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CHAPTER 2: System Modeling in Frequency Domain
CHAPTER 2: System Modeling in Frequency Domain
Learning Outcome
Topics
Part 1
Laplace transform – review
Part 2
Transfer function of electrical circuit
Part 3
Transfer functions translational mechanical system
No. 4
PART 1
Laplace transform - review
No. 5
Introduction
Step in built up a control systems:-
Obtaining system’s schematic (block diagram)
Develop mathematical models from schematics of physical
system
L[ f (t )] F ( s ) f (t )e st
dt Eq. 2.1
0
Example 1
Find the Laplace transform of f(t) = Ae-atu(t).
Solution :
Refer to Table 2.1
A 1
sa
F (s ) A
1 A
sa sa
No. 11
Example 2
d3y d2y dy
Find the Laplace transform of y (t ) 3 3 2 5 4 y
dt dt dt
Solution :
Refer to Table 2.2
d3y d2y dy
y (t ) 3 3 2 5 4 y
dt dt dt
Example 3
Find the Laplace transform of f (t ) Atu (t )
Solution :
1
f (t ) tu (t ) 2
s
A
F (s) 2
s
No. 13
Example 4
1
Find the inverse Laplace transform of F ( s )
s 3 2
Solution :
Refer to Table 2.1
1
f (t ) tu (t ) 2
s
3t 1
f (t ) e u (t )
s3
1
F (s) f (t ) e 3t tu (t )
s 3 2
No. 14
Example 5
Find the Laplace transform of
d3y dy
y (t ) 5 3 3 2 y
dt dt
Answer :
Y(s) 5s 3 Y(s) 3sY(s) 2 Y(s)
No. 15
Example 6
Answer :
f (t ) sin 2tu (t )
No. 16
Input Output
c( s ) r(s)
System
c(s)
r ( s)
Figure 2.1
No. 17
d n c (t ) d n1c (t )
an n
an1 n 1
... a0 c (t )
dt dt
d m r (t ) d m1r (t )
bm m
bm1 m 1
...b0 r (t )
dt dt
C (s)
G(s)
R( s)
(bm s m bm-1 s m-1 b0 )
G ( s)
(an s n an-1 s n-1 a0 )
No. 20
G(s)
Figure 2.2
No. 21
Example 7
dc(t )
2c(t ) r (t )
dt
No. 22
Solution : Example 7
sC ( s) 2C ( s) R ( s )
C(s) 1
G(s)
R(s) s2
No. 23
Example 8
Use the results of Example 7 to find the response, c(t)
to an input r(t)=u(t), a unit step. Assume zero initial
condition.
dc(t )
2c(t ) r (t )
dt
where r(t) = u(t),
No. 24
Solution: Example 8
dc(t )
2c(t ) r (t )
dt
dc(t )
2c(t ) u (t )
dt
1
sC ( s ) 2C ( s )
s
1
( s 2)C ( s )
s Check
1
C ( s) table 2.1
s ( s 2)
No. 25
1
C ( s) No data in the table?
s ( s 2)
1 1 2t
c(t ) e
2 2
No. 26
Example 9
Find the transfer function, G(s) corresponding to differential
equation
d 3c d 2c dc d 2r dr
3
3 2 7 5c 2
4 3r
dt dt dt dt dt
Answer :
s 2 4s 3
G(s) 3
s 3s 2 7s 5
No. 27
Example 10
Find the differential equation corresponding to the transfer
function.
2s 1
G(s) 2
s 6s 2
Answer :
d 2c(t ) dc(t ) dr (t )
2
6 2c(t ) 2 r (t )
dt dt dt
No. 28
Exercise 1
Find the transfer function, G(s) corresponding to differential
equation
d 3c d 2c d 2r dc d 2r dr
3
2 2 3 2 7 5c r 5 2 4 3c
dt dt dt dt dt dt
Answer :
2s 2 4s 1
G(s) 3
s 2s 2 7s 2
No. 29
PART 2
Electric network transfer function
No. 30
Introduction
Apply transfer function to mathematical modeling of electrical circuit
including passive network and Op-Amp circuit.
Equivalent circuits for the electric networks that we work with first consist of
three passive linear components: resistors, capacitors and inductors.
Table 2.3 summarizes the components and the relationships between voltage
and current and between voltage and charge under zero initial conditions.
From these relationships, we can write the differential equations for the circuit
using Kirchhoff’s laws.
Then we can take the Laplace transforms of the differential equations and
finally solve for the transfer function.
