Professional Documents
Culture Documents
Objectives
Students should be able to:
Determine modeling and transfer function
of electrical system.
Determine modeling and transfer function
of mechanical system.
Understand modeling and transfer function
of electromechanical system.
Understand electric circuit analog.
CONTROL SYSTEMS MODELING
Electric network
Operational amplifier
Translational mechanical system
Rotational mechanical system
System with gear
Electromechanical system
Analog electric circuit
ELECTRIC NETWORK MODELING
For basic electrical circuit modeling, only Passive RLC
Network and Op-Amp circuit are considered.
Equivalent circuits for the electric networks consist of
three passive linear components: resistors, capacitors
and inductors.
Table 3.1 summarizes the components and the
relationships between voltage and current and between
current and charge under zero initial conditions.
From these relationships, obtain differential equations
for the circuit using Kirchhoffs laws.
Next, Laplace transforms the differential equations and
finally solve for the transfer function.
Voltage-current, voltage-charge, and impedance relationships for
capacitors, resistors, and inductors.
Table 3.1
Component Voltage-Current Current-voltage Voltage-charge Impedance Admittance
For the capacitor, V ( s) 1 I ( s)
Cs
For the resistor, V (s) RI (s)
V ( s)
Now define the following transfer function: Z ( s)
I ( s)
[Sum of impedances] I(s) = [Sum of applied voltages]
Simple, Single-loop Electrical Network
mesh analysis
via the differential equation (Ex 3.1)
via transform method (Ex 3.2)
nodal analysis
via transform method (Ex 3.3)
Example 3.1
Find the transfer function relating the capacitor voltage, VC(s)
to the input voltage, V(s), in Figure below using mesh analysis
and transform methods.
Solution:
Single loop via the differential equation.
t
di (t ) 1
L Ri (t ) i ( )d v(t )
dt C0
Changing variables from current to charge using i(t) = dq(t)/dt
d 2 q(t ) dq(t ) 1
L 2
R q(t ) v(t )
dt dt C
Solution:
From the voltage-charge relation in Table 3.1:
1
vc (t ) q(t ) q(t ) Cvc (t )
C
d 2vc (t ) dvc (t )
LC 2
RC vc (t ) v(t )
dt dt
Taking the Laplace transform
LCs 2Vc (s) RCsVc (s) Vc (s) V (s)
Solution:
VC ( s) 1 / LC
G( s)
V ( s) s 2 R s 1
L LC
So, the block diagram of series RLC electrical network:
t
di (t ) 1
L Ri (t ) i ( )d v(t )
dt C0
1
( Ls R ) I ( s) V ( s)
Cs
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 1
across the capacitor Vc ( s) I ( s) Vc(s)Cs I (s)
Cs
Solving I(s) into equation:
I ( s) 1
I (s) Vc (s)Cs
V ( s) ( Ls R 1 )
Cs
Vc ( s) 1 Vc ( s)Cs 1
V ( s) ( Ls R 1 )Cs V ( s) 1
( Ls R )
Cs Cs
Answer:
Vc ( s) 1
V ( s) ( Ls R 1 )Cs
Cs
VC ( s ) 1 / LC
V ( s) R 1
s s
2
L LC
Example 3.3
Repeat example 3.1 using nodal analysis and transform
methods without writing a differential equation.
Solution:
From I(s)=V(s)/Z(s),
VC ( s) Vc ( s) V ( s)
0
1 R Ls
Cs
Solution:
VC ( s) Vc ( s) V ( s)
0
1 R Ls
Cs
Vc ( s) V ( s)
VC ( s)Cs 0
R Ls
Vc ( s) V ( s)
VC ( s)Cs
R Ls R Ls
Solution:
Vc ( s) 1
VC (s)Cs( R Ls) Vc(s) V (s)
V ( s) ( Ls R 1 )Cs
Cs
(Cs( R Ls) 1)Vc(s) V (s)
VC ( s ) 1 / LC
V ( s) R 1
s s
2
L LC
Complex Circuit (having more than one loop)
mesh analysis
via transform method (Ex 3.4)
nodal analysis
via transform method (Ex 3.5)
Example 3.4
I 2 (s)
Given the network below, find the transfer function, .
