Boslc Signals and Sy stems I - 28 l n troductlon to Continuous Time Signals and Sy sie......

..,.

Q.51 Is the system d escn·bed by the equation y(t) = x(2 t) time

invariant or not ? Why ?
Ans. : Output for delayed input becomes,
y (t, t 1) = X ( 2 t- t 1)
Delayed output will be,
v(t -ft) = X [2(t -11)] . ,
2 ANALOGOUS SYSTEM

Since .y (t, t1 ) .,... ,_ Y. (t - t I ) the system is shift vanant.

2.1 : Analysis of Mechanical Systems
Q.52 Ch eck caus ality of the system given by, y(n) =x (n-no)
Q.1 Which are the linear mechanical elements ? Discuss.
t y(n) depends upon present or past input
Ans. : If no ~ 0, _then outpu 0, the system becomes noncausal. . ~ [ AKTU : 2006-07, Marks 5 J
H th stem 1s causal. If no < • - .
enceCheck
Q.53 e sy whether the given
. sYstem y(n) = x(-n) is time invariant 3)
Ans. : The domment 1mear mechanical elements are, I) Mass 2) Spring
Friction
or variant ?
.
Ans. : Time . t, s ce time parameter is altered.
vanan m
· 1. Mass : This is the property of the system itself which stores the
kinetic energy of the translational motion.
Q.54 Check whether the system having input-output relation

y(t) = f x( t) th is linear time invariant or not.

• Mass has no power to store the potential energy.
• The mass is measured in kilograms (kg).
Ans. : This is an m e
-<>a • • t gration
• of input. . An . integration is
alwayi • The displacement of mass always takes place in the direction of the
.mdependent o f time
. h. ft
s 1 · Hence this is time mvanant system. applied force results in inertial force.
Q.!5 Is diode .a linear device ? Give your reason.
• This force is always proportional to the acceleration produced in mass
Ans. : Diode is nonlinear device since it operates only when forwan (M) by the applied force.
biased. For negative bias, diode does not conduct. • Consider a mass 'M' as shown in the Fig. Q.1.1 having zero friction
· sys tem.
Q.56 Distinguish between static and dynamic with surface, shown by rollers.
~ [ AKTU : 2016-17, Marks 2; • The applied force ftt) produces
x(t)
A ns. . displacement x(t) in the direction of Displacement
the applied force ftt).
Sr. No. Static system Dynamic system M f(t) Force I
• Force required is proportional to ·
1. Does not require memo.ry. Requires memo.ry. the acceleration produced in mass
M.
2. Impulse respone is of the form Impulse respone can be any
h(t ) = co(/). form except h(t ) = cO(t).
ftt) = M x Acceleration
- 2
Fig. Q.1.1
=M d x(t)
END... L dt 2

• Taking Laplace and neglecting initial conditions we can write,

- - - --=,----,==== === = =============-~,.=.~<':,.:,,l:;,~, ======= ========== ============
 r111u1ogous (\.
"Ylt~
811Slc Sig BtlSIC Signals and Systems 2- 3 Analogous Sys~,

3. Friction : Whenever there is a motion, there exists a friction.

• Friction may be between moving element and fixed support or betwee1
2. Spring : two movµig surfaces.
. action indicates • Viscous friction as dominant which is assumed to be linear witl
• The spnng . . . the
. acn·on ex1stmg m frictional constant 'B'. This has linear relationship ·with relative velocit)
elasuc
between two moving surfaces.
system. f(t)
• The friction is symbolically shown by a dash-pot or a
• The spring has a property to
damper as shown in the Fig. Q.1.4. It is shown between mass M and f
store the potential energy. The fixed support.
force required to cause the
• The spring has a property to store the potential energy. The force
displacement is proporti~nal to Fig. Q.1.2
required to cause the displacement is proportional to the net
the net displacement m the displacement in the spring.
spring.
d x(t)
•d n·ng having negligible mass and connected to a rigil Frrictional = B dt
• Const er a sp . .
support. Its sp
.
nn g constant be 'K' as shown m the Fig. Q.1.2.
.-. Force required to cause displacement x(t) in the spring is proportional • Similar to the spring, the friction between the two moving masses ~f 1
to displacement x(t). The constant of spring is denoted as K. and M2 causes change in displacement. In such a case me opposing
force is proportional to the difference between the velocities of the two
f(t) = K x(t) I moving masses. Hence we can write,

F . . = B [ d X1(t) _ d x: (t)]
• The spring between two
moving points causes
change in displacement.
L---► f(t)
l fncuonal dt dt

• Many times the friction coefficient is denoted as D instead of B.

