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Universidad Autónoma de Occidente. Cardenas. Guevara. Rodriguez. Vanegas. Trabajo final - Sistemas Dinámicos

FINAL PROJECT DYNAMIC SYSTEM

Valeria Cardenas – 2195507, Vanessa Guevara – 2205832, Camila Rodríguez – 2200695, Daniel Vanegas – 2219470
valeria.cardenas@uao.edu.co, vanessa.guevara@uao.edu.co, maria_c.rodriguez_m@uao.edu.co, daniel.vanegas@uao.edu.co
Universidad de Autónoma de occidente - Cali

Abstract-This project aims to design and conduct an experiment to Experimental Setup:

obtain the mathematical model of a hydraulic system, consisting of a ● Mount a vertical tank with constant cross-section.
vertical tank with a constant cross-sectional area, a restriction on the ● Install an outflow restriction mechanism.
outlet flow, and an inlet flow. The student group will execute the
● Configure the system for controlled inflow.
experiment using household materials, collecting key data for
analysis.
Materials:
The report addresses a detailed description of the experiment, ● Use easily accessible domestic materials: ruler, constant
including materials and methodology, and the creation of an volume container, timer, and computer.
explanatory video. The goal is to determine the experimental transfer Data Collection:
function (FDT) using data on inlet flow and liquid height ● Implement a data collection system.
measurements, employing tools such as Matlab or Octave. The ● Establish a mechanism for measuring and recording inlet
theoretical FDT will be obtained through the block diagram flow rate.
technique, extracting physical parameters of the system and applying ● Synchronize with a timer for time stamped
knowledge of time response.
measurements.
Keywords: Hydraulic system, Mathematical model,Transfer function
Experiment Execution:
(FDT), Inlet flow data, Liquid height measurements, Matlab.
● Introduce controlled flow into the tank.
I. INTRODUCTION ● Record data at regular intervals, capturing liquid height,
inlet flow rate, and timestamps.
In the field of engineering, obtaining mathematical models of Video Documentation:
hydraulic systems is essential to understand and predict their ● Record a brief (under one minute) video showcasing the
dynamic behavior. This project focuses on the definition and experimental setup.
execution of an experiment in order to obtain the mathematical Data Analysis:
model of a specific hydraulic system. This system consists of ● Transfer collected data, including height and time.
key elements, namely a vertical tank with a constant ● Construct graphs illustrating the dynamic relationship
cross-sectional area, an outflow restriction and an inflow to between height and time.
the tank. Experimental Transfer Function (ETF):
The student group takes on the task of designing and ● Use data to determine the experimental transfer function
executing an experiment in a home setting, employing easily (ETF).
accessible materials. The primary goal is to gather significant ● Graphically plot the transfer function to illustrate system
data enabling a thorough analysis and extraction of key response to input changes.
characteristics needed to establish the dynamic model of the Documentation and Report:
specified hydraulic system. ● Compile experiment findings, including data graphs,
II. THEORETICAL FRAMEWORK experimental and theoretical transfer functions, and
dynamic system equation.
Mathematical models of hydraulic systems are crucial in ● Present a comprehensive report summarizing the
engineering to understand and predict their dynamic behavior. experimental process, results, and insights gained
This theoretical framework focuses on the fundamentals to
obtain the model of a hydraulic system through an experiment. EXPERIMENTAL INFORMATION:
The application of mathematical models allows us to represent ℎ 𝑒𝑥𝑝𝑒𝑟𝑖𝑚𝑒𝑛𝑡: 6, 3 𝑐𝑚 = 0, 063 𝑚
interactions between key variables, facilitating analysis and 𝑑: 24, 5 𝑐𝑚 = 0, 245 𝑚
design. The system consists of a vertical tank of constant area, 𝑟 = 0, 1225 𝑚
an outlet restriction and an inlet flow. 3
𝑣 𝑡𝑜𝑡𝑎𝑙: 0, 00297 𝑚
2
The experiment seeks to replicate the system conditions with 𝑣 = π *𝑟 * ℎ
household materials to obtain specific data and the 2
𝑣 = π * 0, 1225 * 0, 063
experimental transfer function. The goal is to acquire 3
meaningful data for detailed analysis. Variables such as liquid 𝑣 = 0, 00297 𝑚
height, inlet flow and outlet restriction are key to extracting 𝑡𝑞𝑖: 20 𝑠
features and formulating the dynamic model of the hydraulic 𝑡𝑞𝑜: 25𝑠
3
system. 𝑣𝑞𝑖: 0, 0004714 𝑚
3
𝑣 0,0004714𝑚
𝑞𝑖 = =
III. PROCEDURE 𝑡 20𝑠
3
Hydraulic System Modeling Procedure Overview: 𝑞𝑖 = 0, 000023577 𝑚 /𝑠
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Universidad Autónoma de Occidente. Cardenas. Guevara. Rodriguez. Vanegas. Trabajo final - Sistemas Dinámicos
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𝑣 0,0004714𝑚
𝑞𝑜: = 𝑡
= 25𝑠
3
𝑞𝑜 = 0, 000018856 𝑚 /𝑠

