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2 Modeling
2 Modeling
2 Modeling
Control Systems
Modeling
Outline
• Modeling Mechanical
• Transfer functions
Mechanical Systems:
• Spring 𝑓 = 𝐾 × ∆𝑥
where ∆𝑥 is the relative displacement.
• Damper/Friction 𝑓 = 𝑏 × ∆𝑥ሶ
where ∆𝑥ሶ is the relative velocity
𝐹 = 𝑘2 𝑥 − 𝑘2 𝑦 𝑘1 𝑘2
𝑘2 𝑦 − 𝑥 + 𝑘1 𝑦 = 0 𝐹= 𝑥
𝑘2 𝑘1 + 𝑘2
𝑦= 𝑥
𝑘1 + 𝑘2
𝑏1 𝑏2
𝑏𝑒𝑞 =
𝑏1 + 𝑏2
CIE 318: Introduction A. L. Elshafei 4
UST
Example
y
𝑘 𝑦−𝑢
m
𝑏 𝑦ሶ − 𝑢ሶ
Free body diagram
Example
𝑥1
𝑢 𝑏 𝑥ሶ 1 − 𝑥ሶ 2
𝑚1
𝑘1 𝑥1 𝑘2 𝑥1 − 𝑥2
𝑏 𝑥ሶ 2 − 𝑥ሶ 1 𝑥2
𝑚2
𝑘3 𝑥2
𝑘2 𝑥2 − 𝑥1
Example
Mechanical Systems:
𝑇 = 𝐾∆𝜃
𝑇 = 𝐷∆𝜃ሶ
𝑇 = 𝐽𝜃ሷ
Mechanical Systems:
Example
Rotational system
with gears
Reflection of
Reflection of D,
input torque
K, and J.
𝑁2
𝑇1 − 𝐷𝑒𝑞 𝜃ሶ1 − 𝐾𝑒𝑞 𝜃1 = 𝐽𝑒𝑞 𝜃ሷ1 𝑇1 − 𝐷𝜃ሶ2 − 𝐾𝜃2 = 𝐽𝜃ሷ2
𝑁1
Electric Circuits
Electrical Circuits
1
𝐿𝑠 + 𝑅 + 𝐼 = 𝐸𝑖
𝐶𝑠
1
𝐼 = 𝐸𝑜
𝐶𝑠
𝑑𝑖𝑎
𝑒𝑎 = 𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝑣𝑏
𝑑𝑡
𝑇𝑚 = 𝑘𝑚 𝑖𝑎
𝐽𝜃ሷ𝑚 = 𝑇𝑚 − 𝐵𝜃ሶ𝑚
𝑣𝑏 = 𝑘𝑏 𝜃ሶ𝑚
Transfer Functions
Transfer Functions
𝑢 𝑡 𝑦 𝑡
Linear Time-invariant System
ℎ 𝑡
𝒀 𝒔
The transfer function is defined as 𝑯 𝒔 = .
𝑼 𝒔
Transfer Functions
𝑁 𝑠
Let 𝐻 𝑠 =
𝐷 𝑠
The s-plane
𝑗ℐ𝓂 𝑠
zero
× pole 𝐿. 𝐻. 𝑆 𝑅. 𝐻. 𝑆
ℛℯ 𝑠 𝜎-axis
𝑗𝜔-axis
Systems that have poles in the RHS are called nonminimum phase
systems.
Systems that have poles in the RHS are called unstable systems.