• Consider the spring
connected between the Important Points to Remember \
two moving elements • In rotational system the various elements corresponding to
having masses translational system are,
Fig. Q.1 .3
\11 and \112 as shown in
the Fig. Q.1.3. x(t) Translational Mass Friction Spring Force x(t) v(t) a(t)
system (M) (B) or (D) (K)
1
• Net displacement in the spring is x1(t) - x., (t) ~I)
Rotational Inertia Friction Spring Torque 0(t) w(t) ex (t)
and ~pposing force by the spring ~ is i system (J) (B) or (D) (K)
propomonal to the net displacement t.e.
.
Xj (t) - X2 (ti
• x(t) = Linear displacement, 0 (t) = Angular displacement
• v(t) =( !:)= Velocity, m (t) =( !~)= Angular velocity
Fig. Q.1.4
- --
 1·' ,-,.nuiogous S,stllll Basic Signals and Systems 2-5 Analogous Systa,,
B~as~i!:c~S~t~g~n~al~~a~n;d~
s S~~ yst=~ems~~:::::::::::::::::::=:=:::~f~~~f-=-=~-=-==,=====~-==:...::---
\ • a(t) ""
J
1
~ ::: Acceleration,
cx.(t) == ( ~ ]
dt 2
= Angular acceleration
• Due to this, it. i~ possible to draw an electrical system which will
behave exactly stmtlar to the given mechanical system.
I (
dt • • Similarly it is possible to draw a mechanical system which will behave
2.2 : Equivalent Mechanical System exactly similar to the given electrical systems.

• Such two systems are called analogous systems of each other.

Q.2 How to obtain equivalent mechanical system for a given
• The two methods used to obtain electrical analogous system of given
mechanical system ? mechanical system are,
equivalent mechanical system the· following steps are
Ans. : To draw • 1. Force - Voltage analogy (F-V) 2. Force - Current analogy (F-1).
used.
Q.4 Compare mechanical system with electrical system usin
Step 1 : Due to applied force, identify the displacements in the force-voltage analogy. Write the suitable expressions of it. g
given mechanical system.
~ [ AKTU : 2009-10, 2010-11, Marks 5 ]
Step 2 : Identify the elements which are under the influence of
different displacements. OR Discuss force-voltage analogy in analogous systems.
Step 3 : Represent each displacement by a separate node, using ~ [ AKTU : 2008-09, 2012-13, 2014-15, Marks 5 ]
Nodal analysis.
Ans. : Consider simple mechanical system as shown in the Fig. Q.4.1 .
Step 4 : Show all the elements in parallel under the respective
• Due to the applied force, mass M
nodes which are under the influence of respective
will displace by an amount x(t) in
displacements.
1, the direction of the force f(t).

,____________________________,,
Step 5 : Elements causing same change in displacement will get
connected in parallel in between the respective nodes. 1 • According to Newton's
motion, applied force will cause
law of
f{t)

• Remember that only spring and friction can cause change in displacement x(t) in spring of
displacement if connected between the two moving masses. The mass constant K , acceleration to mass M
can not cause change in displacement hence can not exist between the
against frictional force having Fig. Q.4.1
nodes. The spring and friction with respect to fixed support can not
constant B.
cause change in displacement.
= Md 2
1 2•3 : F-V and F-1 Analogous Systems I f(t)
dt2
x(t) d x(t)
+ Bdt + K x(t)

Q.3 Wha~ do you understand by analogous systems ? Mention the Talcing Laplace transform, I F(s) = Ms 2 X(s) + Bs X(s) + K X(s) I . .(!)
two analogies.
~ [ AKTU : 2010-11, 2014-15, Markt 2]
• This is equilibriwn equation for the given mechanical system.
· ·1 : ·In between electrical and mech antcal
Ans. .
systems their exists
a
s1m1 anty between their equilibm. un equations.
.
 Analogous S)isie,,.
2-6 Basic Signals and Systems 2 _7
Bosic Signals and Syst.e_ms~-- L -----------------~ Analogous~

. network as Spring constant K Nim Tortional spring constant K Reciproca! of

• consider electnC Nm/rad capacitor 1/C
2
shown in the Fig. Q.4• '
L
v(t)
i~ Displacement 'x' e Charge q
.
• The equation a
ccording to •,_.
an be l-----:::-:--:::. . -:-::.. _:.:--:_:....::::
....::
...-.___:::-::-- - . . dx · d8
Kircbhoffs voltage laW c Velocity x = dt 8=- = (1) Current i = dq
Fig. Q.4.2 dt dt
written as,

. ~ + _!. J i(t)dt Table Q.4.1 Tabular form of force-voltage analogy

v(t) == i(t) R -r L dt C Q.5 Discuss force-currant analogy In analogous systems.
I(s)
V(s) == I(s) R + Ls I(s) + 7c: ~ [ AKTU : 2008-09, 2012-13, 2013-14, 2014-15, Marks 5]
Taking Laplace,
d V(s) unless we bring them into same Ans. : Consider simple mechanical
• But we cannot compare F(s) an system as shown in the Fig. Q.5.1. x(t)

• Due to the applied force, mass M

fu~. rate of flow of charge. will displace by an amount x(t) in f(t)
• For this we will use current as - I(s)
dq I(s) = s Q (s) or Q(s) - - the direction of the force f(t).
i(t) == - i.e. s • According to Newton's law of
dt
motion, applied force will cause
• Replacing in above equation, displacement. x(t) in spring of
l ...(2) constant K, accleration to mass M Fig. Q.5.1
V(s) == L s2Q(s) + Rs Q(s) + CQ(s) against frictional force having constant B.
f(t) = M d 2 x(t) + B d x(t) + K x(t)
• Comparing equations (1) and (2) it is clear that, dt 2 dt
ii) Inductance 'L' is analogous to mass M.
Taking Laplace transform, I F(s) = Ms 2 X(s) + Bs X(s) + K X(s) \ ...(1)
iii) Resistance 'R' is analogous to friction B.
iv) Reciprocal of capacitor i.e. 1/C is analogous to spring of constant K. • This is equilibrium equation for the given mechanical system.
• The various analogous elements according to F-V analogy are tabulated • Consider an electrical system
based on node basis as shown in
as, the Fig. Q.5.2.
Electrical • The equation according to le
Translational Rotational
Kirchhoff's current law for above
Voltage V system is, I ♦ C
Force Torque T ~

I = IL+IR +le
Mass M Inertia J Inductance L ~

• Let node voltage be V,

Friction constant B Tortional friction constant B Resistance R___ ,, Fig. Q.5.2
 Analogous Syste111 Basic Signals and Systems 2 -9 Analogous System

Basic Signals and Systems Ans. : Refer Table Q.4.1 from the answer of Q.4 and Table Q.5.1 from
V dV the answer of Q.S.
I :::: .!. J Vdt + R+ Cdt
L V(s) + V(s) + sCV(s) Important Points to Remember
I(s) == -;i::- R
Taking Laplace u-ansfonn, . • Remember that in F-V analogy,
. •iar form as that of F(s) we will use
f .dt, •• d 2x di

I
. e uation in the sunt , •
As x ➔ -
dx .
➔ 1 , x ➔ 1 x ➔ - ➔-
• But to get tbis q (s) == V(s) where qi = Flux dt dt 2 dt
d q, . V(s) == s<l> (s) i.e. <l> s
v(t) == dt i.e. • Remember that in F-1 analogy,

. . ~ ~in~e~q~ua~t~io:n~fo:r__:I:(s::_
)':--- ---;----
•
As x ➔
dx
➔ v (voltage),
J .. d 2 x dv
x ➔ v dt, x ➔ - ., ➔ -d
• Substttutm~ 7 -

½s $(s) + Iqi(s)
. dt dt - t
I(s) == Cs 2 <l>(s) + ... (2)
• This is useful in transforming mechanical equlibrium equations into II
electrical equlibriurn equations.
• Comparing equations (1) and (Z), • The electrical analogous system based on F-V analogy ts to be
. 'C' . alogous to mass M. obtained on the basis of Loop method.
i) Capacitor 1s an
. _!_ is analogous to frictional constant B. • The electrical analogous system based on F-1 analogy 1s to be \
ii) Reciprocal of resistance R obtained on the basis of Node method.
1 is analogous to spring constant K. • The elements which are in series in F - V analogy, get connected in
.
iii) Reciprocal of inductance L parallel in F - I analogous network and which are in parallel in F - V
analogy, get connected in series in F - I analogous network.
. ts according to F-1 analogy are tabulated
• The v~ous analogous e1emen
as,
Rotational Electrical 2.4: Steps to Obtain F-V and F-1 Analogous Systems
Translational
T Current I
F Force Q.7 Explain the steps to obtain the electrical analogous systems
J C based on F-V and F-1 analogies.
M Mass
B 1/R
B friction Ans. : The steps of obtaining the electrical analogous systems based on
K Spring K 1/L F-V and F-1 analogies are,
x displacement 6 $
Step 1 : Identify all the displacements due to the applied force.
· d6
d$
. VI .
X e OC! ty = dt
dx 6= - = w Voltage ' e' = dt · Step 2: Draw the equivalent mechanical system based on node basis.
dt ~

The elements under same displacement will get connected in

Table Q.5.1 Tabular form of force-current analogy parallel under that node. Each displacement is represented
Q.6 List the corresponding electrical and mechanical quantities for by separate node. Element causing change in displacement
i) F-V analogy and ii) F-I analogy. (either friction or spring) is always between the two nodes.

~ ( AKTU : 2005-0~, Marks SI

Mass can not be between the nodes.
 Analogous Systena
] -10 2-11
Basic Signals and Systems Anlllogous Systeni
B(IS/C Signals and SyStems
. . .wn equations. At each node algebraic SUin 1•-2-.5-:_E_l_ectr_o_m_e_ch_a_n_lc_a_l_S_ys_t_e-ms=I
Step 3 : Write the equihbn . t the node is zero.
f 11 the forces acting a
0 a following replacements and rewrite
In F-V analogy, use Q.8 What do you understand by electromechanical system ?
Step 4 : Explain with suitable example. ~[ AKTU : 2008-09, 2011-12, Marks s]
equations,
B ➔ R K ➔ 1/C, Ans. : A system in which both electrical elements as well as mechanical
F ➔ V,M ➔ L, '
•• d 2 x di elements are present is called an electromechanical system.
x ➔ q,
•
x ➔ i (current), x ➔
f idt' x ➔ -➔ -
dt 2 dt such electrical and mechanical elements operate together and depend
1
on each other for the successful operation of the overall system.
tions using loop method. Number of
Step 5 : Simulate the equa to nwnber of loop currents. 1
An electrical motor which converts an electrical energy into a
displacements equa1 mechanical energy is the best example of an electromechanical system
In F-I analogy, use following replacements and rewrite which converts electrical input energy into mechanical output energy.
Step 6 :
equations, , The electrical elements of an electric motor are the armature resistance ,
armature reactance, back e.m.f. etc. while its mechanical elements are
F ➔ I, M ➔ C, B ➔ 1/R, K ➔ 1/L,
•• d 2x dv load connected to the shaft, friction at the shaft etc.
x ➔ ~, ~=v (voltage1 x ➔ f v dt, x➔ dt 2 ➔ dt • Consider an electric motor as shown in the Fig. Q.8.1.
• Its principle of working is that when a currnet carrying conductor is
Simulate the equations using node basis for F-I analogus
Step 7 : placed in a magnetic field, it experiences a force.
system while simulate the equations using loop basis for
F-V analogous system. • Let a conductor of an active ! Direction
of motion
length 'f, carrying a current I 1
Important Points to Remember
is placed in a uniform
, The ratio of the Laplace transform of the output variable to the magnetic field of flux density '. --"A----~~----..,
Laplace transform of the input variable, neglecting all the initial B as shown in the Fig. Q.8.1. :
conditions is known as transfer function of the system. I
• If plane of the conductor is at
• In mechanical system, if x0 u1(t) is the output displacement variable and
f(t) is the input variable then the transfer function is defined as, right angles to the plane of the '
flux; then the force '. carrying
' conductors
experienced by the conductor ~
T(s) = Xout (s)I
F( S) All inti al conditions is given by, Fig. Q.8.1 Motoring action
are zero

F = B I l newtons
• The direction of the mechanical force is given by Fleming's left hand
rule.
 A nalogous Sys,~
BB~as~ic~S~i~g11~a~ls'...'.a:11:,:d_:S:::ys_te_ms
2 - 11
_ _ __ _ _ _
----... Basic Signals and Systems 1 - 13 Analogous Syste,n
- ber of conductors placed on ti._
h re are num " "lC
• In practical motor, t ell of them expereince a . iorce and overau x(t)
e periphery. A d motor starts rotating .
armatur reinces a torque an . i - - - - - f(t)
armature expe .. d drive a mechanical load conner-ta.i
d is uttltse to . fi . "'II
• Th' s torque generate . . friction and spnng orce .
i . t the load inerua.
to its shaft agams . system. both electrical as well ••
. . the enttre . ...
• Thus while analysing equired to be studied .
. arts of the system are r
mechanical P hanical system .
. called electromec
Hence such a system is . 1 (a) Physical system (b) Equivalent mechanical system
• . al system is an e ectromechanicai
l ctromechantc .
• Basically an e e , 1 of energy mto the other. Fig . Q.9.1
transducer v.·hi·ch converts one iom .
telephone recei\'ers, tachogencraton The equilibrium equation will be,
loudspe ak ers. 2
• The microphones. . runes are the examples of 22 d x(t) K ( ) B d x(t)
and various elecmcal mac f(t) = M + X t + -d -
dt 2 t
electromechanical system. . .
..·n below draw its equivalent system Talcing Laplace,F(s) = M s 2 X (s) + K X(s) + Bs X(s)
h . · 1 s\'Stem sho "
Q.9 For the P ~sica · . s Hence draw its electrical analoio111
. Uibrium equanon •
and wnte equ . •oltage il) Force _ cu r rent method. = X (s)[ Ms 2 + K+ Bs] ... (1)
circuits based on i) Force - ,
i) Force-Voltage Method : Use the analogous terms as,

.___ _ f( t) 1
M ➔ L, B ➔ R, K ➔ C' X ➔
dx
q, dt dq .
➔ dt-, l, X ➔
J
All quantities are expressed in terms of current i.
()
Vt = L -d i
dt
+ -1
C
J .d t+ Ri
1 ... (2)

B l(s)
V(s) = sL l(s) + sC + l (s )R ... (3)
Fig. Q.9.1
Simulate using loop method : Analogous to K is a capacitor C but
Ans. : Mass 'M' \\i ll displace by amount ·x• and as spring is conn~ its value is proportional to 1/K hence it is indicated by v.,Titing (1 /K) in
to fixed support and friction 'B' is also v.ith respect to fixed support, the bracket near C. This is shown in the Fig Q 9.2 (c).
K and B will be under influence of ·x• only . N ow its equivalent ~ L C(1 /K)
will contain one node and as all elements are under influence of In F-V analogy, the quantities which are ' ~r-
alone, must be connected in parallel under that no de . under the same displacement m \
mechanical system , carry the same v(t) _.,J ~ '
i ~ ~ _:;
current in analogous electrical system I t ,.,,___ _ _ __ _
l(IJ

Fig. Q.9.2 (c)

 1-U Analogo11s~
Basic Signals and Systems 2-15 AnalogoU3 System
. SignoIs ..,.
Basic A•dSystttnS
the analogous tenns as,
M thod. Use
") Force-Current e
u
· 1 ,.. dx d<!>
- ➔-➔ vt)
(
1 K~-. X~ 'I' • dt dt '
M~ C. B~R' L
d2x dv(t)
x➔ f v(t)dt, dt2 = dt ·······r ······
X2(t)
d in terms of voltage v.
All quantities are e1presse
dv(t) _!_ v(t) + .!. f v(t)dt ... (4)
i(t) = Cdt + R L ·······r······
X1 (t)
1 l V(s) ... (5)
I(s) = sCV(s) + RV(s) + sL
r
Simulate using node meth0d :
Analogous to K is ~ inductor L
while to B is a resistor R. But ;
r. . v(t) -- --7 f(t)

Fig. Q.10.1

their values are proportional to !i(t) C L R Ans. : The displacement of M1 is

reciprocals of K and B /K) (1/8) x 1(t) and as B1 is between M1
respectively. This is indicated by and fixed support hence it is also
writing (1/K) and (1/B) in the under the influence of x 1 ( t) .
brackets near L and R While B2 changes the
Fig. Q.9.2 (d) F K
respectively in the Fig_. Q.9.2 (d). displacement from x 1 ( t) to x 2 ( t)
' I
as it is between two moving
In F-1 analogy, the quantities which are under the same displacement points. And M 2 and K are under
in mechanical system, have the same voltage across them in analogow the displacement x 2 ( t) as K is '
electrical system. between mass and fixed support. Fig. Q.10.2 Equivalent system

Two nodes x 1 and x 2 , M1 , B1 same displacement.

Key Point : The equivalent mechanical system and the F-I analogous Mz and K same displacement. In between x 1 and x2 friction present is
system are exactly identical as both are drawn based on node basis. Bz .
LF = 0 ... D'Alembert's principle
Q.10 Draw the equivalent mechanical system of the given syste!IL
Hence write the set of equilibrium equations for· it aud
obtain electrical analogous circuits using i) F-V analogy and
At node 1, f(t) = M d2x1
1 dt2 + B1 dt
dx1 B d(x1 -xz)
+ 2 dt ...
(1)

ii) F-1 analogy ' ,

~ [ AKTU : 2012-13, Marks 5 At node 2, d(x 2 -x 1 ) d 2 x?
0 = B2 d + M 2 - - - + K x., .. .(2)
t . dt2 -

Using F - V analogy : M ➔ L, B ➔ R,
 Basic Slgna/5 and Systems 1-17 Analogous System
Basic Slgnids (llld Systems
d2x di 0 = _l_ (v2 - \·1)+C2 d \' 2 + .! Jv z d t . ..(6)
- 4-
• dq
-,----tl,
x -, J dt,
i f(t) ---t v(t), dt2 dt R2 dt L

'X dt Using node basis, equations (5) and (6) give the F ~ I analogous system
. (1) and (2), as shown in the Fig. Q.l 0.4.
using in the equauons . . .
d1t + R i + R, ( ' 1 - i:) ... (3) a.11 Obtain the transfer function of the mechanical system shown in
, ·(t) = L, dt l I -
Fig. Q.11.1. I& [ AKTU : 2011 -12, Marks 5]
di1 1 Ji ,dt-rR , (i , -i1) .. (4)
0 = L1 dt -r ( • • -

. n and (4) g1\'C the F - V analogoUs K, o f-- x(output)

Based on loop basis, equauons } M, M2 ~U
. th Fill Q 10..,.
system as sho,m in e - · . K / Applied
force
\ I
L1 \ I
♦ \ /
s' ,
t Sarne displacement (Frictio~) B2 (Friction)
v(t) ~ sarr e current

I 1, Fig. Q.11 .1
' - - - - -_L-----' Ans. : The force is applied to mass M2 which is displaced by x(t). The
Fig. Q.1 0.3 friction B2 is under the influence of displacement x(t) as B2 is between
1 • I ~ 2 and fixed support.
. \ [ ----" ( B ---t - , K 4 -L, X ~ 0
[sing F - I ana Io~· , • -, · R Due to spring K and D
• do . f . d 2 x d \' friction D between M2 I
X ---+ - ---+ \ X ---+ \' dt f{t) ---+ 1(1), 1 ~ dt and M 1, the
. dt ' · dt ·
displacement of ~ 1
l ·smg in the equanons (1) and (2),
will be x 1(t) which is
1 1 .. .(5)
i(t) = C d\· 1 - - \' 1 - - (\· 1 - \· , ) other than x(t).
! dt R1 R:: -
While M1 , K1 and B1
are under the influence
of x 1(t) as K 1 and B1 Fig. Q.11 .1 (a)
are \\ith respect to
fixed support.
I The equivalent mechanical system is sho""n m the Fig. Q.11 .1 (a)
lt)r.'\ Same displacement
\.;/ ""'1-
-
same voltage The equilibrium equations are,
ftt) = M2 d2x(t) ... B? dx(t) ... D d [x( t) - x • (t)] - K [x(tJ-x1 (t)]
TTT7 JJ)/ 7 >1J 7 J I )' 7 777777777777 d t2 • dt dt

Fig. Q.10.4 - • • r - • - r~ , ,J -~.,.

 Bt1Slc Signals lllld Syrrtms
]- 18

d[x 1(t) -x(t)] + K [x (t)-x(t)]+M1

1
Analogous Sysre,,,

d 2 x 1(t)
2
-
Basic Signals and Systems

Ans. : The mass M1 is

under the displacement x 1 .
1- 19 Analogo,as,._

O= D dt dt
The friction B is under the
dx 1(t) () displacement (x 1 - x 2 ). The
+ B1 - + K1 X1 t
dt mass M2 and spring K are K
Taking laplace rransfonn of both the equations, under the displacement . x 2 .
:. F(s) = X(s) [M2s2 + B2s+ Ds+K] -X1(s) [Os + K] ... (1) Hence the equivalent
mechanical system is as
0 = - X(s) [Ds+ K] + X1 (s) [M1s2 +Os+ Bi s+ K+ Ki] Fig. Q.12.1 (a)
shown in the Fig.
... (2) Q.16.1 (a).
[Ds+ K]
ftt) == A sin wt
From (2),X1 (s) =X(s) (B D)+(K+K)
M1s 2 +s 1 + 1
The equilibriwn equations are,
Using in (I),
ftt) = M d 2 x 1 + B d (x J - x 2 )
X(s) [Os+ K] 2 1 ... (I )
2 dt 2 dt
F(s)=X (s) [M2s +s(D +B2)+K]- 2 (B D) (K K)]
[M 1s + s 1 + + + 1
0 = B d (x2 - xi) d2 x2
Hence the transfer function of the system is, d + M2 - - +Kx1 .. (2)
t dt2 -
X(s) _ [M1s 2 + s (B1 + D) + (K.+ K1)J For F-V analogy,
F(s) - (M1 s 2 + s (Bi + D) + (K + K1)J [M2 s 2 + s (D + B2) + KJ- (Ds + K) 2 1 . dx di d 2x
M ➔ I., B ➔ R K ➔ C' 1 =- dt - dt2 ' ➔ J i dt
dt' X
Q.12 Draw the analogous electrial circuit of the given mechanical
system shown in Fig. Q.12.1. Use f-v analogy. Write the system v(t) ... (3)
equations. ~ [ AKTU : 2010-11, Marks 5 J
0 = R [·12 -11
. ] + L 2 dt
di2 + C
1 fi 2 dt .. . (4)

The analogous electrical circuit based on F-V analogy is sho~n in the

Fig. Q.1 2. l (b). --
I
I L1 L2

M1
r/ I
~
i1 (t)
~
i2(t)
C (1 /K) .

f(t) = A sin wt f I
I

I Fig. Q.12.1 (b)

Flg. Q.12.1
 ~Bas~ic~S!!_ig~na~/s~a~nd':S~J':!_

Q.13 Obtain the f-v and f-i

2 • 20
'St~en~,s'.___ __ _:_.::..:,.._ _ ~----=~=--=~~
analogous system of the mechanical
Analogous Sy

aaslc Signals and Systems

1
2-21 Analogous System

1
system shown in Q.13.1.
&W [ AKTU : 2014-15, Marks
8 i(t) = C1 dv 1 + - fv 1 dt+.!.[v 1-v 2]+ - -J (v 1 - v 2 )dt
--- - .. . I dt 11 R L2

0 = .!.[v2-v1]+-1-f cv 2- V1) dt + C2 dv2

R Lz dt
v analogous system is shown in the Fig. Q.13.l (b).
Hence f ·
While f- i analogous system is shown in__~e Fig~~ -13._I _(c).

B2 B3 (frictionless)
•·.~--·· - ·--- ------
R( 6)
Fig. Q.13.1
Ans. : Let the force is applied , ·· D
to M 1. So M1 and K1 are W1der v(t} ♦

the displacement x1 . The

friction D and spring K 2 are
between x1 and x2 • The mass I (b) f-v system (c) f-1 system
M2 is under x2 . The B2 and ' f(t) + \.
................ ...............

B3 will not appear as given Fig. Q.13.1

frictionless. Hence equivalent Q,14 Draw the force-current analogy of the mechanical given in
mechanical system is shown in i Fig. Q.14.1. ~[AKTU : 2015-16, Marks 5)
the Fig. Q.13.l(b). The ' Fig. Q.13.1 (a)
equilibrium equations are,

f(t) = M1 d2x1(t) + K1 x1(t) + Dd[x1 (t~~ xz(t)]+K 2[x1(t)-xz(t)]

dt 2
0 = D d[x2(t)-x1 (t)] +K [x (t)-x (t)]+M d2x2(t)
dt 2 2 l 2 dt 2
No friction
For f - v analogy : M ➔ L ,· D ➔ R, K ➔ _!_ , f ➔ v, i = dd x , x ➔ Jidt
• C t Fig. Q.14.1
1
v(t) = L1 dii + - Ji 1dt + R [i 1 - i 2 ]+-1- JCi1 -i 2 )dt Ans. : There are two displacements x1 and x2 at the masses M 1 and Mz
dt C1 • C2
respectively. The change in displacement is due to K 2 and B2 . While
0 = R [1.2 -,.1] +-1 f (. .12 - 11 ) dt + L2 -di 2 M1, K 1 and B 1 are under the displacement x 1. The equivalent mechanical
Cz dt system is shown in the Fig. Q.14.2.

For f - i analogy : M ➔ C, D ➔ R1 , K ➔ I1 , dt
dx = v, x ➔ v dt, f ➔ i J The equilibrium equations are,
d 2 x2 d(x-, -xi)
F(t) = M2 -
dt-
..,- + K2 (x2 - x1 ) + B2 dt ... (1 )
================,,__- - - -===-
 , 22 Analogous t\. ds
BR~a.s~ic~ S~i!gn~a~ls~a~n~d'._:SJ
~·s~t~em~s~ - - - --=-
• -· - --:=-:=------=:---~- -- ..,Y&tt~ Basic Signals an ystems
=- ~ -=--------- - - - - - -..Analogous
2 - 23 System
.:.:.:.: ::!::::=:~
analysing a given system. In the mathematical model, the various
operations in the system are represented by the mathematical equations.
Q.16 What is the force voltage analogy of mechanical spring ?
F(t)
Ans, : A capacitor is force-voltage analogy of mechanical spring. Its
value is proportional to the reciprocal of the spring constant.
Fig. Q.14.2 Q.17 What is electrical analogous to gear ?
Ans, : The gear alters the torque-speed ratio as per the load requirement.
d(x - x 2 ) d 2 x1 dx 1
0 = K -,(X1 - x, ) +B~ · Id +M1-2-+K1X1 +B1 d t ... (2) As per force-voltage analogy, the voltage is analogous to torque and
- · - - t dt current is analogous to the speed. So electrical device which adjusts the
1 1 dx voltage to current ratio from one side to other as per the load, is
For F-1 analogy use M ➔ C, K ➔ L' B ➔ R , dt ➔ v,
analogous to gear. Thus electrical transformer is analogous to gear.
d 2x dv Q.18 What are the basic elements used for modeling mechanical
x ➔ f v dt, - ? ➔ -d rotational system ?
dt· t