EXPERIMENT DESCRIPTION:
The purpose of this experiment is to apply the knowledge
acquired in the dynamic systems course, using concepts such
as the Laplace transform, frequency analysis and block
diagrams. The objective is to analyze the behavior of a
hydraulic system, considering specific restrictions established
by the teacher. The hydraulic system must maintain a steady Figure 2 graph of the three tests of the experiment.
state with a constant water level ensuring an equal inflow and https://acortar.link/uvuqTg
outflow at a defined time 't'. For this purpose, a constant
volume vessel is used to regulate the inlet and outlet flow MATHEMATICAL MODELING:
rates. To examine the attributes of the hydraulic system outlined in
the study, an extra data collection was carried out on the
TRANSFER FUNCTION: experimental container. This involved placing the container
directly beneath the faucet and allowing ample time for the
fluid height to stabilize, reaching a point where the inflow and
outflow reached equilibrium.

EXPERIMENTAL FUNCTION:

Figure 1 Hydraulic system of the experiment

The transfer function, as outlined in equations 1 and 2,

signifies the mathematical relationship in the Laplace domain
between a system's output variable and its corresponding input
variable. In the context of a hydraulic system, there exists a
tank that retains fluid at a specific height, along with flow
resistances governing both incoming and outgoing flows.
These flow resistances allow us to quantify the rate at which
fluid enters and exits the system.
ℎ 𝑑ℎ
Figure 3 graphs of the standard deviation.
1. 𝑞𝑜 = 𝑅
2. 𝐶 = 𝑑𝑡
= 𝑞𝑖 − 𝑞𝑜 https://acortar.link/cglpxo
1 𝑖𝑛 2 𝑟𝑒𝑚𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡.
𝑑ℎ ℎ
𝐶 = 𝑑𝑡
= 𝑞𝑖 − 𝑅
𝑊𝑒 𝑐𝑙𝑒𝑎𝑟 𝑞𝑖 𝑎𝑠 𝑜𝑢𝑟 𝑖𝑛𝑝𝑢𝑡 𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒.
𝑑ℎ ℎ
𝑞𝑖 = 𝐶 = 𝑑𝑡
= 𝑞𝑖 + 𝑅
𝑊𝑒 𝑝𝑎𝑠𝑠 𝑖𝑛 𝑡𝑜 𝑡ℎ𝑒 𝑙𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚
𝐻(𝑠) 𝐶𝑅𝑆 +1
𝑄𝑖(𝑠) = 𝐶𝐻𝑆(𝑠) + 𝑅
𝑄𝑖(𝑠) = 𝐶𝐻𝑆(𝑠) + ( 𝑅
)𝐻(𝑠)
𝑅
𝐻(𝑠)/𝑄𝑖(𝑠) = ( 𝐶𝑅𝑆+1
)

In any transfer function, the outcomes of the numerator

identify the "zeros" of the system, while the outcomes of the Figure 4 graphs of the average of the measurements.
denominator determine the "poles" of the system. These poles https://acortar.link/JNnOq9
define the plant's order, consequently shaping the type of
response demonstrated by the system. 𝑦 = 0, 063 𝑚
𝑦(∞) 0,063
𝑘 = 𝑞𝑖(∞)
= 0,000023577
= 2672, 09
893
𝑡𝑠 = 5τ = 893 → τ = 5
= 178, 6𝑠
2672,09
𝐺𝐸(𝑠) = 178,6𝑠 + 1
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Universidad Autónoma de Occidente. Cardenas. Guevara. Rodriguez. Vanegas. Trabajo final - Sistemas Dinámicos

