ME 2401 MECHATRONICS

UNIT III
SYSTEM MODELS AND CONTROLLERS
Building blocks of Mechanical, Electrical, Fluid and
Thermal Systems, Rotational Transnational Systems ,
Electromechanical Systems Hydraulic Mechanical Systems.
Continuous and discrete process Controllers Control Mode
Two Step mode Proportional Mode Derivative Mode
Integral Mode PID Controllers Digital Controllers Velocity
Control Adaptive Control Digital Logic Control Micro
Processors Control.


System Models
Mathematical Models
Mechanical System Building Blocks
Electrical System Building Blocks
Fluid System Building Blocks
Thermal Systems Building Blocks
Mathematical Models
Think how systems behave with time when subject to some
disturbances.

In order to understand the behaviour of systems, mathematical
models are required.

Mathematical models are equations which describe the
relationship between the input and output of a system.

The basis for any mathematical model is provided by the
fundamental physical laws that govern the behaviour of the
system.
Building Blocks
Systems can be made up from a range of building blocks.
Each building block is considered to have a single property or
function.
Example: an electric circuit system which is made up from
blocks which represent the behaviour of resistance,
capacitance, and inductor, respectively.
By combining these building blocks a variety of electrical
circuit systems can be built up and the overall input-output
relationship can be obtained.
A system built in this way is called a lumped parameter
system.
BUILDING BLOCKS - MECHANICAL SYSTEM
Basic building block: spring, dashpots, and masses.
Springs represent the stiffness of a system
Dashpots represent the forces opposing motion, for
example frictional or damping effects.
Masses represent the inertia or resistance to acceleration.
Mechanical systems does not have to be really made up of
springs, dashpots, and masses but have the properties of
stiffness, damping, and inertia.
All these building blocks may be considered to have a
force as an input and displacement as an output.

Stiffness of a Spring
Stiffness of a spring is described as the relationship between
the force F used to extend or compress a spring and the
resulting extension or compression x.

In the case of spring where the extension or compression is
proportional to the force (linear spring): F = kx, where k is a
constant, the bigger the value of k the greater the forces have
to be to stretch or compress the spring and so the greater the
stiffness.
Spring
F x
Translational Spring, k (N)
F
a
(t)
x(t)
}
=
= =
=
=
t
t
s a
a
s
a
s
s a
dt t v k t F
dt
t dF
k dt
t dx
t v
t F
k
t x
t x k t F
t x
t v
t F
0
) ( ) (
) ( 1 ) (
) (
) (
1
) (
) ( ) (
(m) ) ( position Linear
(m/sec) ) ( ocity Linear vel
Newton in ) ( force Appied
a
Rotational Spring, k
s
(N-m-sec/rad)
F
a
(t)
u (t)
}
=
= =
=
=
t
t
s a
a
s
a
s
m a
dt t k t T
dt
t dT
k dt
t d
t
t T
k
t
t B t T
t
t
t T
0
) ( ) (
) ( 1 ) (
) (
) (
1
) (
) ( ) (
(rad) ) ( nt displaceme Angular
(rad/sec) ) ( locity Angular ve
m) - (N ) ( torque Appied
a
e
u
e
u
u
u
e
e (t)
k
s
Dashpot
The dashpot block represents the types of forces experienced
when pushing an object through a fluid or move an object
against frictional forces. The faster the object is pushed the
greater becomes the opposing forces.
The dashpot which represents these damping forces that slow
down moving objects consists of a piston moving in a closed
cylinder.
Movement of the piston requires the fluid on one side of the
piston to flow through or past the piston. This flow produces a
resistive force. The damping or resistive force is proportional
to the velocity v of the piston: F = cv or F = c dv/dt.
Translational Damper, B
v
(N-sec)
F
a
(t)
x(t)
}
=
= =
=
=
t
t
a
v
m m a
a
m
m a
dt t F
B
t x
dt
t dx
B t v B t F
t F
B
t v
t v B t F
t x
t v
t F
0
) (
1
) (
) (
) ( ) (
) (
1
) (
) ( ) (
(m) ) ( position Linear
(m/sec) ) ( ocity Linear vel
Newton in ) ( force Appied
a
B
m
Rotational Damper, B
m
(N-m-sec/rad)
F
a
(t)
u (t)
}
=
= =
=
=
t
t
a
m
m m a
a
m
m a
dt t T
B
t
dt
t d
B t B t T
t T
B
t
t B t T
t
t
t T
0
a
) (
1
) (
) (
) ( ) (
) (
1
) (
) ( ) (
(rad) ) ( nt displaceme Angular
(rad/sec) ) ( locity Angular ve
m) - (N ) ( torque Appied
u
u
e
e
e
u
e
e (t)
B
m
Mass
The mass exhibits the property that the bigger the mass the
greater the force required to give it a specific acceleration.
The relationship between the force F and acceleration a is
Newtons second law as shown below.
Energy is needed to stretch the spring, accelerate the mass and
move the piston in the dashpot. In the case of spring and mass
we can get the energy back but with the dashpot we cannot.

