Professional Documents
Culture Documents
LTI System
d nc d n 1c dc
an n
a n 1 n 1
a 1 a 0 c
dt dt dt
Modeling d mr d m1r dr
bm m
b m 1 m 1
b1 b0 r
dt dt dt
C s b s m bm1 s m1 b1 s b0
M. Sami Fadali G s m n
R s zero IC a n s a n 1 s n 1 a 1 s a 0
Professor of Electrical Engineering
Example
University of Nevada
1 2
X ( s) 1 f
G ( s)
L F ( s) m s 2
Impulse Input m
L F(s) 1 s
5 6
7 8
Mesh Analysis Cramers Rule
a11 a12 x1 b1
1. Replace passive elements with Z(s).
a
2. Define clockwise current for each mesh. 21 a22 x2 b2
3. Write KVL in matrix form with source Provided that a solution exists
voltages that drive clockwise current b1 a12 a11 b1
positive. b2 a22 a b
x1 , x2 21 2
4.Use Cramers rule to solve for the transfer a11 a12 a11 a12
function. a21 a22 a21 a22
a11 a12
a11a22 a12a21
a21 a22
9 10
i
C
L1 s R1 R2 1 sC R3 L2 s 1 sC
13 14
Node Equations Gs G1
1
1 Vs
Va sL1 sL1 Rs
Y(s)V(s) I(s)
R1
Vo 1 1 1 1
Vs/Rs G2 0
L1 Vs sL1 sL1 sL2
G 1/ R,Vo Vc Rs Vb
L2
R3 G1
1
0
R2
V sL2
G ( s) o
Vs 1 1
1 1 Gs G1 G1
Gs G1 sL
sL1
G1 sL1 sL1
1
Va ( s ) Vs ( s )Gs
1
G2
1
1
1
1
G2
1
1
1 V ( s ) 0 sL1 sL1 sL2 sL2
sL1 sL1 sL2 sL2 b 1 1
1
1 c
V ( s ) 0 G1 G1 G3
G1 G1 G3 sL2 sL2
sL2 sL2
15 16
a) Ideal Spring
Translational Mechanical Systems
Elastic energy (neglect plastic deformation)
Ideal Damper b: energy dissipation. Linear element: force proportional to the
Ideal Spring k: potential energy storage. deformation . k
Pure Mass m: kinetic energy storage. No energy dissipation f
Connective Relations: Newtons 2nd Law No mass x x
1 2
17 18
19 20
Constitutive Relations for Spring,
Mass, Damper Ex. Mass-Spring-Damper
m x f f s f d
f k x b x
m x b x kx f
X s 1 k m b
G s 2
F s ms bs k
f(t)
x
21 22
F b3 s k 2 0
m1 s 2 b1 b3 s k1 k 2 b3 s k 2 X 1 F m1s b1 b3 s k1 k 2
2
b3 s k 2
b3 s k 2 m2 s b2 b3 s k 2 k 3 X 2 0
2
b3 s k 2 m2 s b2 b3 s k 2 k3
2
b3 s k 2
m1s b1 b3 s k1 k2 m2 s 2 b2 b3 s k2 k3 b3 s k2 2
2
23 24
3-D.O.F. Translational
Rotational Mechanical Systems
Mechanical System
Example 2.19
Transfer Function (Cramers Rule)
J11 D11 K 1 2
1 J1s D1s K
2
J 22 D22 K 2 1 0 G ( s)
2
K 0
J1s D1s K
2
K
J1s2 D1s K K 1 K J 2 s 2 D2 s K
0
K J2s2
D2s K 2 K
J1s 2 D1s K J 2 s 2 D2 s K K 2
27 28
Example 2.20 Gears N1
Assume: 1 1
J
1- No losses.
J11 D11 K 1 2
2- No inertia. N2 2 2
J 22 D2 2 3 K 2 1 0
3- Perfectly rigid.
