Model System Pengaturan

Komponen Sistem
Kontrol
 System atau proses (harus
dikendalikan)
 Actuator (mengubah sinyal kontrol untuk
sinyal daya)
 Sensors (menyediakan pengukuran
keluaran sistem)
 Input Referensi (menggambarkan output
yang diinginkan)
 Kesalahan deteksi (membentuk
kesalahan kontrol)
 Kontroller (beroperasi pada kesalahan
kontrol untuk membentuk sinyal kontrol,
Kadang-kadang disebut kompensator)
 Karakteristik Sistem
Umpan balik
 Perhatikan sistem kontrol kecepatan
berikut
gangguan
Momen puntir
system loop terbuka Td
+
r + u Amp Motor Tm + Beban o

referensi
Ka Km Kl
_
kecepatan

Sensor kecepatan
Ks
Lajur umpan balik
 Karakteristik System Loop
terbuka Gangguan
momen puntir
system loop terbuka Td
+
u Amp Motor Tm + Beban o
Ka Km Kl

 o  K l ( Tm  Td )
 K a K m K l u  K l Td
Keakuratan dari sistem loop terbuka tergantung pada
kalibrasi gain dan pengetahuan gangguan
sebelumnya (pilih kontrol u untuk memberikan
diinginkan o).
Masalah:
 nonlinear atau berbagai gain waktu
 Berbagai gangguan yang tidak diketahui
 Karakteristik Loop
Tertutup
Perhatikan kes dengan umpan balik Gangguan
momen puntir
system loop terbuka Td
+
r u Tm Beban o
+ Amp Motor +

_
Ka Km Kl
Kecepatan rujukan

Sensor kecepatan
Ks
Feedback Path

 o  K l (Tm  Td )
 K a K m K l ( r  K s o )  K l Td
or
Ka Km Kl Kl
 o r  Td
1  Ka Km Kl Ks 1  Ka Km Kl K s
 Karakteristik Loop
tertutup
jika Ka sangat besar sehingga seperti ,
1  K aK mK lK s  K aK mK lK s

kemudian, 1 1
 o r Td
Ks KaKmKs

rad/s volts 0
Ks adalah gain sensor dalam satuan volts per
rad/s.
Hubungan input/output tidak terlalu sensitive
terhadap gangguan atau perubahan dalam
gain sistem
Karakteristik Loop tertutup
Sistem salah
Kesalahan kontrol adalah
e  ( r  K s o )
 Ka Km Kl Ks  Kl K s
  1   r  Td
 1  Ka Km Kl K s  1  Ka Km Kl Ks
1 Kl K s
 r  Td
1  Ka Km Kl K s 1  Ka Km Kl K s

lagi, jika gain loop, Ka Km Kl Ks besar,

kemudian kesalahannya kecil.
 Catatan: Definisi Gain

Gain depan: Ka Km Kl
Gain umpan balik: Ks
Gain loop: Ka Km Kl Ks
Gain loop tertutup : gain depan
1 + gain loop
 Chapter 2 mathematical models of systems
2.1 Introduction
2.1.1 Why ？
1) Easy to discuss the full possible types of the control systems—in terms of
the system’s “mathematical characteristics”.
2) The basis — analyzing or designing the control systems.
For example, we design a temperature Control system :
Disturbance
e(t)=
Input r(t) + r(t)- uk uac Output T(t)
b(t) Controller Actuator Process
actual
-)
desired output ( － Control Actuating
output
temperature signal signal
temperature
Feedback signal
b(t) temperature