2
2
dt
x d
m
dt
dv
m ma F = = =
Mass
Force Acceleration
Mechanical Building Blocks
Building Block Equation
Energy representation
Translational
Spring
F = kx E = 0.5 F
2
/k
Dashpot
F = c dx/dt P = cv
2
Mass
F = m d
2
x/dt
2
E = 0.5 mv
2
Rotational
Spring
T = ku E = 0.5 T
2
/k
Damper
T = c du/dt P = ce
2
Moment of inertia
T = J d
2
u/dt
2
P = 0.5 Je
2
Building Mechanical Blocks
Mathematical model of a
machine mounted on the ground


Mass
Ground
Input, force
Output, displacement
F kx
dt
dx
c
dt
x d
m = + +
2
2
Building Mechanical Blocks
Mathematical model of a rotating
a mass
T k
dt
d
c
dt
d
J = + + u
u u
2
2
Torque
Moment of inertia
Torsional resistance
Shaft
Physical situation Block model
BUILDING BLOCKS - ELECTRICAL SYSTEM
From Newtons law or using Lagrange equations of motions,
the second-order differential equations of translational-
dynamics and torsional-dynamics are found as
dynamics) (Torsional ) (
dynamics) onal (Translati ) (
2
2
2
2
t T k
dt
d
B
dt
d
j
t F x k
dt
dx
B
dt
x d
m
a s m
a s v
= + +
= + +
u
u u
Electrical System Building Blocks
The basic building blocks of electrical systems are resistance,
inductance and capacitance.
2
2
2
2
1
; : Capacitor

2
1
;
1
: Inductor
; : Resistor
Cv E
dt
dv
C i
Li E vdt
L
i
R i P iR v
= =
= =
= =
}
Resistance, R (ohm)
v(t)
R
i(t)
) (
1
) (
) ( ) (
) ( Current
) ( voltage Appied
t v
R
t i
t Ri t v
t i
t v
=
=
Inductance, L (H)
v(t)
L
i(t)
}
=
=
t
t
dt t v
L
t i
dt
t di
L t v
t i
t v
0
) (
1
) (
) (
) (
) ( Current
) ( voltage Appied
Capacitance, C (F)
v(t)
C
i(t)
dt
t dv
C t i
dt t i
C
t v
t i
t v
t
t
) (
) (
) (
1
) (
) ( Current
) ( voltage Appied
0
=
=
}
For a series RLC circuit, find the characteristic equation and define the
analytical relationships between the characteristic roots and circuitry
parameters.
LC L
R
L
R
s
LC L
R
L
R
s
LC
s
L
R
s
dt
dv
L
i
LC dt
di
L
R
dt
i d
a
1
2 2
1
2 2
are roots stic characteri The
0
1
1 1
2
2
2
1
2
2
2

|
.
|

\
|
+ =

|
.
|

\
|
=
= + +
= + +
BUILDING BLOCKS FLUID SYSTEM
The basic building blocks of fluid systems are the volumetric rate of flow q and the
pressure difference.
Input Output
Volumetric rate of flow
Pressure difference
Fluid system can be divided into two types: hydraulic and pneumatic.
Hydraulic resistance is the resistance to flow of liquid as the liquid flow through
valves or changes in pipe diameter takes place.
q
R p p =
2 1
p
1
- p
2
is pressure difference
R is the hydraulic resistance
q is the volumetric rate of flow
Hydraulic capacitance is the term used to describe energy storage with a liquid
where it is stored in the form of potential energy. A height of liquid in a
container is one form of such a storage. For such capacitance, the rate of
change of volume V in the container (dV / dt) is equal to the difference
between the volumetric rate at which liquid enters the container q
1
and the rate
at which it leaves q
2
.
dt
dp
C q q
pg
A
C
g p
dt
dp
pg
A
q q
dt
dh
A q q
Ah V
dt
dV
q q
= =
=
=
= =
2 1
2 1
2 1
2 1
;
gravity) to due on accelerati the is density; liquid is (

;
Hydraulic inertance is the equivalent of inductance in electrical
systems or a spring in mechanical systems. To accelerate a fluid
and so increase its velocity a force is required.
Mass m
F
1
=p
1
A
F2=p2A
L
density the is g and block the of length the is
inertance hydraulic the is ;
) (
) (
) (
2 1
2 1
2 1
2 1 2 1 2 1
L
A
Lg
I
dt
dq
I p p
dt
dq
Lp
dt
dv
ALp
dt
dv
m A p p
ma A p p
A p p A p A p F F
= =
= = =
=
= =
With pneumatic systems the three basic buildings blocks are
as with hydraulic systems, resistance, capacitance, and
inertance. However, gasses differ from liquids in being
compressible.
}
=

=
dt p p
L dt
dm
dt
p p d
C
dt
dm
R
p p
dt
dm
) (
1
Inertance
) (
e Capacitanc
Resistance
2 1
2 1
2 1
A fluid system
R
pgh
dt
dh
A
dt
hpg d
C
R
hpg
q
R
hpg
q hpg -p p
Rq p p
dt
dp
C q q
+ = =
= =
=
=
) (
;
e) (Resistanc
) (Capacitor
1
2 2 1
2 2 1
2 1
q
1
h
q
2
flow of rate c volumetri the is
gravity to due on accelerati the is
density liquid the is
q
g
p
BUILDING BLOCKS - THERMAL SYSTEM
There are only two basic building blocks for thermal systems:
resistance and capacitance.
There is a net flow of heat between two points if there is a
temperature difference between them.
The value of the resistance depends on the mode of heat
transfer.
ty conductivi thermal the is
. and are re temperatu he at which t points e between th material of length the is
conducted being is heat hich the through w material the of area sectional Cross :

2 1
1 2 1 2
k
T T L
A
L
T T
Ak
R
T T
q

=

=
Thermal System
L
L
L
T T
dt
dT
RC
R
T T
dt
dT
C
dt
dT
C q
dt
dT
C q q
R
T T
q
= +

=
= =

=
;
2 1
q
T
T
L
resistance thermal the is
e capacitanc the is
flow heat of rate net the is
R
C
q
Rotational Systems
The mass, spring, and dashpot are the basic building blocks for mechanical
systems where forces and straight line displacements are involved without
any rotation.
If rotation is involved, then the equivalent three building blocks are a
torsional spring, a rotary damper and the moment of inertia (i.e. the inertia
of a rotating mass).
With a torsional spring the angle u rotated is proportional to the torque: T =
ku.
With a rotary damper a disc is rotated in a fluid and the resistive torque T is
proportional to the angular velocity e.
The moment of inertia block exhibit the property that the greater the
moment of inertia J the greater the torque needed to produce an angular
acceleration


Ja T
dt
d
c c T = = = ;
u
e
TRANSNATIONAL SYSTEM

ELECTROMECHANICAL SYSTEM

HYDRAULIC SYSTEM

MECHANICAL SYSTEM

CONTINUOUS PROCESS
CONTROLLERS

DISCRETE PROCESS
CONTROLLERS

CONTROL MODE

TWO
STEP MODE

PROPORTIONAL MODE

DERIVATIVE MODE

INTEGRAL MODE

PID
CONTROLLERS

DIGITAL
CONTROLLERS

VELOCITY CONTROL

ADAPTIVE CONTROL

DIGITAL LOGIC
CONTROL

MICRO
PROCESSORS CONTROL.