J 33 D2 3 2 D33 0
Single velocity at point of contact
J1s D1s K
2
K 0 1 Equal arc length
K J2 s2
D2 s K D2 s 2 0
0 D2 s J3s2 D2 D3s3 0
29 30
Mass
1 , 1
Damper
J
2 2
Inertia N no. teeth of destinatio n
N2 De 1 D 1 D
2 , 2 1
N2 no. teeth of source
2 J2
N2 N Spring
1 J 1 1 1
N1 N2
2
N
2 2
N no. teeth of destinatio n
Je 1 J 1 1 , 1 Ke 1 K 1 K
1
N2 1 N2 no. teeth of source
2
no. teeth of destinatio n 2 , 2
J 2
no. teeth of source
35 36
Example (Special Case) Example
,m Db N1
Jb Jg
2 L
JL
K
DL
N2
N 2 N 4 N 2l 2 N4 l
e,me Dbe
2 L ne
Jbe Jge JL l 1
K
DL 1 ne
J l ne2 J1 Bl ne2 B1 K l ne2 K1
39 40
TFs of Electromechanical Systems DC Motor
Electrical Subsystem
Varies with motor type
armature (rotor) conductors current
field (stator) conductors or permanent magnet
Mechanical Subsystem DC motor armature
Varies with load. (rotor)
Write equations of motion.
DC motor.
National Instruments:
http://zone.ni.com/devzone/cda/ph/p/id/52
41 42
Torque Equation
Field Control
Magnetic flux Wb
Changing and fixing
Force
r Back EMF (Faradays Law)
= conductor length
Voltage induced in moving coil proportional to the
= magnetic flux density
f rate of cutting of lines of magnetic flux.
= armature (rotor) current
is only approximately constant through the use of
high resistance (inefficient)
Control
Vary torque by changing or
43 44
Armature Control Schematic
Changing and fixing Za
Used in practice. Za
ea vb 1
N1
KVL
ea vb D2
J2
J1, D1 L
2 N2
K
45 46
J1 J2e L Ke J 2 e s D2 e s K e
2
0 I a 0
Ke
47 48
Transfer Function Evaluation of Motor Parameters
Dynamometer measure speed & torque for constant
' N N
G(s) L L 1 2 Dynamometer Test gives speed-torque curves
Ea Ea
Kbs Ea La s Ra Assume supplied by manufacturer
1 2
N1 N2 J1s D1s Ke 0 Kt
Ea
Ke 0 0 500
=stall torque
Kb s 0 La s Ra 400
Torque (N-m)
300
ea= 100 V
Ke J2e s D2es Ke
2
0
200
N1 N 2 K e K t 100
Ea ( s ) K b m ( s )
ea vb J e s De m ( s) K t I a ( s) K t
Ra
Stall torque: m (s) K t Ra
G(s)
Ea ( s ) J e s De K t Ra K b
T, m
Da
No-load speed: J e J a J Le
Ja JLe
De Da DLe
DLe
51 52
Linearity Nonlinearities
(i) Homogeneity
(ii) Additivity
Affine
53 54
80
for small 0
0 2 4 6 8
55 56
In the Vicinity of the Equilibrium Linearized Differential Equation
Special case: nonlinearity in output only
dc d c c0 dc d i c d i c
Similarly i , i 1,2,, n
dt dt dt dt i dt
d n c d n 1 c d c df
d c
n n 1
d c dc a n1 n1
a 1 a 0 c r , a 0
a n 1 a1 f ( c ) f ( c 0 ) r r0 r
n
n n 1
dt dt dt dc c0
dt dt dt
Example: Pendulum
Procedure
Moment of inertia
1. Determine the equilibrium point(s).
Equation of Motion
2. Find the first order approximation of all
nonlinear functions.
3. Rewrite the system differential equation in Linearize about = 30o
sin( )
terms of perturbations canceling the Equilibrium at = 30o
constants using Step 1.
59 60
Linearization Potentiometer
Using Trigonometric Identity
sin 30 o sin 30 o cos cos30 o sin 10 turns
1 2 3 2 1 turn = 2 rad
cos 1 sin
20 V
Using 1st order approximation formula
Pot Gain = 20/(10 X 2 )
d sin
sin sin30 o sin30 o cos30 o = (1/ ) V/rad
d 30o
J B mgl 1 2 3 2 0
J B mgl 3 2
61 62
Fluid Systems
Linearized Model qi
h=Rq
Conservation of Mass h
dCh
Q qin Q qo H
qo
dt
C Area
dh h dh
C qin h Rqin
dt R dt
h( s ) R
qin ( s ) s 1
63