measureme
Fig. 2.1
nt
The key — designing the controller → how produce uk.
 Chapter 2 mathematical models of systems
Different characteristic of the process — different uk:
T(t) Ⅰ Ⅰ  uk 11
T
Ⅱ For T1 
T
2 1
Ⅱ  uk 12
uk
uk11 uk12
 Ⅰ  u k 21
For T1 
uk21
Ⅱ  u k 22  
2.1.2 What is ？
Mathematical models of the control systems—— the mathematical
relationships between the system’s variables.
2.1.3 How get ？
1) theoretical approaches 2) experimental approaches
3) discrimination learning
 Chapter 2 mathematical models of systems
2.1.4 types
1) Differential equations
2) Transfer function
3) Block diagram 、 signal flow graph
4) State variables(modern control theory)
2.2 Input-output description of the physical systems — differential
equations
The input-output description—description of the mathematical
relationship between the output variable and the input variable of the
physical systems.
2.2.1 Examples
 Chapter 2 mathematical models of systems
Example 2.1 : A passive circuit

define: input → ur output → uc 。

R L
we have ：
i di du
ur C uc Ri  L  uc  ur i  C c
dt dt

d 2uc duc
LC 2  RC  uc  ur
dt dt

L d 2uc duc
make : RC  T 1  T 2  T1T2 2  T1  uc  ur
R dt dt
Chapter 2 mathematical models of systems
Example 2.2 : A mechanism
Define: input → F ， output → y. We have:
dy d2y
F  ky  f m 2
F k dt d t

d2y dy
m m 2  f  ky  F
dt dt
y
f m
f If we make :  T1,  T2
k f
d2y dy 1
we have : T1T2 2
 T1 y F
dt dt k
Compare with example 2.1: uc→y; ur→F ─ analogous systems
 Chapter 2 mathematical models of systems
Example 2.3 : An operational amplifier (Op-amp) circuit
R2 R3 Input →ur output →uc
C 1
i2
R4
i3 uc  R3i3 
C  (i3  i2 )dt  R4 (i3  i2 )......(1)

u
ur R1 i 1 i2  i1   r ...........................................( 2)
uc R1
-
+ 1
i3  (uc  R2i2 ).....................................( 3)
R1 R3
duc R2  R3  R2 R3 dur 
(2)→(3); (2)→(1); (3)→(1) R4C  uc   R (  R4 )C  ur 
dt R  R dt
： 1
 2 3 
R2  R3 R2  R3
make : R4C  T ;  k; (  R4 )C  
R1 R2  R3
duc dur
we have : T  uc   k (  ur )
dt dt
 Chapter 2 mathematical models of systems
Example 2.4 : A DC motor
Ra La
(J 1, f 1)

ia w1
(J 2, f 2)
ua M w2 (J 3, f 3) Mf
w3
i1
Input → ua ， output → ω1 i2
dia (4)→(2)→(1) and (3)→(1):
La  Raia  Ea  ua ....(1)
dt
M  Cmia .........................(2) La J  La f Ra J  R f
1  (  ) 1  ( a  1)1
CeCm CeCm CeCm CeCm
Ea  Ce1.........................(3)

d1 1 L R
M M J  f 1.....(4)  ua  a M  a M
dt Ce CeCm CeCm
 Chapter 2 mathematical models of systems
J J
J  J1  22  2 32 ......equivalent moment of inertia
i1 i1 i2
f f
here : f  f1  22  2 32 ......equivalent friction coefficie nt
i1 i1 i2
Mf
M .......... .......... ......equivalent torque
i1i2
( can be derived from : 1  i1 2  i1i23 )
L
Make: Te  a ............electric - magnetic time - constant
Ra
Ra J
Tm  .......mechanical - electric time - constant
CeCm
Ra f
Tf  ....... friction - electric time - constant
CeCm
 Chapter 2 mathematical models of systems
The differential equation description of the DC motor is:
 