No. 31
Introduction (continue)
Introduction (continue)
differential equation
Figure 2.3
No. 35
Solution : Example 11
t
di (t ) 1
L Ri (t ) i (t )dt v(t )
dt C0
d 2 q (t ) dq (t ) 1
L 2
R q (t ) v(t )
dt dt C
No. 36
1
vc (t ) q (t ) q(t ) Cvc (t )
C
d 2 vc (t ) dvc (t )
LC 2
RC vc (t ) v(t )
dt dt
Taking the Laplace transform
VC ( s ) 1 / LC
V (s) R 1
s s
2
L LC
No. 38
Summary
1
For the capacitor, Vc ( s ) I (s)
Cs
1
( Ls R ) I ( s ) V ( s )
Cs
Example 11 – using single loop via No. 42
1
( Ls R ) I (s) V ( s)
Cs
Solving for I(s)/V(s)
I (s) 1
V ( s ) ( Ls R 1 )
Cs
But the voltage across the capacitor
1
Vc( s ) I ( s ) Vc( s )Cs I ( s )
Cs
Example 11 – using single loop No. 43
Vc( s)Cs 1
V ( s) 1
( Ls R )
Cs
Vc( s ) 1
V ( s ) ( Ls R 1 )Cs
Cs
Example 11 – using single loop via No. 44
transform method
Vc( s ) 1
V ( s ) ( Ls R 1 )Cs
Cs
VC ( s ) 1 / LC
V ( s) R 1
s s
2
L LC
No. 45
Solution:
From I(s)=V(s)/Z(s),
VC ( s ) Vc( s ) V ( s )
0
1 R Ls
Cs
Solution : Example 11 – using nodal No. 46
analysis
VC ( s ) Vc( s ) V ( s )
0
1 R Ls
Cs
Vc( s ) V ( s )
VC ( s )Cs 0
R Ls
Solution : Example 11 – using nodal No. 47
analysis (cont.)
Vc( s ) V ( s )
VC ( s )Cs 0
R Ls
Vc( s ) V ( s)
VC ( s )Cs
R Ls R Ls
VC ( s )Cs( R Ls ) Vc( s ) V ( s )
(Cs( R Ls ) 1)Vc( s ) V ( s )
No. 48
Complex Circuit
Given the network of Figure 2.4, find the transfer function, I2(s) / V(s).
Figure 2.4
No. 50
Solution : Example 12
Solution : Example 12
Step 2 : Develop mesh equations
( R1 Ls ) I1 ( s ) LsI 2 ( s ) V ( s ) 1
1
LsI 2 ( s ) R2 I 2 ( s ) I 2 ( s ) LsI1 ( s ) 0
Cs
Loop 2:
1
( Ls R2 ) I 2 ( s ) LsI1 ( s ) 0 2
Cs
No. 53
Solution : Example 12 (continue)
1
( Ls R2 ) I 2 ( s ) LsI1 ( s ) 0 2
Cs
1 1
( Ls R2 ) I 2 ( s ) I1 ( s )
Ls Cs
R2 1
(1 2
) I 2 ( s ) I1 ( s ) 3
Ls LCs
No. 54
( R1 Ls ) I1 ( s ) LsI 2 ( s ) V ( s )
R2 1
( R1 Ls)(1 2
) I 2 ( s) LsI 2 ( s ) V ( s )
Ls LCs
RR R LsR 2 Ls
( R1 1 2 1 2 Ls 2
) I 2 ( s ) LsI 2 ( s ) V ( s )
Ls LCs Ls LCs
R1 R2 R1 LsR 2 Ls
( R1 2
2
) I 2 (s) V (s)
Ls LCs Ls LCs
No. 55
R1 R2 R1 LsR 2 Ls
( R1 2
Ls Ls 2
) I 2 ( s) V ( s)
Ls LCs Ls LCs
R1 R2 R1 LsR 2 Ls
( R1 2
2
) I 2 (s) V (s)
Ls LCs Ls LCs
I 2 (s) 1
V (s) R1 R2 R1 LsR2 Ls
( R1 2
2
)
Ls LCs Ls LCs
I 2 (s) LCs 2
G ( s)
V ( s) ( R1 R2 ) LCs 2 ( R1 R2 C L) s R1
No. 57
Figure 2.4
No. 58
VC ( s ) VL ( s )
Node : VC CsVC ( s ) 0 2
R2
Solution : Example 12 – nodal analysis No. 59
(continue)
From eqn. 1:
VL ( s )
G1 (VL ( s ) V ( s )) G2 (VL ( s ) VC ( s )) 0
Ls
1
(G1 G2 )VL ( s ) G2VC ( s ) G1V ( s ) 3
Ls
From eqn. 2:
CsVC ( s ) G2 (VC ( s ) VL ( s )) 0
4
G2VL ( s ) (G2 Cs )VC 0
Solution : Example 12 – nodal analysis No. 60
(continue)
G1G 2
s
VC ( s ) C
V ( s) G G LC G
(G1 G 2 ) s 2 1 2 s 2
LC LC
Exercise 2
Write the mesh equations for the network shown below.
Figure 2.5
No. 66
Answer for Exercise 2
Loop 1:
+(2s+2)I1(s) – (2s+1)I2(s) – I3 (s) = V(s)
Loop 2:
–(2s+1) I1(s) + (9s+1) I2(s) – 4s I3 (s) = 0
Loop 3:
– I1(s) – 4s I2(s) + (4s+1+1/s) I3 (s) = 0
No. 67
PART 3
Translational Mechanical System Transfer
Functions
Translational Mechanical System No. 68
Transfer Functions
Transfer Functions
Figure 2.10
No. 71
Translational Mechanical System
Transfer Functions
TABLE 2.4: Force-velocity, force-displacement, and impedance translational
relationships for springs, viscous dampers, and mass.
Translational Mechanical No. 72
2
d x(t ) dx(t ) Ms 2 X ( s) f v sX ( s) KX ( s ) F ( s)
M 2
fv Kx(t ) f (t )
dt dt
SOLUTION : EXAMPLE 15 - one No. 77
Ms X ( s ) f v sX ( s) KX ( s) F ( s)
2
( Ms f v s K ) X ( s) F ( s)
2
X (s) 1
F ( s) Ms 2 f v s K
No. 78
Figure 2.11
Solution: EXAMPLE 16 - 2 No. 79
degrees of freedom
First, we take the Laplace transform of force displacement.
Then, find all forces on M1. We can draw the transformed free-body
diagram as shown below.
Solution: EXAMPLE 16 - 2 No. 80
Summary of Example 16
Sum of Sum of
Impedances Impedances Sum of applied
_
connected to X1(s) between X1 X2(s) = forces at X1
the motion at and X2
X1
Notice that the symbols for the components look the same as
translational symbols, but they are undergoing rotation and no
translation.
The values of K, D and J are called spring constant, coefficient
of viscous friction and moment of inertia, respectively.
No. 84
Table 2.5
No. 85
Example 17
Find the transfer function, for the rotational system shown in the below figure.
The rod is supported by bearings at either end and is undergoing torsion. A
torque is applied at the left, and the displacement is measured at the right.
No. 86
Solution : Example 17
No. 87
Solution : Example 17 (continue)
Assume a) b)
No. 88
Solution : Example 17 (continue)
Torque on J1 when:
a. J2 still, J1 rotated
b. J1 still, J2 rotated
c. Final FBD for J1
No. 89
Torque on J2 when:
a. J1 still, J2 rotated
b. J2 still, J1 rotated
c. Final FBD for J2
No. 90
Where, ( J 1 s 2 D1 s K ) K
K ( J 2 s 2 D2 s K )
No. 91
Sum of
impedances Sum of
Sum of
impedances applied torques
connected 1 ( s ) ( s )
between 2
to the motion at 1
1and 2
at 1
Sum of
Sum of impedances
impedances Sum of
( s ) connected 2 ( s ) applied torques
between 1
to the motion at 2
1 and 2 at 2
No. 92
Example 18
Solution : Example 18
( J 1 s 2 D1 s K ) 1 ( s ) K 2 ( s ) 0 3 ( s ) T ( s )
K 1 ( s ) ( J 2 s 2 D2 s K ) 2 ( s ) D2 s 3 ( s ) 0
0 1 ( s ) D2 s 2 ( s ) ( J 3 s 2 D3 s D2 s ) 3 ( s ) 0
ELECTRIC CIRCUIT No. 94
ANALOGS
Series Analog
Figure 2.25
No. 96
( Ms 2 f v s K ) X ( s) F ( s )
While, Kirchhoff’s mesh equation for the simple series RLC network shown
in Figure 2.25(b) is:
1
( Ls R ) I ( s ) E ( s)
Cs
No. 97
( Ms 2 f v s K ) X ( s) F ( s ) s
to convert displacement to velocity by multiplying the left-hand side by
s
Thus,
( Ms 2 f v s K ) K
sX ( s ) ( Ms f v )V ( s) F ( s)
s s
No. 98
Comparing both eqn of motion and eqn of simple series RLC network, we
recognize the sum of impedances and draw the circuit shown in Fig 2.25(c).
The conversions are summarized in Figure 2.25(d).
No. 99
Example 19
Parallel Analog
Figure 2.27
No. 102
Kirchhoff’s nodal equation for the simple parallel RLC network shown in Figure 2.27(b) is
1 1
(Cs ) E (s) I (s)
R Ls
Comparing both eq of motion and eq of simple series RLC network, we recognize the sum of
admittances and draw the circuit shown in Fig 2.27(c). The conversions are summarized in
Figure 2.27(d).
No. 103
Answer: