09/03/2024

System Dynamics
and
Control
Electro-Mechanical Systems

Assistant Prof. Osama Mohamady

Email: O.Mohamady@cu.edu.eg

Mixed Systems
or
Combined system
• Most systems in mechatronics are of the mixed
type, e.g., electromechanical, hydromechanical,
etc
• Each subsystem within a mixed system can be
modeled as single discipline system first
• Power transformation among various subsystems
are used to integrate them into the entire system
• Overall mathematical model may be assembled
into a system of equations, or a transfer function

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Field Controlled DC Motor 𝑅𝑓

𝐵
𝐽
𝑒𝑓 𝐿𝑓
𝑒𝑓 𝑡 = 𝑅𝑓 𝑖𝑓 𝑡 + 𝐿𝑓 𝑖𝑓 (𝑡) 𝑖𝑓
𝐸𝑓 𝑠 = ( 𝑅𝑓 + 𝐿𝑓 𝑠) 𝐼𝑓 (𝑠)
𝜃 (𝑡)
𝑇 𝑡 = 𝑘𝑡 𝑖𝑓 𝑡 𝑘𝑡 = motor torque constant
𝑇 𝑠 = 𝑘𝑡 𝐼𝑓 𝑠

𝑇 𝑡 = 𝐽 𝜃ሷ 𝑡 + 𝐵 𝜃ሶ (𝑡)

𝑇 𝑠 = (𝐽 𝑠 2 + 𝐵𝑠) 𝜃 (𝑠)

𝑇 𝑠 = 𝐽 𝑠 + 𝐵 𝑠𝜃 (𝑠)

𝐸𝑓 𝑠 = ( 𝑅𝑓 + 𝐿𝑓 𝑠) 𝐼𝑓 (𝑠)

Ef 1/(Rf+Lfs) If

𝑇 𝑠 = 𝑘𝑡 𝐼𝑓 𝑠 If T
Kf

𝑇 𝑠 = 𝐽 𝑠 + 𝐵 𝑠𝜃 (𝑠)
T 1/s(Js+B) q

If
T
Ef 1/(Rf+Lfs) Kf 1/s(Js+B) q

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Armature Controlled DC Motor

𝐿𝑎
𝑒𝑎 𝑡 = 𝑅𝑎 𝑖𝑎 𝑡 + 𝐿𝑎 𝑖𝑎 𝑡 + 𝑒𝑚 𝑡 𝑅𝑎
𝐽
𝐸𝑎 𝑠 = 𝑅𝑎 + 𝐿𝑎 𝑠 𝐼𝑎 𝑠 + 𝐸𝑚 𝑠 𝑒𝑎
𝑖𝑎 𝑒𝑚
ሶ
𝑒𝑚 (𝑡) = 𝑘𝑚 𝜃(t)
𝐸𝑚 (𝑠) = 𝑘𝑚 𝑠 𝜃(𝑠) 𝜃 (𝑡)

𝑇 𝑡 = 𝑘𝑡 𝑖𝑎 𝑡
𝑇 𝑠 = 𝑘𝑡 𝐼𝑎 𝑠

𝑇 𝑡 = 𝐽 𝜃ሷ 𝑡 + 𝐵 𝜃ሶ (𝑡)

𝑇 𝑠 = 𝐽 𝑠 + 𝐵 𝑠𝜃 (𝑠)

𝐸𝑎 𝑠 = 𝑅𝑎 + 𝐿𝑎 𝑠 𝐼𝑎 𝑠 + 𝐸𝑚 𝑠 1/(Ra+Las)
Ea - Ia

Em

𝑇 𝑠 = 𝑘𝑡 𝐼𝑎 𝑠 Ia T
Kl

Em
𝐸𝑚 (𝑠) = 𝑘𝑚 𝑠 𝜃(𝑠) q Kes

𝑇 𝑠 = 𝐽 𝑠 + 𝐵 𝑠𝜃 (𝑠) T 1/s(Js+B) q

T
1/(Ra+Las) Kl 1/s(Js+B) q
Ea Ia
-
Em
Kes

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DC Generator 𝑅𝑓 𝑅𝑔
𝐿𝑔

𝑒𝑓 𝑡 = 𝑅𝑓 𝑖𝑓 𝑡 + 𝐿𝑓 𝑖𝑓 (𝑡) 𝑒𝑓 𝐿𝑓 𝑍𝐿
𝑖𝑓 𝑒𝑔 𝑒𝐿
𝑖𝑔 (t)
𝐸𝑓 𝑠 = ( 𝑅𝑓 + 𝐿𝑓 𝑠) 𝐼𝑓 (𝑠)
𝑒𝑔 (𝑡) = 𝑘𝑔 𝑖𝑓 (t)
𝐸𝑔 𝑠 = 𝑘𝑔 𝐼𝑓 (𝑠)

𝐸𝐿 (𝑠) = 𝑍𝐿 𝐼𝑔 (𝑠)
𝑍𝐿 = Load impedance

𝑒𝑔 𝑡 = 𝑅𝑔 𝑖𝑔 𝑡 + 𝐿𝑔 𝑖𝑔 𝑡 + 𝑒𝐿 𝑡

𝐸𝑔 𝑠 = 𝑅𝑔 + 𝐿𝑔 𝑠 𝐼𝑔 𝑠 + 𝐸𝐿 𝑠

𝐸𝑔 𝑠 = 𝑅𝑔 + 𝐿𝑔 𝑠 + 𝑍𝐿 𝐼𝑔 𝑠

𝐸𝑓 𝑠 = ( 𝑅𝑓 + 𝐿𝑓 𝑠) 𝐼𝑓 (𝑠) Ef 1/(Rf+Lfs) If

𝐸𝑔 𝑠 = 𝑘𝑔 𝐼𝑓 (𝑠) 𝐼𝑓 (𝑠) 𝐸𝑔 𝑠
𝑘𝑔

𝐸𝑔 𝑠 = 𝑅𝑔 + 𝐿𝑔 𝑠 𝐼𝑔 𝑠 + 𝐸𝐿 𝑠 1/(Rg+Lgs)
Eg - Ig
𝐸𝑔 𝑠 = 𝑅𝑔 + 𝐿𝑔 𝑠 + 𝑍𝐿 𝐼𝑔 𝑠
EL

Ig 𝐸𝐿 (𝑠)
𝐸𝐿 (𝑠) = 𝑍𝐿 𝐼𝑔 (𝑠) ZL

𝐼𝑓 (𝑠) 𝐸𝑔 𝑠
Ef 1/(Rf+Lfs) If 𝑘𝑔 𝑠 1/(Rg+Lgs)
Eg - Ig

EL Ig
𝐸𝐿 (𝑠) ZL

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Thank you