TeTm 1  (TeT f  Tm ) 1  (T f  1)1

1 1
 ua  (TeTm M  Tm M )
Ce J

Assume the motor idle: Mf = 0, and neglect the friction: f = 0,

we have:
d 2 d 1
TeTm 2
 Tm   ua
dt dt Ce
 Chapter 2 mathematical models of systems
Example 2.5 : A DC-Motor control system
R2
R3
+ DC
ur R1 R3 mot or
- - ua M
uk w l oad
R1
tri gger
Uf recti fi er -
M
techometer
+
Input → ur ， Output → ω; neglect the friction:
R2
uk  (ur  u f )  k1(ur  u f )........................................(1)
R1
u f   .....................(2) ua  k2uk ......................(3)

d 2 d 1 1
TeTm 2
 Tm   ua  (TeTm M  Tm M )......(4)
dt dt Ce J
 Chapter 2 mathematical models of systems
（ 2 ）→（ 1 ）→（ 3 ）→（ 4 ）， we have ：

d 2 d 1 1 Tm
TeTm 2  Tm  (1  k1k2 C )  k1k2 ur  (Te M  M )
dt dt e Ce J
2.2.2 steps to obtain the input-output description (differential
equation) of control systems
1) Determine the output and input variables of the control
systems.
2) Write the differential equations of each system’s components in
terms of the physical laws of the components.
* necessary assumption and neglect.
* proper approximation.
 Chapter 2 mathematical models of systems
3) dispel the intermediate(across) variables to get the input-output
description which only contains the output and input variables.
4) Formalize the input-output equation to be the “standard” form:
Input variable —— on the right of the input-output equation .
Output variable —— on the left of the input-output equation.
Writing polynomial—— according to the falling-power order.
2.2.3 General form of the input-output equation of the linear
control systems—A nth-order differential equation:
Suppose: input → r ， output → y
y ( n )  a1 y ( n 1)  a2 y ( n  2)      an 1 y (1)  an y
 b0r ( m )  b1r ( m 1)  b2 r ( m  2)      bm 1r (1)  bm r.........n  m
 Chapter 2 mathematical models of systems
2.3 Linearization of the nonlinear components
2.3.1 what is nonlinearity ？
The output is not linearly vary with the linear variation of the
system’s (or component’s) input → nonlinear systems (or
components).
2.3.2 How do the linearization ？
Suppose: y = f(r)
The Taylor series expansion about the operating point r0 is:
(1) f ( 2) ( r0 ) 2 f ( 3) ( r0 )
f ( r )  f ( r0 )  f ( r0 )( r  r0 )  ( r  r0 )  ( r  r0 )3    
2! 3!
 f ( r0 )  f (1) ( r0 )( r  r0 )
make : y  f ( r )  f ( r0 ) and : r  r  r0

wehave : y  f ' ( r0 ) r ............linearization equation

 Chapter 2 mathematical models of systems
Examples:
Example 2.6 : Elasticity equation F ( x )  kx
suppose : k  12.65;   1.1; operating point x0  0.25
F ' ( x )  kx 1  F ' ( x0 )  12.65  1.1  0.250.1  12.11
we have : F ( x )  F ( x0 )  12.11( x  x0 )
that is : ΔF  12.11x..............linearization equation

Example 2.7 : Fluxograph equation

Q( p)  k p
Q —— Flux; p —— pressure difference
 Chapter 2 mathematical models of systems
k
because : Q ' ( p ) 
2 p
k
thus : Q  p.......... .linearization equation
2 p0

2.4 Transfer function

Another form of the input-output(external) description of control
systems, different from the differential equations.
2.4.1 definition
Transfer function: The ratio of the Laplace transform of the
output variable to the Laplace transform of the input variable,with
all initial condition assumed to be zero and for the linear systems,
that is:
 Chapter 2 mathematical models of systems
C ( s)
G( s) 
R( s )
C(s) —— Laplace transform of the output variable
R(s) —— Laplace transform of the input variable
G(s) —— transfer function
Notes:
* Only for the linear and stationary(constant parameter) systems.
* Zero initial conditions.
* Dependent on the configuration and the coefficients of the
systems, independent on the input and output variables.
2.4.2 How to obtain the transfer function of a system
1) If the impulse response g(t) is known
 Chapter 2 mathematical models of systems
We have: G ( s )  L g (t )
Because:
C ( s)
G( s)  , if r (t )   (t )  R( s )  1
R( s)
Then: G ( s )  C ( s )  L g (t )
 2t 5 3 2( s  5)
Example 2.8 : g (t )  5  3e  G( s)   
s s  2 s ( s  2)
2) If the output response c(t) and the input r(t) are known
We have:
L c(t )
G( s) 
L r (t )
 Chapter 2 mathematical models of systems
1
Example 2.9: r (t )  1(t )  R(s)  ........Unit step function
s
1 1 3
c(t )  1  e 3t  C ( s )   
s s  3 s( s  3)
.........Unit step response
Then: C ( s ) 3 s( s  3) 3
G( s)   
R( s ) 1s s3

