Lesson 5: Mathematical Models of

Electrical Control System

Components
ET 438a
Automatic Control Systems Technology

lesson5et438a.pptx 1
Learning Objectives
After this presentation you will be able to:

 Identify types of subsystems found in control

systems.
 List the characteristics of electrical subsystems.
 Write mathematical models for electrical
characteristics.
 Solve for steady-state electrical quantities using
given mathematical modeling equations.

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 Component Models
Subsystem types found in controls systems

Motors, Solenoids, Transducers,

Electrical Control Electronics

Mechanical Control Valves, Gear Boxes, Linkages

Liquid Flow
Piping , Tanks, Pumps, Compressors,
Filters
Gas Flow

Heating Elements, Heat Exchangers,

Thermal Insulation,

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 Component Models
Systems’ behavior defined by component
characteristics

Example: electrical components

Resistance Voltage

Capacitance Current

Inductance Charge

Delay

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 Component Models
Definition of Electrical Quantities

Resistance Capacitance Inductance Delay

Time interval
Amount of between
Amount of Amount of
potential signal
potential charge
required to appearing on
difference required to
make a unit input and
required to make a unit
change in rate response
produce a unit change in
of flow
of current. potential.
(current). appearing
on output.

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 Electrical Component Models
Resistance
e
Static resistance (linear) R Ohm’s Law
i

Dynamic Resistance (non-linear) Depends on

the values of e and i.
e de
R 
i di

Can estimate dynamic R with slope of tangent line at

operating point.
e e 2  e1
R 
i i 2  i1

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 Electrical Component Models
Example 5-1: Non-linear resistance Volt-amp
characteristic. Estimate dynamic resistance at the 6V
operating point.
V
R
i
e V2  V1
R 
V2=6.05 V i i 2  i1

6.05  5.95 V 0.1 V

R   25 
0.504  0.500 A 0.004 A
V1=5.95 V

I1=0.500 I2=0.504

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 Electrical Component Models
Capacitance
q I is rate of change of
From the definition of Capacitance C 
e flow
Coulombs/sec = Amp
Multiple by De C  e  q
 e  q
Divide by Dt C   i
 t  t
 de   dV 
Definition of C i  C   C c 
 dt   dt 
Where: Vc =e= voltage across capacitor
C = capacitance in Farads
i = capacitor current in amps

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 Electrical Component Models
Example 5-2: Sine voltage with amplitude Vm and
frequency w is applied across a capacitor with a value
of C Farads. What is the capacitor current?
e ( t )  V m  sin(  t )
de d
i( t )  C  sin(x )  cos(x )
dt dt

d
i ( t )  C  Vm  sin(  t ) 
dt
i( t )  C    Vm cos(t )

90 degree lead between current and voltage. Same as with phasors

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 Electrical Component Models
Example 5-3: Current pulse of 0.1 sec and
amplitude of 0.1 mA is applied to a capacitor. It
produces a rise in voltage from 0 to 25 V. What
is the capacitance?
Use the incremental definition of C and solve for the value
 V 
i  C c  Vc1=0 V Vc2=25 V
 t 
t1=0 sec t2=0.1 sec
i  t  C  Vc
i=0.1 mA=0.0001 A
i  t
C
Vc Vc  25  0 V  25 V
t  0.1  0 sec  0.1 sec
0.0001 (0.1)
C  4 107 F  0.4 F ANS
25

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 Electrical Component Models
Inductance
i
e  L Potential required to
t
i di make change in current
limit L  t
 L
dt
t  0

di
e  L
dt

Dead-time Delay D
td 
vp
Where: D = distance (m)
vp = velocity of propagation (m/s)

Use in high frequency transmission lines and satellite communications

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 Electrical Component Models
Example 5-4: A voltage pulse of amplitude 5 V with a
duration of 0.02 seconds is applied across an inductor.
This causes a current increase from 1 amp to 2.1 amp.
Find L.
Use the incremental definition of L and solve for the value

 i  i1=1 A i2=2.1 A
e  L  
 t  t1=0 sec t2=0.02 sec
e  t  L  i e=5 V
e  t i c  2.1  1 A  1.1 A
L
i t  0.02  0 sec  0.02 sec
5  (0.02)
L  0.091 H  91 mH (V - s/A) ANS
1.1
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Electrical Delay Examples
Example 5-5
Electrical delays common in long high frequency transmission lines
and satellite communications

D
td 
vp
Where vp = velocity of propagation
typical values between
2-3 x108 m/s
D = distance (m)

a.) Find the delay of a 600 m transmission

line with vp = 2.3x108 m/s

b.) Find the delay of a satellite

transmission with a path length of 2000
km and propagation velocity of
3x108 m/s.
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 Electrical Delay Examples
a.) Find the delay of a 600 m transmission line with
vp = 2.3x108 m/s
D 600 m
td  td   2.609 106 sec
vp 8
2.3 10 m/sec
D  600 m t d  2.609 S ANS
v p  2.3 108 m/sec

b.) Find the delay of a satellite transmission with a path length of 2000 km and
propagation velocity of 3x108 m/s.

Convert km to m
 1000 m 
D  2000 km  6
  2.0 10 m 2.0 106 m 3
 1 km  td  8
 6. 667  10 sec
3.0 10 m/sec
D t d  6.667 mS
td  vp  3.0 108 m/sec ANS
vp

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 ET 438a
Automatic Control Systems Technology

END LESSON 5:
MATHEMATICAL MODELS
OF ELECTRICAL
COMPONENTS

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