Graphically compare the data and the response of the function

GE(s) against the same input step. This visual representation
will provide insights into how well the function aligns with the
actual data. Additionally, proceed to calculate the output 𝐴𝑝𝑝𝑙𝑦𝑖𝑛𝑔 𝑡ℎ𝑒 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑤𝑖𝑡ℎ 𝑀𝑎𝑡𝑙𝑎𝑏 𝑤𝑒 𝑜𝑏𝑡𝑎𝑖𝑛:
resistance, a crucial parameter that contributes to 2
𝑅 = 0,986
understanding the overall behavior and efficiency of the
𝐼𝑛 𝑜𝑡ℎ𝑒𝑟 𝑤𝑜𝑟𝑑𝑠, 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛𝑠 𝑎𝑟𝑒 98, 6% 𝑠𝑖𝑚𝑖𝑙𝑎𝑟.
system.
The evaluation coefficient of 98,6% far exceeds the suggested
𝑄𝑖(𝑠) =
0,000023577 threshold of 89%. This result indicates a strong compensation
𝑠
0,000023577
between the variables, complying with the project's indications
𝐻(𝑠) = 𝑠
𝑄𝑖(𝑠) and suggesting a robust association between them.

THEORY FUNCTION:
STATUS VARIABLES:
𝐶𝑎𝑙𝑐𝑢𝑙𝑎𝑡𝑒 𝑡ℎ𝑒 𝑜𝑢𝑡𝑝𝑢𝑡 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒 : 2672,09
3
𝐺𝑇(𝑠) = 125,96𝑠+1
𝑞𝑖 = 𝑞𝑜 = 0, 000023577 𝑚 /𝑠 𝐻(𝑠) 2672,09
ℎ = 0, 063 𝑚 𝑄𝑖(𝑠)
= 125,96𝑠+1
0,063 𝑚
𝑅 = 3 𝐻(𝑠)(125, 96𝑠 + 1) = 2672, 09𝑄𝑖(𝑠)
0,000023577 𝑚 /𝑠
2 125, 96𝑠𝐻(𝑠) + 𝐻(𝑠) = 2672, 09𝑄𝑖(𝑠)
𝑅 = 2672, 09 𝑠/ 𝑚
𝑊𝑒 𝑎𝑝𝑝𝑙𝑦 𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑖𝑛𝑣𝑒𝑟𝑠𝑒
𝑇𝑎𝑛𝑘 𝑎𝑟𝑒𝑎: 𝑑ℎ
125, 96 𝑑𝑡
+ ℎ = 2672, 09𝑞𝑖
𝑑 = 0, 245 𝑚
𝑑ℎ 1 2672,09
𝐴 = π *𝑟
2
= π (𝑑/2)
2
= π/4 * 𝑑
2
= π/4 * ( 0, 245 𝑚) )
2
𝑑𝑡
=− 125,96
ℎ+ 125,96
𝑞𝑖
2 𝑑ℎ
𝐴 = 0, 04714 𝑚 𝑑𝑡
=− 7, 93ℎ + 21. 21𝑞𝑖
𝑅 2672,09 2672,09
𝐺𝑇(𝑠) = 𝑅𝐴𝑠+1
= (2672,09)(0,04714)𝑠+1
= 125,96𝑠+1 𝑢 = 𝑞𝑖
𝑥1 = ℎ → 𝑥1 =− 7, 93𝑥1 + 21, 21𝑢
The transfer functions found are as follows: [𝑥1] = [− 7, 93]𝑥1 + [21, 21]𝑢
Experimental Theoric 𝑦 = [1]𝑥1

2672,09 2672,09
𝐺𝐸(𝑠) = 178,6𝑠 + 1
𝐺𝑇(𝑠) = 125,96𝑠+1 FREQUENCY RESPONSE ANALYSIS:
Initially, we formulate the hydraulic system compartment's
Table 1. Transfer functions of the experimental and theoric. mathematical representation through a first-order transfer
function. This model incorporates specific values for R
COMPARISON GRAPH OF THE FUNCTIONS FOUND:
(outflow resistance) and C (cross-sectional area).
Subsequently, we normalize the transfer function by dividing
both the numerator and denominator by the product of RC,
resulting in the determination of the cutoff frequency denoted
as fc.
In summary, we commence with the foundational
mathematical depiction of the hydraulic system, considering
its inherent parameters R and C. Upon substituting the actual
values for outflow resistance and cross-sectional area, a
tailored transfer function emerges. By then dividing this
function by the product of RC, we can ascertain a pivotal
Figure 5 graph response in time. https://acortar.link/dB5fUE performance metric known as the cutoff frequency.

