KH5037MAA

Control Tutorial#4
Fluid system modelling:

Further readings: Section 17.4 in Bolton, W. (1999). Mechatronics: Electronic Control System in
Mechanical Engineering. Seventh edition.

Fluid & electric system analogy

Application
Terminology Electric Hydraulic
Resistance 𝑣(𝑡) = 𝑅 𝑖(𝑡) 𝑝(𝑡) = 𝑅 𝑞(𝑡) Valves, Reduction in cross
analogous to section area
Damper
Capacitance 1 1 1 Change in height
𝑣(𝑡) = 𝐶 ∫0 𝑖(𝑡)𝑑𝑡 𝑝(𝑡) = ∫ 𝑞(𝑡) 𝑑𝑡
analogous to 𝐶
Spring
Inductance, 𝑑𝑖(𝑡) 𝑑𝑞(𝑡) Change in mass
𝑣(𝑡) = 𝐿 𝑝(𝑡) = 𝐼
(Inertance) 𝑑𝑡 𝑑𝑡
analogous to Mass

𝑝1 − 𝑝2
𝑞=
𝑅
Change in liquid stored, m3
𝐶=
Change in head, m

C=A/ρg

𝑑𝑝 𝑑ℎ
𝑞1 − 𝑞2 = 𝐶 =𝐴
𝐿𝜌 𝑑𝑞 𝑑𝑡 𝑑𝑡
𝐻𝑦𝑑𝑟𝑎𝑢𝑙𝑖𝑐 𝑖𝑛𝑒𝑟𝑡𝑎𝑛𝑐𝑒, 𝐼 = 𝑝1 − 𝑝2 = 𝐼
𝐴 𝑑𝑡

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From Lecture and for a single tank fluid system shown below,

We reached the equation

dℎ 𝜌𝑔ℎ
𝑞1 = 𝐴 +
d𝑡 𝑅
𝜌𝑔
𝑞1 = 𝐴 ℎ̇ + ℎ
𝑅

Let’s find the transfer function. What do you think it will be?

𝐻(𝑠)
𝑄1 (𝑠)

Let’s apply Laplace transform:

𝜌𝑔
𝑄1 (𝑠) = 𝐴 𝑠 𝐻(𝑠) + 𝐻(𝑠)
𝑅

Let’s take 𝐻(𝑠) as a common factor:

𝜌𝑔 𝐻(𝑠) 1
𝑄1 (𝑠) = 𝐻(𝑠) [𝐴 𝑠 + ]→ =
𝑅 𝑄1 (𝑠) 𝐴𝑠 + 𝜌𝑔
𝑅

Q1:
Model the following system:
Bolton, W. (1999). Mechatronics: Electronic Control System in Mechanical Engineering. Seventh
edition.

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A1:
Input -> 𝑞1 , 𝑞2

Output -> ℎ1 , ℎ2

For container 1 which is a capacitor:

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Q2:
Derive the relationship between the height ℎ2 and time for the hydraulic system shown in the
following Figure. Neglect inertance.
Bolton, W. (1999). Mechatronics: Electronic Control System in Mechanical Engineering. Seventh
edition.

A2:

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Q3:
Palm, W. J. (2010). System dynamics (Vol. 2). New York: McGraw-Hill.

Water is pumped as needed at the mass flow rate 𝑞𝑚𝑜 (𝑡) from the tank shown in the following
Figure. Replacement water is pumped from a well at the mass flow rate 𝑞𝑚𝑖 (𝑡). Determine the water
height ℎ(𝑡), assuming that the tank is cylindrical with a cross section 𝐴.

A3:

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Rotational–translational systems
There are many mechanisms which involve
the conversion of rotational motion to
translational motion or vice versa. For
example, there are rack-and pinion, shafts
with lead screws, pulley and cable systems,
etc.