3) If the input-output differential equation is known

•Assume: zero initial conditions;
•Make: Laplace transform of the differential equation;
•Deduce: G(s)=C(s)/R(s).
 Chapter 2 mathematical models of systems
Example 2.10:   
2 c(t )  3 c (t )  4c (t )  5 r (t )  6r (t )

2 s 2C ( s )  3sC ( s )  4C ( s )  5sR( s )  6 R( s )

C(s) 5s  6
G(s)   2
R(s) 2 s  3s  4
4) For a circuit
* Transform a circuit into a operator circuit.
* Deduce the C(s)/R(s) in terms of the circuits theory.
 Chapter 2 mathematical models of systems
Example 2.11: For a electric circuit:
R1 R2 R1 R2

ur C1 C2 uc ur(s) 1/ C1s 1/ C2s uc(s)

1 1 1
// ( R2  )
sC1 sC2 sC2
U c ( s)   U r ( s) 
1 1 1
R1  // ( R2  ) R2 
sC1 sC2 sC2
1
 2
U r ( s)
T1T2 s  (T1  T2  T12 ) s  1
U ( s) 1
G( s)  c 
U r ( s ) T1T2 s 2  (T1  T2  T12 ) s  1
here : T1  R1C1; T2  R2C2; T12  R1C2
 Chapter 2 mathematical models of systems
Example 2.12: For a op-amp circuit
R2 C R2 1/ Cs

ur R1 ur R1
- uc - uc
+ +
R1 R1

1
R2 
G( s) 
U c ( s)
 sC   R2Cs  1
U r ( s) R1 R1Cs
1
  k (1  )..................PI-Controller
s
R
here : k  2 ;   R2C......Integral time constant
R1
 Chapter 2 mathematical models of systems
5) For a control system
• Write the differential equations of the control system, and Assume
zero initial conditions;
• Make Laplace transformation, transform the differential equations
into the relevant algebraic equations;
• Deduce: G(s)=C(s)/R(s).
Example 2.13 the DC-Motor control system in Example
R2 2.5
R3
+ DC
ur R1 R3 mot or
- - ua M
uk w l oad
R1
tri gger
Uf recti fi er -
M
techom
eter
+
 Chapter 2 mathematical models of systems
In Example 2.5, we have written down the differential equations
as: R2
uk  (ur  u f )  k1(ur  u f )......... .......... .......... .....(1)
R1
u f   .......... ..........(2) ua  k2uk .......... .........(3)

d 2 d 1 T
TeTm 2  Tm   ua  m (Te M  M )......(4)
dt dt Ce J
Make Laplace transformation, we have:
U k ( s )  k1[U r ( s )  U f ( s )]........ .......... .......... .......... .......... ...(1)
U f ( s )  ( s )......... ......(2) U a ( s )  k2U k ( s )......... .....(3)
2 1 TeTm s  Tm
(TeTm s  Tm s  1)( s )  U a ( s)  M ( s )......(4)
Ce J
 Chapter 2 mathematical models of systems
(2)→(1)→(3)→(4), we have:
2 1 1 TeTm s  Tm
[TeTm s  Tm s  (1  k1k2 )]( s)  k1k2 U r ( s )  M ( s)
Ce Ce J
k1k2 1
( s ) Ce
G( s)  
U r ( s ) T T s 2  T s  (1  k k  1 )
e m m 1 2
Ce
La
here : Te  ...........electric  magnetic time - constant
Ra
Ra J
Tm  ......mechanical  electric time - constant
CeCm
End