V (s)
Solution:
Solution:
Around mesh 1,
R1I1 (s) LsI1 (s) LsI2 (s) V (s)
1
( Ls R2 ) I 2 ( s) LsI1 ( s) 0
Cs
Solution:
1
( Ls R2 ) I 2 ( s) LsI1 ( s) 0
Cs
1 1
( Ls R2 ) I 2 ( s) I1 ( s)
Ls Cs
Solution:
1 1
( Ls R2 ) I 2 ( s) I1 ( s)
Ls Cs
R2 1
(1 2
) I 2 ( s ) I1 ( s )
Ls LCs
Combining these equations to find answer:
R2 1
(1 2
) I 2 ( s ) I1 ( s )
Ls LCs
R2 1
( R1 Ls)(1 2
) I 2 ( s) LsI 2 ( s) V ( s)
Ls LCs
R1 R2 R1 LsR2 Ls
( R1 2
Ls 2
) I 2 ( s) LsI 2 ( s) V ( s)
Ls LCs Ls LCs
R1 R2 R1 LsR2 Ls
( R1 2
Ls Ls 2
) I 2 ( s) V ( s)
Ls LCs Ls LCs
R1 R2 R1 LsR2 Ls
( R1 2
2
) I 2 ( s) V ( s)
Ls LCs Ls LCs
Answer:
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
Notice that we can also use these equations:
Example 3.5
VL ( s ) V ( s ) VL ( s ) VL ( s ) VC ( s )
0
R1 Ls R2
VC ( s) VL ( s)
CsVC ( s) 0
R2
G1=1/R1 and G2=1/R2
VL ( s)
G1 (VL ( s) V ( s)) G2 (VL ( s) VC ( s)) 0
Ls
G1G2
s
VC ( s ) C
V ( s) G1G2 L C G2
(G1 G2 ) s
2
s
LC LC
where G1 = 1/R1 and G2 = 1/R2
where G1 = 1/R1 and G2 = 1/R2
Sum of Sum of
_ Sum of applied
admittances VL(s) admittances VC(s) =
currents at
connected to common to the Node 1
Node 1 two nodes
Sum of Sum of
Sum of Sum of applied
impedances impedances
impedances I1(s) _ I2(s) _ I (s) = voltages around
common to common to 3
around Mesh 1 Mesh 1
Mesh 1 and Mesh 1 and
Mesh 2 Mesh 3
Sum of Sum of
Sum of
impedances Sum of applied
_ common to I1(s) impedances I2(s) _ I (s) = voltages around
+ common to 3
Mesh 1 and around Mesh 2
Mesh 2 and Mesh 2
Mesh 2
Mesh 3
Sum of
Sum of impedances Sum of
Sum of applied
_ common to I1(s) _ common to I2(s) + impedances
I (s) = voltages around
Mesh 1 and Mesh 2 and around Mesh 3 3
Mesh 3
Mesh 3 Mesh 3
Answer :
Solve the equation to obtain the transfer function of any of the currents
versus the supply voltage.
OPERATIONAL AMPLIFIERS MODELING
Basic Op-Amp
Operational amplifier is an active circuit that can be used to
implement transfer functions.
Vo AV1
If two impedance are connected to the inverting op-amp as
shown in below, and if the input impedance is high, Ia(s) = 0
and I1(s) = I2(s).
Since A (gain) is large, V1(t) 0. Thus I1(s) = Vi(s)/Z1(s) and
I2(s) = Vo/Z2(s).
Equating two currents, we get that the transfer function of
inverting op-amp is Vo(s)/Vi(s) = Z2(s)/Z1(s).
I1 (s) I 2 (s)
Vi ( s) V0 ( s)
I1 ( s ) I 2 ( s)
Z1 ( s) Z 2 (s)
Vi ( s) V0 ( s)
Z1 ( s) Z 2 ( s)
V0 ( s) Z 2 ( s)
Vi ( s) Z1 ( s)
Non-Inverting Op-Amp
Z1 ( s)
V1 ( s) V0 ( s)
Z1 ( s) Z 2 ( s)
Vo ( s) Z1 ( s) Z 2 ( s)
V1 ( s) Z1 ( s)
Substituting for V1:
Vo(s)=A(Vi(s) V1(s))
Z1 (s)
V1 Vo (s)
Z1 (s) Z 2 (s)
Vo (s) A
Vi (s) 1 AZ1 (s)/(Z1 (s) Z2 (s))
Find the transfer function, Vo (s)/Vi (s), for the circuit given
below.
Solution:
1 1 360 103
Z1 ( s)
C1s
1 6
5.6 10 s
1 2.016s 1
R1 360 103
7
1 10
Z 2 ( s) R2 220 103
C2 s s
Using: Answer:
V0 ( s)
Z 2 ( s) Vo ( s) s 2 45.95s 22.55
1.232
Vi ( s) Z1 ( s) Vi ( s) s
Example 3.8
Find the transfer function, Vo(s)/Vi(s) for the circuit given in the
figure below.