To illustrate how such systems can be

analysed, consider a rack-and-pinion
system (Following shown). The rotational
motion of the pinion is transformed into
translational motion of the rack. Consider
first the pinion element. The net torque
acting on it is (𝑇in − 𝑇out ). Thus,
considering the moment of inertia
element, and assuming negligible damping,

d𝜔
𝑇in − 𝑇out = 𝐼
d𝑡

where 𝐼 is the moment of inertia of the pinion and 𝜔 its angular velocity. The rotation of the pinion
will result in a translational velocity 𝑣 of the rack. If the pinion has a radius 𝑟, then 𝑣 = 𝑟𝜔. Hence we
can write

𝐼 d𝑣
𝑇in − 𝑇out =
𝑟 d𝑡

Now consider the rack element. There will be a force of 𝑇/𝑟 acting on it due to the movement of the
pinion. If there is a frictional force of 𝑐𝑣 then the net force is

𝑇out d𝑣
− 𝑐𝑣 = 𝑚
𝑟 d𝑡

Eliminating 𝑇out from the two equations gives

𝐼 d𝑣
𝑇in − 𝑟𝑐𝑣 = ( + 𝑚𝑟)
𝑟 d𝑡

and so

d𝑣 𝑟
=( ) (𝑇in − 𝑟𝑐𝑣)
d𝑡 𝐼 + 𝑚𝑟 2

The result is a first-order differential equation describing how the output is related to the input.

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Q4:
The water level ℎ(𝑡) in a tank is controlled by an open-loop system, as shown in the following Figure.
A DC motor controlled by an armature current 𝑖𝑎 turns a shaft, opening a valve. The inductance of
the DC motor is negligible, that is, 𝐿𝑎 = 0. Also, the rotational friction of the motor shaft and valve is
negligible, that is, 𝑏 = 0. The height of the water in the tank is

ℎ(𝑡) = ∫ [1.6𝜃(𝑡) − ℎ(𝑡)]𝑑𝑡,

the motor constant is 𝐾𝑚 = 10, and the inertia of the motor shaft and valve is 𝐽 = 6 × 10−3 kg m2.
Determine:
(a) the differential equation for ℎ(𝑡) and 𝑣(𝑡) and
(b) the transfer function 𝐻(𝑠)/𝑉(𝑠).

A4:
For armature-controlled DC motor, The torque developed by the motor is proportional to the
armature current

𝑇𝑚 = 𝐾𝑚 𝑖𝑎 (𝑡) = 𝐽𝜔˙(𝑡)

𝑑2 𝜃
𝐾𝑚 𝑖𝑎 (𝑡) = J [1]
𝑑𝑡 2

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For the amplifier:

𝑣𝑎 (𝑡) = 𝐾𝑎 𝑣 (𝑡) = R 𝑖𝑎 (𝑡) + 𝑣𝑏 (𝑡) [2]

The voltage (𝑣𝑏 (𝑡)) is voltage across motor given by

𝑑𝜃
= 𝐾𝑣𝑏 (𝑡) [3]
𝑑𝑡

𝐾𝑏 𝑖𝑠 𝑡ℎ𝑒 𝑏𝑎𝑐𝑘 𝑒𝑚𝑓 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝐾 = 1/𝐾𝑏

For the tank,

ℎ(𝑡) = ∫ [1.6𝜃(𝑡) − ℎ(𝑡)]𝑑𝑡 [4]

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𝑑2 ℎ
From [4], find 𝑑𝑡 2

𝑑2 ℎ 𝑑𝜃 𝑑ℎ
2
= 1.6 − [5]
𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑑𝜃
𝐹𝑟𝑜𝑚 [3]𝑖𝑛 [5], 𝑤ℎ𝑒𝑟𝑒 = 𝐾𝑣𝑏 (𝑡)
𝑑𝑡

𝑑2 ℎ 𝑑ℎ
2
= 1.6 𝐾𝑣𝑏 (𝑡) − [6]
𝑑𝑡 𝑑𝑡

𝐹𝑟𝑜𝑚 [2]𝑖𝑛 [6], 𝐾𝑎 𝑣 (𝑡) − R 𝑖𝑎 (𝑡) = 𝑣𝑏 (𝑡)

𝒅𝟐 𝒉 𝑑ℎ 𝒅𝒉
𝟐
= 1.6𝐾(𝐾𝑎 𝑣 (𝑡) − R 𝑖𝑎 (𝑡)) − = 𝟏. 𝟔 𝑲 𝑲𝒂 𝒗 (𝒕) − 𝟏. 𝟔 𝐊 𝑹 𝒊𝒂 (𝒕) − [7]
𝒅𝒕 𝑑𝑡 𝒅𝒕

J 𝑑2 𝜃
𝐹𝑟𝑜𝑚 [1]𝑖𝑛 [7], 𝑤ℎ𝑒𝑟𝑒 𝑖𝑎 (𝑡) =
𝐾𝑚 𝑑𝑡 2

𝑑2 ℎ J 𝑑2 𝜃 𝑑ℎ
= 1.6 𝐾 𝐾𝑎 𝑣 (𝑡) − 1.6 𝐾 R − [8]
𝑑𝑡 2 𝐾𝑚 𝑑𝑡 2 𝑑𝑡

From (5):

𝑑𝜃 𝑑2 ℎ 𝑑ℎ
= 0.625 ( 2 + )
𝑑𝑡 𝑑𝑡 𝑑𝑡

Thus,

𝑑2 𝜃 𝑑3 ℎ 𝑑ℎ2
= 0.625 ( + ) [9]
𝑑𝑡 2 𝑑𝑡 3 𝑑𝑡 2

From [9] in [8]

𝑑2 ℎ J 𝒅𝟑 𝒉 𝒅𝒉𝟐 𝑑ℎ
= 1.6 𝐾 𝐾𝑎 𝑣 (𝑡) − {1.6 ∗ 𝐾 R ∗ 𝟎. 𝟔𝟐𝟓 ( + )} −
𝑑𝑡 2 𝐾𝑚 𝒅𝒕𝟑 𝒅𝒕𝟐 𝑑𝑡

Let’s write it in a better way:

𝑑2 ℎ 𝐾 R J 𝒅𝟑 𝒉 𝒅𝒉𝟐 𝑑ℎ
2
= 1.6 𝐾 𝐾𝑎 𝑣 (𝑡) − ( 𝟑 + 𝟐) −
𝑑𝑡 𝐾𝑚 𝒅𝒕 𝒅𝒕 𝑑𝑡

𝑑2 ℎ 𝐾 R J 𝑑3 ℎ 𝐾 R J 𝑑ℎ2 𝑑ℎ
2
= 1.6 𝐾 𝐾𝑎 𝑣 (𝑡) − ( ∗ 3 ) − ( ∗ 2) −
𝑑𝑡 𝐾𝑚 𝑑𝑡 𝐾𝑚 𝑑𝑡 𝑑𝑡

Bring 𝑣 (𝑡) on at one side,

1 𝑑2 ℎ RJ 𝑑3 ℎ RJ 𝑑ℎ2 1 𝑑ℎ
( ∗ 2) + ( ∗ 3) + ( ∗ 2) + ( ∗ ) = 𝑣 (𝑡)
1.6 𝐾 𝐾𝑎 𝑑𝑡 1.6 𝐾𝑎 𝐾𝑚 𝑑𝑡 1.6 𝐾𝑎 𝐾𝑚 𝑑𝑡 1.6 𝐾 𝐾𝑎 𝑑𝑡

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𝑑2ℎ
Take 𝑑𝑡 2 as a common factor:

𝑑3 ℎ RJ 𝑑2 ℎ 1 RJ 1 𝑑ℎ
3
( ) + 2
( + )+( ∗ ) = 𝑣 (𝑡) [10]
𝑑𝑡 1.6 𝐾𝑎 𝐾𝑚 𝑑𝑡 1.6 𝐾 𝐾𝑎 1.6 K 𝐾𝑚 1.6 𝐾 𝐾𝑎 𝑑𝑡

Feel Free to replace:

• 𝐾𝑚 = 10
• 𝐽 = 6 × 10−3 kg m2 .
• 𝐾𝑎 = 50
• R = 10 ohm

RJ 1
𝑆𝑎𝑦 = 𝐴, =𝐵
1.6 𝐾𝑎 𝐾𝑚 1.6 𝐾 𝐾𝑎

Then Equation [10] can be written as:

𝑑3 ℎ 𝑑2 ℎ 𝑑ℎ
𝐴 3
+ 2 (𝐴 + 𝐵) + 𝐵 ∗ = 𝑣 (𝑡) [11]
𝑑𝑡 𝑑𝑡 𝑑𝑡

To Find (b), It’s very simple and straight forward.

Let’s apply Laplace transform to Equation [11].

𝐴 𝑠 3 𝐻(𝑠) + (𝐴 + 𝐵)𝑠 2 𝐻(𝑠) + 𝐵𝑠 𝐻(𝑠) = V(𝑠) [12]

Take H(s) a common Factor:

𝐻(𝑠)[𝐴 𝑠 3 + (𝐴 + 𝐵) 𝑠 2 + 𝐵𝑠] = V(𝑠)

So, The transfer function will be,

𝐻(𝑠)
= [𝐴 𝑠 3 + (𝐴 + 𝐵) 𝑠 2 + 𝐵𝑠]
V(𝑠)

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