Mathematical Modeling of Electrical Systems

Nader Sadegh
George .W. Woodruff School of Mechanical Engineering Georgia Institute of technology

Objectives
To describe the behavior of electrical circuits involving resistors, capacitors, and inductors using mathematical equations Use the model for analysis, design and simulations Mathematical modeling of electromechanical systems

ME3015, System Dynamics & Control

Basis Terminology
Voltage: is the electromotive force needed to produce the flow of electrons (analogous to pressure). The unit of voltage is volt (V).
-------++++

Electron flow
ME3015, System Dynamics & Control

Charge: is proportional to the excess of electrons (negative charge) over protons (positive charge) in a matter. The unit of charge is coulomb. 1 coulomb = charge of 6.251018 electrons Current: is the rate of flow of electrical charge (coloumb/sec=amp):

i =

dq q = dt

i dt

Power Sources
There are two types of electrical power sources: Voltage source delivers a specified voltage regardless of the current drawn by the load
ME3015, System Dynamics & Control

Current Source delivers a specified current regardless of the voltage drop across the load

es

load

is

load

Basic Electrical Elements

Element

Symbol
iR
b

Constitutive Relationship
R eR Voltage Drop Current

Resistor
ME3015, System Dynamics & Control

eR = ea eb = Ri R
Voltage Drop Charge eC=q/C, C: Capacitance (F)

Capacitor

C eC

ic

deC 1 1 = iC eC = iC dt dt C C
iL
b

Inductor

L eL

di L 1 1 = eL i L = eL dt dt L L

Voltage Drop d(Current)/dt eL=LdiL/dt, L: Inductance (H)

Kirchoffs Current & Voltage Laws

Current Law:

i in, j =
j =1
ME3015, System Dynamics & Control

i
j =1

out , j

iin

iout

Voltage Law:
a b

eab + ebc + ecg + ega = 0

g c

Mathematical Modeling
There are 3 commonly used methods: Loop Method Node Method Complex Impedances

ME3015, System Dynamics & Control

Loop Method
1. Label each node and assign cyclic current to each loop. 2. Write the K-Voltage law for each loop.Express voltage across each element in terms of the cyclic currents assigned in step. 3. Assemble the equations into a set of differential/integral equations with an equal number equations and unknown variables. 4. If desired eliminate all the integrals using the relationship q=i dt to obtain a system of differential equations.

ME3015, System Dynamics & Control

Node Method
1. Label each node. 2. Apply the K-current law at each node.
ME3015, System Dynamics & Control

3. Express all currents in terms of nodal or elemental voltages. 4. Assemble the equations into a set of ordinary differential equations with an equal number equations and unknown variables. Eliminate integrals using iL=vLdt for all the inductors.

Loop Method Example

Example A-4-5 (Figure 4-35) Loop equations: R1i1+(1/C)(i1-i2)dt=es
ME3015, System Dynamics & Control

R1 C es i1 i2

R2

Ldi2/dt+R2i2+(1/C)(i2-i1)dt=0

How to get rid of integrals? Try using charges q1= i1dt and q2= i2dt instead of i1 and i2: R1dq1/dt+(1/C)(q1-q2)=es Ld2q2/dt2+R2dq2/dt +(1/C)(q2-q1)= 0

Method of Complex Impedances

Transforms the circuit directly into the Laplace domain by using each elements impedances Results in input-output transfer function
ME3015, System Dynamics & Control

The method is described in the text pages 153156, and will be Illustrated in class

Mixed Systems
Most systems in mechatronics are of the mixed type, e.g., electromechanical, hydromechanical, etc Each subsystem within a mixed system can be modeled as single discipline system first
ME3015, System Dynamics & Control

Power transformation among various subsystems are used to integrate them into the entire system

Overall mathematical model may be assembled into a system of equations, or a transfer function

D.C. Motor IllustratiD.C. Motor

ME3015, System Dynamics & Control

D.C. Motor Model

D.C. Motor converts electrical power to mechanical power. It can be used as a velocity or position actuator.
Motor torque is a function of armature current Motor angular velocity is proportional to its (back-emf) voltage.
ME3015, System Dynamics & Control

Schematic:
i e D.C. T

T = Kt i e = Kb

Kt: Torque Constant Kb: Velocity Constant

Ideal Motor: Kt=KbInput Power=ei=Output Power=T

Electro-Mechanical Example
Input: voltage u Output: Angular velocity
Ra u ia La dc B J

Elecrical Subsystem (loop method):

ME3015, System Dynamics & Control

u = R a i a + La

di a + e b , e b = back - emf voltage dt

& Tmotor = J + B

Mechanical Subsystem

Electro-Mechanical Example
Power Transformation: Torque-Current: Tmotor = Kt i a Voltage-Speed:
ME3015, System Dynamics & Control

Ra u ia

La B dc

e b = K b

where Kt: torque constant, Kb: velocity constant For an ideal motor Kt = K b Combing previous equations results in the following mathematical model:
di a + Ra i a + K b = u La dt J + B - K t i a = 0 &

Transfer Function of Electromechanical Example

Taking Laplace transform of the systems differential equations with zero initial conditions gives:
(La s + R a )I a ( s ) + K b ( s ) = U ( s ) (Js + B ) (s) - K t I a ( s ) = 0
Ra u ia La B Kt

ME3015, System Dynamics & Control

Eliminating Ia yields the input-output transfer function

Kt (s) = 2 U(s) La Js + (JRa + BLa ) + BRa + Kt K b

Reduced Order Model

Assuming small inductance, La 0

(Kt Ra ) (s) = U(s) Js + (B + Kt K b Ra )

which is equivalent to
ME3015, System Dynamics & Control

Kt K b Ra Kt u Ra

The D.C. motor provides an input torque and an additional damping effect known as back-emf damping

Electro-Mechanical Example
Transfer Function, La=0:
Ra u ia La B Kt

(Kt Ra ) (s) k = = U(s) Js + (B + Kt K b Ra ) Ts + 1

ME3015, System Dynamics & Control

u t

12

ku
Amplitude

10 8 6 4 2 0

k=10, T=0.1

T
0 0.1 0.2 0.3 Time (secs) 0.4 0.5

Mixed Systems
Most systems in mechatronics are of the mixed type, e.g., electromechanical, hydromechanical, etc Each subsystem within a mixed system can be modeled as single discipline system first
ME3015, System Dynamics & Control

Power transformation among various subsystems are used to integrate them into the entire system

Overall mathematical model may be assembled into a system of equations, or a transfer function