Lecture Notes of Control Systems I - ME 431/Analysis and Synthesis of Linear Control System - ME862

Department of Mechanical Engineering, University Of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada

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Note 3

Modeling Physical Systems












Lecture Notes of Control Systems I - ME 431/Analysis and Synthesis of Linear Control System - ME862


Department of Mechanical Engineering, University Of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada

2
1. Mechanical Systems


The basic components of mechanical systems are summarized in the following tables.

Three Basic Components of Translational Mechanical Systems



Three Basic Components of Rotational Mechanical Systems


Lecture Notes of Control Systems I - ME 431/Analysis and Synthesis of Linear Control System - ME862


Department of Mechanical Engineering, University Of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada

3
Spring: A spring is one of the energy-storage elements. The force f (torque T) is
proportional to the displacement x (angular displacement ). In the previous tables, K is
called spring constant.

Viscous damper: A viscous damper dissipates energy and generates a damping force f
(torque T) proportional to the velocity x& (angular velocity
&
). In the previous tables, f
v
or
D is called coefficient of viscous friction.

Mass or Inertia: Both mass and inertia are the energy-storage elements. Mass is a
measure of the resistance of a body to acceleration ( x M f & & = ); and inertia is a measure of
the bodys resistance to angular acceleration (
& &
J T = ).



Newtons Law for translational motion: The sum of all the external forces acting on a
body is equal to the bodys mass times the acceleration of its mass center, i.e.,

x M F & & =


Newtons Law for rotational motion: The sum of all external moments about the mass
center of a body is equal to the body inertia (about the mass center) times the angular
acceleration, i.e.,


& &
J T =

The above two equations can be rewritten in the forms of 0 = x M F & & and 0 =
& &
J T ,
respectively. The terms of x M & & and
& &
J can also be treated in the same way as external
forces, and such a method resulted is often referred to as the DAlembert principle.

In the application of the Newtons Law or DAlembert principle to obtain a mathematical
model or the equations of motion, one of the important steps is to draw the free-body
diagram of a body, which is simply a sketch to show the body free from its
surrounding with all the forces and moments that act on it.











Lecture Notes of Control Systems I - ME 431/Analysis and Synthesis of Linear Control System - ME862


Department of Mechanical Engineering, University Of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada

4
Example 1

Find the transfer function, ) ( / ) ( s F s X , for the system of the following figure (a).















Example 2

Find the transfer function, ) ( / ) ( s T s , for the system of the following figure.













Lecture Notes of Control Systems I - ME 431/Analysis and Synthesis of Linear Control System - ME862


Department of Mechanical Engineering, University Of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada

5
2. Electric Networks

Equivalent circuits for the electric networks usually consist of three basic components:
resistors, capacitors, and inductors. The following table summarizes the components and
the relationships between voltage and current and between voltage and charge under zero
initial conditions.


Kirchhoffs Current Law: At any node, the sum of the currents that enter the node is
equal to the sum of the currents that leave from the node.

Kirchhoffs Voltage Law: The sum of all voltage drops around a closed loop is zero.


Example 3

Find the transfer function relating the capacitor voltage, ) (s V
c
, to the input voltage,
) (s V , in the following figure.







i(t)
v
c
(t) v(t)
Lecture Notes of Control Systems I - ME 431/Analysis and Synthesis of Linear Control System - ME862


Department of Mechanical Engineering, University Of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada

6
3. Electromechanical Systems

3.1 Dynamics of DC motor-driven systems. Electromechanical systems are hybrids of
electrical and mechanical systems, which have been widely used in engineering such as
the applications in vehicles, robots, aircrafts, and so on. A motor is an essential
component in the electromechanical systems and used to generate a mechanical output by
applying an electrical input. Consider a DC motor, the working principle is shown
schematically in the following figure (a), and its representation is illustrated in figure (b).





In the above figure (a), a magnetic field is developed by stationary permanent magnets or
a stationary electromagnet. A rotating circuit called the armature, through which current
i
a
(t) flows, passes through this magnetic field at right angles and feels a force. The
resulting torque turns the rotor, the rotating member of the motor. The toque developed
by the motor, T(t), is promotional to the armature current, i.e.,

) ( ) ( t i K t T
a t
=

where K
t
is called the motor torque constant, which depends on the motor and magnetic
field characteristics.

There is another phenomenon that occurs in the motor: a conductor moving at right
angles to a magnetic field generates a voltage at the terminals of the conductor, called the
S
N
Magnets
, T
i
a
(t)
F
F
Armature
(a) How it works

, T
v
b
i
a
(b) Representation
Lecture Notes of Control Systems I - ME 431/Analysis and Synthesis of Linear Control System - ME862


Department of Mechanical Engineering, University Of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada

7
back electromotive force (back emf). Since the current-carrying armature is rotating in a
magnetic field, the back emf, v
b
(t), is proportional to speed, i.e.,

) ( ) ( t K t v
b b

&
=

where K
b
is called the back emf constant.


Example 4

(a) Develop the expression of the transfer function relating the rotation of the motor,
) (s , to the input voltage, ) (s E
a
, in the following electromechanical system.



Figure: Armature-Controlled DC Motor





























J
D
, T
) (t v
b

Lecture Notes of Control Systems I - ME 431/Analysis and Synthesis of Linear Control System - ME862


Department of Mechanical Engineering, University Of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada

8
3.2 Motor-driven systems with Gears. Motor-driven systems are rarely seen without
associated gear trains driving the load. The following figure shows gears driving a
rotational inertial, spring, and viscous damper, in which N
1
and N
2
are the numbers of
teeth of the input gear and output gear, respectively.


(a) Rotational system driven by gears; (b) equivalent system at the output after reflection
of input torque; (3) equivalent system at the input after reflection of impedances.

The load can be reflected from the output to the input;

) ( ) (
1
2
2
1
2
2
1 2
2
2
1
s T s
N
N
K s
N
N
D s
N
N
J =

3.3 Torque-speed curve of DC motors. If a DC voltage, e
a
, is applied, the motor will
turn at a constant angular velocity at steady-state,
m
, with a torque, T
m
. The relationship
between
m
and T
m
is characterized by


a
a
t
m
a
t b
m
e
R
K
R
K K
T + =

The above equation is a straight line,
m
vs. T
m
, and is shown in the following figure.
This plot is called the torque-speed curve. The toques axis intercept occurs when the
angular velocity reaches zero. That value of torque is called the stall torque, T
stall
. Thus,


a
a
t
e
R
K
T =
stall


Lecture Notes of Control Systems I - ME 431/Analysis and Synthesis of Linear Control System - ME862


Department of Mechanical Engineering, University Of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada

9
The angular velocity occurring when the torque is zero is called the no-load speed,
no-load
.
Thus,

b
a
K
e
=
load no



Torque-speed curves with an armature voltage, e
a
, as a parameter.



Example 5

Find the transfer function ) ( / ) ( ) ( s E s s G
a L
= , for the motor and load shown in the
following figure. The torque-speed curve is given by 200 8 + =
m m
T if the input voltage
is 100 V.