Chapter 2: Mathematical Models of Systems

Objectives
We use quantitative mathematical models of physical systems to design and
analyze control systems. The dynamic behavior is generally described by
ordinary differential equations. We will consider a wide range of systems,
including mechanical, hydraulic, and electrical. Since most physical systems are
nonlinear, we will discuss linearization approximations, which allow us to use
Laplace transform methods.
We will then proceed to obtain the inputoutput relationship for components and
subsystems in the form of transfer functions. The transfer function blocks can be
organized into block diagrams or signal-flow graphs to graphically depict the
interconnections. Block diagrams (and signal-flow graphs) are very convenient
and natural tools for designing and analyzing complicated control systems

Illustrations

Introduction
Six Step Approach to Dynamic System Problems
Define the system and its components
Formulate the mathematical model and list the necessary
assumptions
Write the differential equations describing the model
Solve the equations for the desired output variables
Examine the solutions and the assumptions
If necessary, reanalyze or redesign the system

Illustrations

Modeling in the Frequency Domain

input
r(t)

SYSTEM

output
c(t)

input
r(t)

SUBSYSTEM

SUBSYSTEM

SUBSYSTEM

output
c(t)

where the input, output, and system are distinct and separate parts
The input, r(t), stands for reference input.
The output, c(t), stands for controlled variable.

Illustrations

Laplace Review

Illustrations

Modeling in the Frequency Domain

Illustrations

Differential Equation of Physical Systems

Ta( t) Ts( t)

Ta( t)
( t )

Ta( t)

Ts ( t )
s( t) a( t)

= through - variable

angular rate difference = across-variable

Illustrations

Differential Equation of Physical Systems

Electrical Inductance

Energy or Power

Describing Equation

v 21

d
L i
dt

v21

1 d
F
k dt

1
2

L i

Translational Spring

1 F

2 k

Rotational Spring

21

1 d
T
k dt

P21

d
I Q
dt

1 T

2 k

Fluid Inertia

Illustrations

1
2

I Q

Differential Equation of Physical Systems

Electrical Capacitance

d
C v21
dt

d
M v 2
dt

d
J 2
dt

d
Cf P21
dt

d
Ct T2
dt

1
2

M v21

Translational Mass

1
2

M v 2

Rotational Mass

1
2

J 2

Fluid Capacitance

1
2

Thermal Capacitance

Illustrations

Cf P21

Ct T2

Differential Equation of Physical Systems

Electrical Resistance

v 21

b v 21

b v 21

b 21

b 21

v 21

Translational Damper
2

Rotational Damper
2

Fluid Resistance

P21

T21

Rf

1
Rf

P21

Thermal Resistance

Illustrations

1
Rt

1
Rt

T21

Differential Equation of Physical Systems

1
d
C v( t) v( t) dt
R
L 0
dt

v( t)

y( t)

Illustrations

K 1 e

1 t

r( t)

sin 1 t 1

The Laplace Transform

Historical Perspective - Heavisides Operators
Origin of Operational Calculus (1887)

Illustrations

Historical Perspective - Heavisides Operators

Origin of Operational Calculus (1887)

1
R L p

1
p

H( t)

H( t )

v = H(t)

Z( p )

Z( p )

1 du

d
dt

Expanded in a power series

R L p

1
R
L p 1

L p

H( t )

2
3
R 1

R 1
R 1

..... H( t )
R L p L
2 L
3

p
p

3 3
R 2 t2

1 R
R t

t ..
R L
L 2 L 3

(*) Oliver Heaviside: Sage in Solitude, Paul J. Nahin, IEEE Press 1987 .
Illustrations

t
1
L
1 e

The Laplace Transform

Practical Example - Consider the circuit.
The KVL equation is
d
4 i( t ) 2 i( t )
dt

assume i(0+) = 5 A

Applying the Laplace Transform, we have

4 i( t) 2 d i( t) e

dt

( s t )

dt

I( s )

5
s2

i( t ) e

4 I( s ) 2 ( s I( s ) i( 0) )

4 I( s ) 2 s I( s ) 10

( s t )

dt 2

( s t )
d
i( t ) e
dt
dt

transforming back to the time domain, with our present knowledge of

Laplace transform, we may say that
t ( 0 0.01 2)
6

i( t) 5 e

( 2 t )
4
i( t )
2
0

Illustrations

1
t

The Transfer Function of Linear Systems

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The Transfer Function of Linear Systems

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The Transfer Function of Linear Systems

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The Transfer Function of Linear Systems

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The Transfer Function of Linear Systems

V 2( s )

V 1( s )

RCs

V 2( s )
V 1( s )

Illustrations

RCs

The Transfer Function of Linear Systems

Illustrations

V 2( s )

R 2 R 1 C s 1

V 1( s )

R1

V 2( s )

R 1 C 1 s 1 R 2 C 2 s 1

V 1( s )

R 1 C 2 s

The Transfer Function of Linear Systems

(s )
V f(s )

(s )
V a( s )

Illustrations

Km

s ( J s b) L f s R f

Km

s R a L a s ( J s b) K b K m

The Transfer Function of Linear Systems

(s )

Km

s s 1

Vc( s )

J
( b m)

m = slope of linearized
torque-speed curve
(normally negative)

K
R R
c q

Vo( s )

s c 1 s q 1

Vc( s )
c

Lc
Rc

Lq
Rq

For the unloaded case:

id 0
c q
0.05s c 0.5s
V12

Illustrations

Vq

V34

Vd

The Transfer Function of Linear Systems

Y( s )

X( s )
s ( Ms B)
A kx
K
B
kp
kx
g

dx
g ( x P)

kp
flow

A = area of piston

Gear Ratio = n = N1/N2

N2 L

Illustrations

N1 m

n m

n m

A
b

k
p

d
dP

The Transfer Function of Linear Systems

V2( s )

R2

R2

V1( s )

R1 R2

R2

max

ks 1( s ) 2( s )

V2( s )

ks error( s )

ks

Illustrations

V2( s )

Vbat tery
max

The Transfer Function of Linear Systems

V2( s )
Kt

Kt ( s )

Kt s ( s )

constant

V2( s )

ka

V1( s )

s 1

Ro = output resistance
Co = output capacitance

Ro Co

1s

and is often negligible

for controller amplifier

Illustrations

The Transfer Function of Linear Systems

y ( t ) xin( t )

xo( t )

Xo( s )
Xin( s )

b s k

M
M

For low frequency oscillations, where

Xo j

Xin j

k
M

T( s )
q( s )

1
Ct s Q S

T
Ct
Q
S
Rt
q( s )

Illustrations

R
1

To Te = temperature difference due to thermal process

= thermal capacitance
= fluid flow rate = constant
= specific heat of water
= thermal resistance of insulation
= rate of heat flow of heating element

The Transfer Function of Linear Systems

converts radial motion to linear motion

Illustrations

Block Diagram Models

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Block Diagram Models

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Block Diagram Models

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Original Diagram

Equivalent Diagram

Original Diagram

Equivalent Diagram

Block Diagram Models

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Original Diagram

Equivalent Diagram

Original Diagram

Equivalent Diagram

Block Diagram Models

Illustrations

Original Diagram

Equivalent Diagram

Original Diagram

Equivalent Diagram

Block Diagram Models

Illustrations

Block Diagram Models

Example 2.7

Illustrations

Block Diagram Models

Illustrations

Example 2.7

Signal-Flow Graph Models

For complex systems, the block diagram method can become

difficult to complete. By using the signal-flow graph model, the
reduction procedure (used in the block diagram method) is not
necessary to determine the relationship between system variables.

Illustrations

Signal-Flow Graph Models

Illustrations

Y1( s )

G11( s ) R1( s ) G12( s ) R2( s )

Y2( s )

G21( s ) R1( s ) G22( s ) R2( s )

Signal-Flow Graph Models

Illustrations

a11 x1 a12 x2 r1

x1

a21 x1 a22 x2 r2

x2

Signal-Flow Graph Models

Example 2.8

Illustrations

Y( s )

G 1 G 2 G 3 G 4 1 L 3 L 4 G 5 G 6 G 7 G 8 1 L 1 L 2

R( s )

1 L 1 L 2 L 3 L 4 L 1 L 3 L 1 L 4 L 2 L 3 L 2 L 4

Signal-Flow Graph Models

Example 2.10

Illustrations

Y( s )

G 1 G 2 G 3 G 4

R( s )

1 G 2 G 3 H 2 G 3 G 4 H 1 G 1 G 2 G 3 G 4 H 3

Signal-Flow Graph Models

P1

Illustrations

Y( s )

P1 P2 2 P3

R( s )

G1 G2 G3 G4 G5 G6

P2

G1 G2 G7 G6

P3

G1 G2 G3 G4 G8

1 L1 L2 L3 L4 L5 L6 L7 L8 L5 L7 L5 L4 L3 L4
3

1 L5

1 G4 H4

Design Examples

Illustrations

Design Examples

Speed control of an electric traction motor.

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Design Examples

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Design Examples

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Design Examples

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Design Examples

Illustrations

The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

error

Sys1 = sysh2 / sysg4

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

error

Num4=[0.1];

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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Sequential Design Example: Disk Drive Read System

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Sequential Design Example: Disk Drive Read System

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Sequential Design Example: Disk Drive Read System

=
Illustrations

P2.11

Illustrations

P2.11

L d L a s R d R a

L c s R c

+Vd

Vq

Id

K2

K1

1
L q s R q

Illustrations

J s b

Vc

Ic

Tm
Km

-Vb

K3

Illustrations

http://www.jhu.edu/%7Esignals/sensitivity/index.htm

Illustrations

http://www.jhu.edu/%7Esignals/

Illustrations