Figure 2.8
Solution:
1 R2 (1 / C2 s)
Given: Z1 ( s) R1 and Z 2 ( s)
C1s R2 (1 / C2 s)
Answer:
Vo ( s) C 2 C1 R2 R1 s 2 (C 2 R2 C1 R2 C1 R1 ) s 1
Vi ( s) C 2 C1 R2 R1 s 2 (C 2 R2 C1 R1 ) s 1
It has been shown that electrical networks can
be modeled by a transfer function.
The same also can be done for mechanical
systems through Newtons Laws. .
Mechanical systems, like electrical network
have 3 passive, linear components.
Two of them
o spring
energy storage elements
o mass
nother one
o viscous damper - dissipates energy
These mechanical elements are shown in Table 2.4.
In the table, K - spring constant
fv - coefficient of viscous friction
M - mass
There are three categories of mechanical system
translational system
rotational system
Figure 2.10
Another way to find the transfer function is using
Laplace transform method.
First, we take the Laplace transform from force
displacement column in Table 2.4, we obtain:
for the spring, F(s) = KX(s)
for the viscous damper, F(s) = fvsX(s)
for the mass, F(s) = Ms2X(s)
This approach is more simple rather than to write
the differentiate equation.
Example 3.9 (one equation of motion)
Find the transfer function, X(s)/F(s), for the system below using
the differentiate equation. Repeat the question without writing
the differentiate equation first.
Example 3.10 (one equation of motion)
Solution:
Step 1: Draw the free-body diagram shown in figure below
d 2 x(t ) dx(t )
M 2
fv Kx(t ) f (t ) Ms 2 X (s) f v sX (s) KX (s) F (s)
dt dt
Example 3.12 (one equation of motion)
Solution:
X ( s) 1
F ( s) Ms f v s K
2
Example 3.13
Find the transfer function given: K=1, fv=1.
Ex 2.20 (2 degrees of freedom)
Find the transfer function, X2(s)/F(s), for the system of Figure
shown below.
Ex 2.20 (2 degrees of freedom)
Solution:
First, we take the Laplace transform of force displacement.
Sum of Sum of
Impedances Impedances Sum of applied
_ X2(s) =
connected to X1(s) between X1 forces at X1
the motion at and X2
X1
Torque on J1 when:
a. J2 still, J1 rotated
b. J1 still, J2 rotated
c. Final FBD for J1
Torque on J2 when:
a. J1 still, J2 rotated
b. J2 still, J1 rotated
c. Final FBD for J2
k1 (s) ( J 2 s D2 s k ) 2 (s) 0
2
From these figures, we obtain the equations of motion,
K1 (s) ( J 2 s D2 s K ) 2 0
2
(2)
2 ( s) K Where ( J 1 s 2 D1 s K ) K
T ( s) K ( J 2 s 2 D2 s K )
Notice that, the obtained equations can be written in the form:-
Sum of
impedances Sum of
impedances Sum of
connected 1 ( s ) ( s ) applied torques
between 2
to the motion at 1
1 and
at 1 2
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
Example 3.15
Write but do not solve the Laplace transform of the equations of
motion for the system shown in Figure 2.14.
Answer:
73
2
2 + + 2 = 1 ()
1
Change 2 interm of 1
1
2 = 1
2
Simplified :
1 2 2 1 2 1 2
+ + 1 =1 ()
2 2 2
reflect the mechanical impedance from the output to the
input
75
Example 3.16
Find the transfer function, 2(s) / T1(s), for the system of figure
below.
76
Electromechanical system is a combination or
hybrids of electrical and mechanical variables.
Antenna azimuth system and robot arm control
system are examples of electromechanical system
application.
A basic example of electromechanical
component is DC motor that yields a displacement
output for a voltage input or mechanical output
generated by an electrical input.
Below figures show the schematic (a) and the transfer function
block diagram (b) of DC motor where the input is armature
voltage, Ea(s) and the output is mechanical displacement,
m(s).
The transfer function, G(s) of electromechanical system is
determined based on electrical schematic diagram and
mechanical diagram.
The relationship between the armature current, Ia(t), armature
voltage, ea(t), and back emf, vb(t), is found by Kirchoff voltage
law around the armature circuit.
Through several equation relationships, the final transfer
function for the DC motor is obtained as
m ( s) K t /( Ra J m )
G( s)
Ea ( s ) 1 Kt Kb
s s ( Dm )
Jm Ra
Answer: