16S2 EE3011 Week2.lecture3 V2.0

EE3011: Modelling and Control
System Modelling
(Modelling of Physical Systems)
Prof Soh Yeng Chai
Learning Objectives
At the end of the lecture, you should be able to:
 Describe the representation of a linear system by a set of differential
equations, where each of the differential equation represents a sub-
system of the overall system.
 Apply the fundamental Kirchhoff’s law, Newton’s law, law of motor
and law of generator to derive the differential equations which
describe an electromechanical system.
 Apply Laplace transform to each differential equation and then
express the output of this sub-system as a product of the transfer
function and the input of the sub-system.
 Interconnect the incomplete block diagrams to form the overall
block diagram representation of the overall system.
2
Lecture Outline
I. Electrical Systems
• Series RLC Circuit
• Parallel RLC Circuits
II. Mechanical and Electromechanical Systems (Part I)

• Translational Systems
3
Electrical Systems
Electrical Systems
Resistors, inductors and capacitors are the 3 basic electrical elements. The
electrical circuits are analyzed by the application of Kirchhoff’s voltage
and current laws.
Consider the RLC series circuit as shown below:

R L
e C vo
i
If we define the voltage e as the input, and the charge q (= 𝑖𝑑𝑡 ) across
the capacitor as the output, then the system is described by:
d 2q dq q
L 2  R  e (1)
dt dt C
5
Electrical Systems
Equation (1) is a 2nd-order ODE. Applying Laplace transform, with zero
initial conditions, we get:
( s 2 L  sR  C1 )Q( s )  E ( s )
Or
1
𝑄 𝑠 = 𝐸 𝑠
1
𝑠 2𝐿 + 𝑠𝑅 + 𝑐
i.e., we have a 2nd-order dynamic system.
Q(s) 1 Q(s )
1
𝑠 2 𝐿 + 𝑠𝑅 +
𝑐
6
Electrical Systems (Exercise 1)

Exercise 1: If we define 𝑒 as the input, and 𝑖 as the output, then the 2nd
order ODE is given by:
𝑑2 𝑖 𝑑𝑖 𝑖 𝑑𝑒
𝐿 𝑑𝑡 2 + 𝑅 𝑑𝑡 + 𝑐 = 𝑑𝑡
Derive the transfer function (see Appendix 3.1).
7
Electrical Systems
i
e R L C vo
For a parallel RLC circuit, let i be the input and the magnetic flux in the
inductor𝜙 = 𝑣𝑑𝑡 be the output, then the 2nd order ODE is given by:
𝑑2 𝜙 1 𝑑𝜙 𝜙
𝑐 + 𝑅 𝑑𝑡 + =𝑖 (2)
𝑑𝑡 2 𝐿
1 1
In s-domain, we have 𝑠 2 𝐶 + 𝑠 + 𝜙 𝑠 =𝐼 𝑠
𝑅 𝐿
1 1  (s)
⟹𝜙 𝑠 = 𝐼 𝑠 1 1
1 1 𝑠2𝐶 + 𝑠 +
𝑠2𝐶 + 𝑠 + 𝑅 𝑐
𝑅 𝐿
8
Electrical Systems (Exercise 2)

Exercise 2: Derive the transfer function if we define 𝑖 as the input and 𝑣0
the output. The 2nd order ODE is given by:
d 2 v0 1 dvo v0 di
C 2   
dt R dt L dt
9
Electrical Systems
Example: Derive a block diagram representation of the electric circuit
given below and obtain the transfer function Vo(s)/Vi(s).
R1 L1 R2 L2
vi i1 C1 u i2 C2 vo
Convert the circuit into s-domain representation:

R1 sL1 R2 sL2
Vi(s) I1(s) 1/sC1 U(s) I2(s) 1/sC2 Vo(s)
10
Electrical Systems
Using KVL and KCL, we have:
KVL1: 𝐼1 𝑠 𝑅1 + 𝑠𝐿1 = 𝑉1 𝑠 − 𝑈 𝑠
1
⟹ 𝐼1 𝑠 = 𝑉𝑖 𝑠 − 𝑈 𝑠
𝑅1 +𝑠𝐿1
KCL1: 𝑠𝐶1 𝑈 𝑠 = 𝐼1 𝑠 − 𝐼2 𝑠
1
⟹𝑈 𝑠 = 𝐼1 𝑠 − 𝐼2 𝑠
𝑠𝐶1
KVL2: 𝐼2 𝑠 𝑅2 + 𝑠𝐿2 = 𝑈 𝑠 − 𝑉𝑜 𝑠
1
⟹ 𝐼2 𝑠 = 𝑈 𝑠 − 𝑉𝑜 𝑠
𝑅2 +𝑠𝐿2
1
Ohm’s law: 𝑉0 𝑠 = 𝐼 𝑠
𝑠𝐶2 2
11
Electrical Systems
Thus, a block diagram representation is:
Vi(s) + 1 +
- 1 U(s) + 1 1
Vo(s)
𝑠𝐿1 + 𝑅1 I (s) 𝑠𝐶1 𝑠𝐿2 + 𝑅2 I2(s) 𝑠𝐶2
- 1 -
Simplifying (move take-off point and simplify):
𝑠𝐶2
+ -
Vi(s) + 1 U(s) 1 Vo(s)
1
- 𝑠𝐿1 + 𝑅1 I1(s) 𝑠𝐶1 𝑠𝐶2 𝑠𝐿2 + 𝑅2 + 1
12
Electrical Systems
𝑠𝐶2
- U(s)
Vi(s) + + Vo(s)
1 1 1
- 𝑠𝐿1 + 𝑅1 I1(s) 𝑠𝐶1 𝑠𝐶2 𝑠𝐿2 + 𝑅2 + 1
𝑠𝐶2 𝑠𝐿2 + 𝑅2 + 1
Vi(s) + 1 1 Vo(s)
𝑠𝐿1 + 𝑅1 2
𝑠 𝐶1 𝐶2 𝑠𝐿2 + 𝑅2 + 𝑠 𝐶1 + 𝐶2
-
𝑠𝐶2 𝑠𝐿2 + 𝑅2 + 1
Thus,
𝑉0 𝑠 1
=
𝑉𝑖 𝑠 𝑠𝐿1 + 𝑅1 𝑠 2 𝐶1 𝐶2 𝑠𝐿2 + 𝑅2 + 𝑠 𝐶1 + 𝐶2 + 𝑠𝐶2 𝑠𝐿2 + 𝑅2 + 1
13
Mechanical and
Electromechanical Systems (Part I)
Translational Systems (Example)

Example: Consider the mechanical system shown below. It models a
car’s suspension system. The output of interest is the displacement x(t).
B K
M x(t)
F( t )
15
Translational Systems (Example)

The free-body diagram of the system is given below (see Appendix 3.2).
Q: What about the gravitational force?
𝑑𝑥
𝐵 Kx
𝑑𝑡
M x(t)
F(t)
d 2x dx
Applying Newton’s law, the equation of motion is given by: M 2
 B  Kx  F
dt dt
We have a 2nd-order ODE. In s-domain, we have: 𝑠 2 𝑀 + 𝑠𝐵 + 𝐾 𝑋 𝑠 = 𝐹 𝑠
1 𝐹 𝑠 𝑋 𝑠
i.e., 𝑋 𝑠 = 𝐹 𝑠 1
𝑠 2 𝑀+𝑠𝐵+𝐾
𝑠 2 𝑀 + 𝑠𝐵 + 𝐾
16
Translational Systems
In an electromechanical system, electric current or voltage will be used
to effect the actuation of the system to produce the motion.
1. The effect of electric current on the mechanical motion:
If a current of 𝑖 amp in a conductor of length 𝑙 meters is arranged at

right angles in a magnetic field of B tesla, then there is a force on
the conductor at right angles to the plane of 𝑖 and B , with
magnitude:
𝐹 = 𝐵𝜙 𝑙𝑖 newtons
The force F will then produce a motion. The equation is the basis of
conversion of electric energy to mechanical work and is called the
law of motors.
17
Example (Modelling a Loudspeaker):

In the following figure, the force on the conductor wound on the bobbin
causes the voice coil to move, producing sound. The effects of the air can be
modeled as if the cone had equivalent mass M and viscous friction
coefficient B.
Cone Cone
S
Electromagnet
N Bobbin
Low force Coil S

suspension
Permanent magnet
If the bobbin has N turns at a radius of r meters, then l  2 Nr.

18
The mechanical equation follows from Newton’s laws by assuming spring

effect is negligible:
𝑑𝑥 𝑑2 𝑥
𝑀𝑥 + 𝐵𝑥 = 𝐹; where 𝑥 = & 𝑥≡ but 𝐹 = 𝐵∅ 𝑙𝑖
𝑑𝑡 𝑑𝑡 2
In s-domain, we have
1
𝑠 2 𝑀 + 𝑠𝐵 𝑋 𝑠 = 𝐹 𝑠 ⟹ 𝑋 𝑠 = 𝐹 𝑠
𝑠 2 𝑀+𝑠𝐵
and
𝐹 𝑠 = 𝐵∅ 𝑙 𝐼 𝑠
Each of the above represents a subsystem (see Appendix 3.3).

They are interconnected to give:
I(s) 𝐹 𝑠 1 𝑋 𝑠 𝑋 𝑠 𝐵∅ 𝑙
𝐵∅ 𝑙 =
2
𝑠 𝑀 + 𝑠𝐵 𝐼 𝑠 𝑠 𝑠𝑀 + 𝐵
19
2. The effect of mechanical motion on electric voltage:
If a conductor of length 𝑙 meters is moving in a magnetic field of B
tesla at a velocity of 𝑣 m/s at mutually right angles, a back emf
(which opposes the motion) is established across the conductor:
𝑒 = 𝐵𝜙 𝑙𝑣 Volts
The above expression is called the law of generators.
20
The effect of mechanical motion on electric voltage:
Example: The loudspeaker considered earlier is now connected to a

driving circuit as shown in the diagram below.
𝑅 𝑖
𝐿 𝑥
𝑣𝑎
𝑒𝑐𝑜𝑖𝑙
We want to derive the differential equations relating the input voltage 𝑣𝑎 to

the output displacement 𝑥.
21
As before, the motion equation is given by:
𝑀𝑥 + 𝐵𝑥 = 𝐹 (E1)
with
𝐹 = 𝐵𝜙 𝑙𝑖 (E2)
The motion with velocity 𝑥 results in a voltage across the coil given by:
𝑒𝑐𝑜𝑖𝑙 = 𝐵𝜙 𝑙𝑥 (E3)
The equation for the electric circuit is:

𝑑𝑖
𝐿 𝑑𝑡 + 𝑅𝑖 = 𝑣𝑎 − 𝑒𝑐𝑜𝑖𝑙 (E4)
Applying Laplace transform to Eqns (E1)-(E4), we have :

1
𝑠 2 𝑀 + 𝑠𝐵 𝑋 𝑠 = 𝐹 𝑠 ⟹ 𝑋 𝑠 = 𝑠2 𝑀+𝑠𝐵 𝐹 𝑠
𝐹 𝑠 = 𝐵𝜙 𝑙 𝐼 𝑠
𝐸𝑐𝑜𝑖𝑙 𝑠 = 𝑠𝐵𝜙 𝑙 𝑋 𝑠
1
𝑠𝐿 + 𝑅 𝐼 𝑠 = 𝑉𝑎 𝑠 − 𝐸𝑐𝑜𝑖𝑙 𝑠 ⟹ 𝐼 𝑠 = 𝑉 𝑠 − 𝐸𝑐𝑜𝑖𝑙 𝑠
𝑠𝐿 + 𝑅 𝑎
22
Each of the equation represents a sub-system. The required block diagram
representation of the system can be obtained by interconnecting these
subsystems appropriately (see Appendix 3.4).
The block diagram representation of the system is given by:
Va(s) + 1
I(s)
B l
F(s)
1
X(s)
𝑠𝐿 + 𝑅 2
𝑠 𝑀 + 𝑠𝐵
- Ecoil(s)
sB l
So, the transfer function between the applied voltage and the loudspeaker
displacement is:
𝑋 𝑠 𝐵𝜙 𝑙
= 2
𝑉𝑎 𝑠 𝑠 𝑀𝑠 + 𝐵 𝐿𝑠 + 𝑅 + 𝐵𝜙 𝑙
23
Summary
Summary
1. Modelling of Physical Systems
RL electrical circuit: L di  Ri  e  eb
dt
d 2x dx
Translational mechanical system: M 2  B  Kx  F
dt dt
Electromechanical systems: Additional coupling between electrical and
mechanical systems:
Law of motor: F = a1i

Law of generator: 𝑒𝑏 = 𝑎2 𝑥
where F, i, e, eb, and 𝑥 are force, current, voltage, induced voltage, and
velocity, respectively.
25
Summary
2. Block Diagram Representation
We can use Laplace transform to transform the equations into s-domain. Each
equation represents a subsystem.
These subsystems can be connected to form a full block diagram

representation of the system. E.g.,
I(s) F(s)
E(s) + 1 a1 1 𝑋 𝑠
𝑠𝐿 + 𝑅 2
𝑠 𝑀 + 𝑠𝐵 + 𝐾
-
Eb a2s
26

16S2 EE3011 Week2.lecture3 V2.0

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EE3011: Modelling and Control

II. Mechanical and Electromechanical Systems (Part I)

Consider the RLC series circuit as shown below:

i.e., we have a 2nd-order dynamic system.

Electrical Systems (Exercise 1)

Derive the transfer function (see Appendix 3.1).

Electrical Systems (Exercise 2)

Convert the circuit into s-domain representation:

Vi(s) I1(s) 1/sC1 U(s) I2(s) 1/sC2 Vo(s)

Simplifying (move take-off point and simplify):

Translational Systems (Example)

Translational Systems (Example)

We have a 2nd-order ODE. In s-domain, we have: 𝑠 2 𝑀 + 𝑠𝐵 + 𝐾 𝑋 𝑠 = 𝐹 𝑠

1. The effect of electric current on the mechanical motion:

If a current of 𝑖 amp in a conductor of length 𝑙 meters is arranged at

Example (Modelling a Loudspeaker):

Low force Coil S

If the bobbin has N turns at a radius of r meters, then l  2 Nr.

The mechanical equation follows from Newton’s laws by assuming spring

Each of the above represents a subsystem (see Appendix 3.3).

The above expression is called the law of generators.

Example: The loudspeaker considered earlier is now connected to a

We want to derive the differential equations relating the input voltage 𝑣𝑎 to

The equation for the electric circuit is:

Applying Laplace transform to Eqns (E1)-(E4), we have :

Law of motor: F = a1i

These subsystems can be connected to form a full block diagram

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