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7/31/2012

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Let us consider first the problems mooted in the last lecture


Problem1:

Information Organization through Block Diagram


Dr. Bishakh Bhattacharya Professor, Department of Mechanical Engineering IIT Kanpur

Fromthecruisecontrol perspective: wecanhavea simplified modelforthe automobile system. Assuming M tobethemassof thecarandu tobethevelocity, thegoverning EOMcould be writtenas:

M u D u F (t )
Where,D istheDrag/Resistance Coefficient andF(t) isthecruising force.
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Problem2:

System Transfer Functions


Thelasttwoexamples relatetothedescription ofthesystemsinTimeDomain. ByLaplace transformation onecanconverttheequations intofrequency domain. Assuming zeroinitial condition, thefirstmathematical modelcould beexpressedas:

sMU ( s ) BU ( s ) F ( s ) U ( s)

F ( s)
Again,asimplified modelcould bedeveloped byneglecting thedisturbance, theEOMwillbe(C shaftdamping coefficient andkshaftstiffness)

1 sM B
1 s2I2 s C k

Similarly, thesecond mathematical modelcould beexpressed as:

2 ( s)

Mc

I 2 2 C ( 2 1 ) k ( 2 1 ) M c (t ) I1 1 C ( 1 2 ) k (1 2 ) 0
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TheRHSofboththeequations areknownasTransferFunction thatdescribes the relationship between outputandinput.Example 1,pertains toafirstordertransfer function, while Example 2presents asecond ordertransferfunction. Suchrelationship couldbegraphicallyrepresented forbetterperception andthistechnique willbe 4 discussed inthislecture.
JointInitiativeofIITsandIISc FundedbyMHRD

7/31/2012

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

TheLectureContains
Information Organization

InformationOrganization
Graphical Information Organisation isanoldpractice.Thepicture belowshowsthegraphical organization ofTroopForce.

Information Hiding Blockdiagram ofaclosedloopsystem Blockdiagram algebra I Blockdiagram algebra II Advanced blockdiagrams Assignment

JointInitiativeofIITsandIISc FundedbyMHRD

JointInitiativeofIITsandIISc FundedbyMHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

InformationHiding
Oneoftheimportant partofsuch graphical representation isrepresenting the actualsystembyasuitable mathematical transferfunction thushiding thephysical system:

InformationHiding
TheCauseandEffectrelationship between theinput andoutputsofasystemcould berepresented graphically using BlockDiagrams

FigureRef.Prof.YuHo,Harvard
JointInitiativeofIITsandIISc FundedbyMHRD JointInitiativeofIITsandIISc FundedbyMHRD

7/31/2012

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

SubsystemsofaBlockDiagram
Therearefourcommon subsystemsinablockdiagram: Functionblocks

BlockdiagramofaClosedLoopSystem

Summing Junctions

C/R=G/(1+GH)=(1/H)[1/(1+1/GH)]
Only one input and one output from a block Signals may be summed at explicit summing junction A single signal fed to multiple blocks does not imply the physical splitting of the signal

Comparators Sampling anAnalogSignal


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JointInitiativeofIITsandIISc FundedbyMHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Block Diagram Algebra - I

Block Diagram Algebra - II

JointInitiativeofIITsandIISc FundedbyMHRD

JointInitiativeofIITsandIISc FundedbyMHRD

7/31/2012

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

AdvancedBlockDiagrams:Simulink/MATLAB

SpecialReferencesforthislecture
UsingBlockDiagramsinControlSystemsDesign Tim Wescott,WescottDesignServices ModernControlEngineering K.Ogata,PrenticeHall FeedbackControlofDynamicSystems Franklin,Powelland Naeini,PearsonEducationAsia

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Assignment
FindouttheBlockDiagramRepresentationofasingledegreeof freedomSDOF mechanicalsystemgivenbythefollowingEquationofMotion:

M x C x K x R(t )
Here,M,C andK arethemass,damping andstiffness parameters respectively and R(t)istheforceapplied tothesystem.

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