Modelling of Control Systems

6.1 Mechanical Systems

All mechanical systems are divided into two parts
1. Mechanical Translational System:
Input = Force ().
Output = Linear displacement (x) or Linear velocity (v)
The three ideal elements are
(a) Mass Element: V

a aseslo1stt
Dti fokas F= M
Ma) M

or F= M
dt
Figure-6.1
(b) Damper Element:

-F
V V
where
or F= f(v, - V2) = fv

where V= V V2

Figure-6.2

(c) Spring Element:

astu F K(x, -2) = Kr
F
where X12FX V1 V

F= KJ-Va)=K}v 000
K
V= V-V2 Figure-6.3
where
 Consider,

Figure-6.4
F= F+ F2+ Fs
F M dxKx
dt (0)

2. Mechanical Rotational System

Input Torque (t),
Output Angular displacement (0) or Angular velocity (o)
The three ideal elements are
(a) Inertial Element:
T= J d"0/dt2
TE J do/dt

(b) Torsional Damper Element: Figure-6.5

T
dt , -0,) =r t
where,
or T f(,-0,) = fo
where, Figure-6.6

(c) Torsional Spring Element:

000
T= KO K

Oor
TKodt Figure-6.7

Consider,
TT+ T2 +T K
(ii)
T
K0
Figure-6.8
6.2 Electrical Systems
R L
1. Series RLC Circuit:
V
Applying KVL VptV+V
R idt = Vin Vin

but
dt ht Figure-6.9

or

dt Vin

2. Parallel RLC Circuit:

Applying KCL Taet
dv
i,
dt

where V =node voltage

V=
do
dt Figure-6.10
where,
Magnetic flux
d 1d ,9 =i (V
dt A dt 'L
Duality C L
R R

6.3 Analogous Systems

On comparing equations (i), (i), (in) and (iv), F-T-V-I
Analogy can be developed as follows:
FTV M J L C
ff R 1/R
K K 1/C 1/L
V
X
Table-6.1
Note: From the two analogies it is clear that mass and spring elements are energy storage elements.
 Example-6.2 Consider a mechanical system as shown. Write the force equations and
draw a fully labelled state diagram.
yAt) y.(0)
O00 -f(t)

Solution:
Equivalent diagram will be
At node y,() yAt) K
O00 Y.(0)

MO+2+
dt
K{y2 -y1) = 0

and t) =
Ky, -Y)
So M+Y2
dt
-f(0) = 0 Reference node

State diagram using integrater is

ft) 7M 11s 1
 Obtain the mathematical system equations and its
Example-6.3

corresponding mechanical
earam of the following mechanical system.
c i r c u id
tiagram

f(t)
Figure: Mechanical system

Solution:

At node x KM, Mdx

d 2 +K,(r -)+
dx-2=00=

At node
M,2K,(x,
M d32K, - d-X=
dt
Ht)
dt
Now, mechanical circuit diagram can be drawn
either from given systern diagram or frorm these system
equations as well.

O00

circuit diagram
Figure:Mechanical
and x for the mechanical
Find the transfer function
relating displacements y
Example-6.4
yslem of given
figure.
 are
Solution for the system
circuit diagram the equations
From the mechanical
Ky+h-) 0
dt
-y)= () of equation (i),
transform on
both sides
zero and taking Laplace
Assuming initial conditions as
0
sYs)+ KYs)+ 1s[Yls)- X)|
=

A
function is
From equation (ii), the required transter

Y(s)
X(s) +h)s+K] (T,s+9

*k) B
where, T,= and T,= K
into corresponding electrical
Example-6.5 Convert the given mechanical circuit diagram
and current source.
analogous system, driven by voltage source
2

f
M

Flgure: Mechanical circuit diagram

Solution:

At node X () = M h l a - *2)+ K,x

dt dt

At node xX 0
M a2 +h2 -x)+K2 *2
Now, using F-V analogy:

V
M L
R
K 1VC

Hence, corresponding electrical system (driven by voltage source) will have following
system equato tions

V- LRli-ig)+hdt
t (First loop equation
 and O
L dl2 Ralia-i)+hdt
(Second loop equation)
Hence, the (analogous) electrical circuit diagram will be
L C L2
O00 000

Figure: Electrical circuit diagram, driven by voltage source

Now,using F-Ianalogy:
F
M C
1/R
K 1/L
V V
X

Hence, corresponding electrical system (driven by current sOurce) will have following system equations:

Ri2
(First Nodal equation)

and
R12
(Second Nodal equation)
Hence, the (analogous) electrical circuit diagram will be
R12 V2
V w

C
Figure: Electrical circuit diagram, driven by current source

Xs)
Example-6.6 Derive an expression for the transfer function X,($)
tor the
mechanical system given below:
Solution:
at node X K
O00
Kako+Klo -
d
x/)+ 4x, -

z) = 0
%o

t
Using Laplace transform,

KaXol)+ K(X(S) FX(s)) 1s{X (s)- X(s))

+ = 0

On solving X(s) hs+K1

X(s) S+K1 + K2
 1.4 Laplace Transformation
order to transform a given function of time f) into itscorresponding Laplace transform first multiply ()
n
sbeing a complex number (s =o+ jo). Integrate this product with respect to time with limits from zero
to Thisintegration results in Laplace transform of f(t), which is denoted by As) or cf[(O]
ne mathematical
expression for Laplace transform is,
cflO] =
F(s), t20

Or, FlS) J f()e "dt

Ihe original time function f(t) is obtained back from the Laplace transform by a process called inverse

eranstformation and denoted as c-1

Thus. c-1[Lf(t)] CIF(s)]=f()
=

The
e ti
time function f(t) and its Laplace transform F(s) forma transform pair.
 S.No. Fis LIf(t]
ot) unit impulse at t= 0
2 u) unit step att = 0

3. u(t- T) unit step att=T

S

4. t

5
n!
6. s+1

7. S a

8. 1
S+a
1
9 teat
(s-a
10. tera

(s+a
n!
11 t"eat
(s+a1
12. sinot
s2+2
S
13. cos ot

Table-1.1 TableofLaplace Transform Pairs

Basic Laplace Transform Theorems

Basic theorems of Laplace transform are given below:

(a) Laplace Transform of Linear Combination:

claf,()+ b1,{)) = aF{(s) + bF(s)
where f(t), 1(t) are functions of time and a, b are constants.

(b) If the Laplace Transform of K) is As), then:

() (sA)-A0"))
(ii) FTO=[SAs)-
dt2
s{0")-f(0")]
(i) 1SA9-
dt S10)-sfr(o")-ro
df(t) aTOat t= (0*).
where f(0*), P(0*), f"(0) are the values of f(), dt
 lcIfthe Laplace Transform of f) is As), then:

ro]-F,rlon] S

(i) [Ifro-F,ri),rio] S S

ii) LSIro- o,Fo),0),r0 S s

where f-1
(0*), f2 (0*), f3 (0*) are the values of ...

ft). | f(t), J| f¢) .. at t= (0").

(If the Laplace Transform of f(t) is As), then:
cleat )] = F(s + a)
(e) If the Laplace Transform of f) is Rs), then:

C[t= -Fs)
ds
( Initial Value Theorem:

lim
t>0 f()= lim
So
sf)
or lim f(t) = lim sF(s)
t0 S0o

(g) Final Value Theorem:

lim
t0
f(t) =

S0
lim sC[f(t)]
lim ft) = lim sF(s)
t S0
Ihe final value theorem gives the final value (t>) of a time function using its Laplace transform and as
SUcn
very useful in the analysis of control systems. However, if the denominator of
pat as zero or
sF(s) has root real any having
positive, then the final value theorem is not valid.

Example-1.2 Laplace transform of sin(ot +a) is

(a) scos a + 0 sin a
(b) Cos a
s+0
S S sina + 0COS a
sin a (d)
s+2

Solution:(d)
sin (ot + a) = sinøt cosa + cosot sina
o COsa S Sina
Csin(ot + a)) 2+02 s2 +
S Sina + 0 COSa

s2 +0