as the circumstances change.
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Cont. (i) Gain – Scheduled Control:

• With gain-scheduled control or, as it is sometimes
referred to, pre-programmed adaptive control, pre-set
• Adaptive control systems can take a number of forms. changes in the parameters of the controller are made on
Three commonly used forms are: the basis of some auxiliary measurement of some process
• gain-scheduled control; variable.
• self-tuning;
• model-reference adaptive systems. • The term gain-scheduled control was used because the
only parameter originally adjusted was gain.
• An adaptive control system can be considered to have
three stages of operation.
• Starts to operate with controller conditions set on the basis of an
assumed condition.
• The desired performance is continuously compared with the actual
system performance.
• The control system mode and parameters are automatically and
continuously adjusted in order to minimise the difference between
the desired and actual system performance
(ii) Self tuning (iii) Model-Reference Adaptive Systems:

• continuously tunes its own parameters based on • The model-reference system an accurate model of the
monitoring the variable that the system is controlling and system is developed.
the output from the controller.
• often found in commercial PID controller, it generally • The set value is then used as an input to both the actual
then being referred to as auto-tuning. and the model systems and the difference between the
• When the operator presses a button, the controller injects actual output and the output from the model compared.
a small disturbance into the system and measures the • The difference in these signals is then used in adjusts the
response. parameter of the controller to minimise the difference.
• Response is compared to the desired response and the
control parameters adjusted, by modified Ziegler-Nichol
rule, to bring the actual response closer to the desired
response.
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The following indicates the types of circuits that

Operational amplifier might be used with operational amplifiers when
used as signal conditioners
• A system which has an input and an
output 1. An Amplifier or an operational amplifier (op-amp)
• The voltage gain of the amplifier • It is commonly used in the automation, control and other
being the ratio of the output and input electronic circuits for marine applications.
voltages when each is measured
relative to the earth • The applied input signal is usually a voltage or a current
• The input impedance of an amplifier signal.
is defined as the input voltage divided • Used to produce an output signal larger than that of the
by the input current input signal.
• The output impedance being the
output voltage divided by the output
current.
• The basis of many signal conditioning
modules is the operational amplifier
2. The Summing Amplifier. 3. In inverting amplifier

• In inverting amplifier input and output are out of phase
• The Summing Amplifier is another type of operational
by 180 degrees
amplifier circuit configuration that is used to combine the
voltages present on two or more inputs into a single • inverting amplifier are mostly widely used in oscillator
output voltage. circuits to satisfy barkaushen criteria so that sustained
oscillations are produced .
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4. Integrating and differentiating amplifiers Cont.

• It is a circuit configuration which produces output
voltage amplitude that is proportional to the rate of
change of the applied input voltage. 5. Combinations of modes:
• An op-amp differentiator is an inverting amplifier, which • proportional plus derivative (PD) modes,
uses a capacitor in series with the input voltage. • proportional plus integral (PI) modes,
• proportional plus integral plus derivative (PID) modes.
• The term three-term controller is used for PID control.
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8/3/2021

Adama Science and Technology

Mechanical systems Rotational and translational system

• The torsional spring and the rotating mass store energy

• The energy stored by a mass rotating with an angular

• The power P dissipated by the rotatory damper when

Building up a mechanical system Cont.

Modeling of mechanical system Example

• Modeling of half of motor cycle • Driving differential equation

B) Control Modes Temperature control system

• Change in controller output = Kp

Digital controller Cont.

A digital controller basically operates the

Cont. Adaptive control

Cont. (i) Gain – Scheduled Control:

(ii) Self tuning (iii) Model-Reference Adaptive Systems:

The following indicates the types of circuits that

2. The Summing Amplifier. 3. In inverting amplifier

4. Integrating and differentiating amplifiers Cont.

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