I (t) = dv?
C2 - -+-
1 f (v 2 - v 1) dt +1- (v 2 - \-, 1) .. . (3) Ans. : The elements used for modeling mechanical rotational system are
dt L2 R2 inertia J, friction B, spring K, torque T, angular displacement e, angular

0 = -1 f (v 1 -v 2 ) dt+-
1
(v 1 -
dv 1
v 2 ) +C 1 - +-
1 f v 1dt +R1- V1 .. .(4) velocity w and angular acceleration ex.
L2 R2 1dt L1 Q.19 Write the analogous electrical elements in force current analogy
Using the equations (3) and (4), the F-I analogous network is as shown for the elements of translational mechanical system.
in the Fig. Q.14.3 Ans. : The mass M is analogous to capacitor C, friction is analogous to
resistance R and spring is analogous to an inductor L. The values of R

l(t)flc,
V2 and L are proportional to the reciprocals of frictional constant B and
spring constant K respectiv ely . The displacement is analogous to flux
while velocity is analogous to voltage.
Q.20 Write the analogous electrical elements in force voltage analogy
for the elements of translational mechanical system.
;
Fig. Q.14.3 Ans. : The mass M is analogous to inductor L, friction is analogous to
resistance R and spring is analogous to a capacitor C. The value of C is
Short Answered Questions proportional to the reciprocal of spring constant K. The displacement is
analogous to charge while velocity is analogous to current.
Q.15 What is mathematical modeling ?
0.21 What do you understand by an analogous system and bow it
Ans. : Obtaining the set of mathematical equations, describing the is useful in practice ?
dynamic characteristics of a system is called mathematical modeling of
the system. Obtaining the mathematical model is the first step in
 1-24 Analogous Systt11i
Basic Signals and Systems ---
.d to be analogous to each other if the
Th systems are sai l . ·1 ..-
Ans. : e two . .b. the systems are exact y sum ar to each

3
equilibrium equations des~~ ; ; two systems are said to be analogous 10
other. Then the elements in between electrical and mechanical systellls FOURIER TRANSFORM ANALYSIS
each other. For example d their exists a similarity between their
there exists a fix~d analogy an th' it is possible to draw an electrical
·i·b · ations Due to is, •
eqw I num equ · ti ·mi'lar to the given mechanical systelll
· h ·n b have exac y si · 3.1 : Exponential and Trigonometric
system whic WI : us of given mechanical system and vice
1 1
This is called electnca ana ~go be analysed easily b form of Fourier Series
versa. In practice a comphcated system can . . y
· other fonn, for which its analysis
studying its analogous system m Important Points to Remember
methods are easily available. 00

Q.22 What are the three basic elements in electrical and mechanical ' • Exponential Fourier series : x(t) = X (k) ejkwot L
k=-oo
systems.
X(k) = T1 j• x(t) e-J'k·wot dt
Ans. .. The three basic elements in electrical system are inductor,
· al
resistor
· wh.l
and capacitor Ie
the three basic elements in mechanic system are <T >
• (.t:.f
mass, friction and spring. • Multiplication of Fourier coefficients is equi}:)ffleftt to convolution in
Q.23 Differentiate the force voltage analogy and force current time domain. i.e., x(t) * y(t) ~ T X(k) Y (k).
analogy. ~ ( AKTU : 2016-17, Marks 2 J , 00 ,.,

l e Parseval's relation : Total power P = X(k) L J 1-.

k=- 00
Ans. :
• For even function b(k) = 0 and a(k) = -4 JT/2 x(t) cos kwo t dt.
Sr. Force-Voltage analogy Force-Current analogy T o
No. 4 JT/2 x(t) sm
• For odd function a(k) = 0 and b(k) = -T .
kwo t dt.
o
i) Force is replaced by Voltage. Force is replaced by current. \

ii) Charge is analogous to Flux is analogous to displacement. Q.1 Define the fourier series and state its importance. Also state its
displacement.
types. ~ [ AKTU : 2006-07, Marks 3]
iii) The analogous circuit is The analogous circuit is based on Ans. : Fourier representation : The signal is represented as a weighted
based on loop basis. node basis.
superposition of complex sinusoids.
iv) The elements under the same The elements under the same Importance : • Fourier series used to analyze periodic signals.
displacement carry some displacement have same voltage
current. across them. • The hannonic content of the signals is analyzed with the help of
Fourier series.
• Fourier series can be developed for continuous time as well as discrete
END...i3 time signals.