Lecture 2

ME 3115: Instrumentation and Control

Presented by
Dr. Md. Rokunuzzaman

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Outline

 Learning Objectives
 Modeling: Mechanical Systems
 Modeling: Electrical Systems

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Learning Objectives

At the End of the Class you will be able to

 Model Mechanical System
 Model Electrical System

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 Mathematical Model of Dynamic Systems

 Dynamic Systems experience instability

 To stabilize dynamic systems, their dynamics need to be analyzed
 A mathematical model need to be established for analyses of
dynamics
 Dynamics can be represented by differential equations

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 Mathematical Model of Dynamic Systems

 Differential equations are obtained by using physical laws governing a

particular system
 Governing equations for Mechanical System: Newton’s Laws
 Governing equations for Electrical System: Kirchhoff’s Laws

Modeling
Mathematical
Physical System
Equations

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Mathematical Model of Mechanical Systems

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Mathematical Model of Mechanical Systems

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Mathematical Model of Mechanical Systems

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Mathematical Model of Mechanical Systems

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Mathematical Model of Mechanical Systems

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Mathematical Model of Mechanical Systems

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 Mathematical Model: Inverted Pendulum

The inverted pendulum is unstable in that it may fall over any time in any direction
unless a suitable control force is applied

Inverted Pendulum system Free Body Diagram

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 Mathematical Model: Inverted Pendulum

The control force u is applied to the cart. Assume that the center of gravity of the pendulum rod
is at its geometric center.

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Mathematical Model: Inverted Pendulum

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Mathematical Model: Inverted Pendulum

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Mathematical Model: Electrical Systems

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 Electrical Oscillators

• Consider a simple mechanical (harmonic) oscillator: A

prototype is shown here:

• Equation of motion
(undamped case):
m(d2x/dt2) + kx = 0
Solution: x(t) = A sin(ω0t - δ)
Natural Frequency: (ω0)2  (k/m)

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 L C Circuit

• Consider a simple LC (electrical) circuit:

A prototype is shown here:
(L = inductor, C = capacitor)
• Equation of motion for charge q
(no damping or resistance R):
L(d2q/dt2) + (q/C) = 0 (1)
Math is identical to the Undamped mechanical oscillator! A more
familiar eqtn of motion (?) in terms of current: I = (dq/dt).
Kirchhoff’s loop rule  L(dI/dt) + (1/C)∫Idt = 0 (2)
Solution to (1) or (2): q(t) = q0 sin(ω0t - δ)
Natural Frequency: (ω0)2  1/(LC)

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• A comparison of the equations of motion of mechanical &
electrical oscillators gives analogies:
x  q, m  L, k  C-1, (dx/dt)  I
• Consider (let δ = 0 for simplicity): q(t) = q0cos(ω0t)
 [q(t)]2 = q02 cos2(ω0t) and I(t) = (dq/dt) = -ω0q0sin(ω0t)
 [I(t)]2 = [ω0q0]2sin2(ω0t) = [q02/(LC)]sin2(ω0t)
So: (½)L[I(t)]2 + (½)[q(t)]2/C = (½)[q02/C] (1)
With the above analogies, (1) is mathematically analogous to
the total energy for the mechanical oscillator! We found:
(½)m[v(t)]2 + (½)k[x(t)]2 = (½)kA2 = Em (2)
From circuit theory, total energy for an LC electrical circuit is
Ee  (½)[q02/C]  (1) is also analogous physically to (2)!
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• Physics: The total Energy of an LC circuit
 (½)L[I(t)]2 + (½)[q(t)]2/C = (½)[q02/C] = Ee = const.!
• Physical Interpretations:
(½)LI2  Energy stored in the inductor
 Analogous to kinetic energy for the mechanical oscillator
(½)C-1q2  Energy stored in the capacitor
 Analogous to potential energy for mechanical oscillator
(½)[q02/C] = Ee  Total energy in the circuit  Analogous to the
total mechanical energy E for the SHO Also, Ee = constant!  The
total energy of an LC circuit is conserved. The system is
conservative! (Only if there is no resistance R!). As we’ll see, in
electrical oscillators, R plays the role of the damping constant b (or
β) for mechanical oscillators.

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 LRC Circuit

• Recall the mechanical

oscillator with damping:
• Equation of motion:
m(d2x/dt2) + b(dx/dt) + kx = 0
• We’ve seen that the general solution is:
x(t) = e-βt[A1 eαt + A2 e-αt]
where α  [β2 - ω02]½
A1 , A2 are determined by initial conditions: (x(0), v(0)).
ω02  (k/m), β  [b/(2m)]
We’ve discussed in detail the Underdamped, Overdamped, &
Critically Damped cases.

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• Analogous electrical oscillator system to the damped mechanical oscillator?
• An LRC circuit is an electrical
oscillator with damping.
• Equation of Motion: Kirchhoff’s
loop rule: L(dI/dt)+RI + (1/C)∫I dt = 0 (1)
In terms of charge, I = (dq/dt), (1) becomes:
L(d2q/dt2) +R(dq/dt) + (q/C) = 0 (2)
(2) is identical mathematically to the damped oscillator equation of motion
with x  q, m  L, b  R, k (1/C)
 General Solution is clearly q(t) = e-βt[A1 eαt + A2 e-αt]
with α  [β2 - ω02]½ ω02  (LC)-1, β  [R/(2L)]
Could discuss Underdamped, Overdamped, & Critically Damped solutions!

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Mechanical-Electrical Analogies

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