The coefficient of determination is a numerical value ranging Bode analysis of the theoretical system.
2672,09
from 0 to 1 that reflects the similarity between transfer 𝐺𝑇(𝑠) = 125,96𝑠+1
functions. It is calculated based on a combination of 𝐺𝑇(𝑗𝑤)
2672,09
= 125,96 𝑗𝑤+1 = 2672, 09
1
125,96 𝑗𝑤+1
experimental and theoretical data.
𝐹𝑜𝑟 𝑠𝑦𝑠𝑡𝑒𝑚 𝑔𝑎𝑖𝑛
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
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Universidad Autónoma de Occidente. Cardenas. Guevara. Rodriguez. Vanegas. Trabajo final - Sistemas Dinámicos

𝑘𝑑𝐵 = 20𝑙𝑜𝑔(2672, 09) = 68, 53𝑑𝐵

𝑃ℎ𝑎𝑠𝑒∠2672, 09 = 0°

𝐹𝑖𝑟𝑠𝑡 𝑜𝑟𝑑𝑒𝑟 𝑠𝑦𝑠𝑡𝑒𝑚

𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒:
Figure 7 Block diagram theory function. https://acortar.link/DeTD3M
|𝐺𝑇(𝑗𝑤)| = || 125,961 𝑗𝑤+1 ||
|𝐺𝑇(𝑗𝑤)| = 125,961 𝑤 +1 V. CONCLUSIONS
2 2

During the experiment, we had difficulty maintaining a

|𝐺𝑇(𝑗𝑤)| 𝑑𝐵 = 20𝑙𝑜𝑔( 125,961 𝑤 +1 )2 2 constant inflow to the system due to the size of the tank, so a
2 2
smaller tank was used, which we filled and tried to maintain at
|𝐺𝑇(𝑗𝑤)| 𝑑𝐵
= 20𝑙𝑜𝑔(1) − 20𝑙𝑜𝑔( 125, 96 𝑤 + 1) a constant level by controlling the tap. This minimized
2 2
variations in the outflow and allowed the experiment to be
|𝐺𝑇(𝑗𝑤)| 𝑑𝐵
=− 20𝑙𝑜𝑔( 125, 96 𝑤 + 1) carried out. It was observed that the response speed of
hydraulic systems, measured by filling time, strongly depends
on the cross-sectional area, since similar times for tanks of
different sizes indicate that the time constants are proportional
to the cross-sectional area. Frequency response analysis
showed that the system acts as a low-pass filter, attenuating
high-frequency components of the input signal due to the
presence of a single low-frequency pole. The use of
methodologies such as Laplace analysis made it possible to
Table 2. Magnitude. mathematically model the behavior of the system and identify
Phase: the variables that govern its dynamics. The detailed study of
∠𝐺(𝑗ω) = ∠
1
= ∠1 − ∠(125, 96𝑗𝜔 + 1)
the small-scale hydraulic system facilitates the understanding
125,96 𝑗𝑤+1
of the analysis approach, examining its behavior with various
1 −1
∠𝐺(𝑗ω) = ∠ 125,96 𝑗𝑤+1
=− 𝑡𝑎𝑛 (125, 96𝑤) mathematical models and electrical circuit methods. A single
energy storage component was identified, resulting in a
first-order system.
VI. ANNEXES
Excel Data: https://acortar.link/0xfzx0
Matlab Code 1: https://acortar.link/U0u0Fn
Matlab Code 2: https://acortar.link/xO077f
Table 3. Phase.
VII. REFERENCES
[1] R.L. Woods and K.L. Lawrence, "Modeling and
Simulation of Dynamic Systems," Prentice Hall, Englewood
Cliffs, 1997.
[2] K. Ogata, "Dinámica de Sistemas," Prentice-Hall, México,
1987.
[3] A. Bedford and W. Flower, "Dinámica," Addison Wesley,
USA, 1996.
[4] E. Umez-Eronini, "Dinámica de Sistemas y Control,"
Thomson Learning, México, 2001.
[5] K. Ogata, "Sistemas Automáticos de control," Prentice
Hall, México.
[6] The MathWorks, Inc., "std," MathWorks, [Online].
Figure 6 bode diagram. https://acortar.link/jV3MJS Available: https://la.mathworks.com/help/matlab/ref/std.html
[7] The MathWorks, Inc., "dynamicsystem.bode," MathWorks,
BLOCK DIAGRAM: [Online]. Available:
https://la.mathworks.com/help/control/ref/dynamicsystem.bod
e.html