Modelling in The Frequency Domain (Modo de Compatibilidad)

1
Chapter 2: Modeling in the Frequency Domain
Figure 2.1
a. Block diagram
representation of a
system;
b. block diagram
representation
of an
interconnection
of subsystems
2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e
Laplace transform
Laplace
Transform Review
f ( t ) = F ( s ) = f ( t ) e st dt
0
Inverse Laplace transform

1
+ j
F ( s ) =
F ( s ) e st ds
2 j j
1
= f (t ) u (t )
u (t ) = 1 t > 0
=0 t<0

Table 2.1
Laplace transform
table

Table 2.2
Laplace
transform
theorems

Figure 2.2
Block diagram of
a transfer function

Table 2.3
Voltage-current, voltage-charge, and
impedance relationships for capacitors,
resistors, and inductors

Figure 2.3
RLC network

Figure 2.4
Block diagram
of series RLC
electrical network

Figure 2.5
Laplacetransformed
network

10
Figure 2.6
a. Two-loop electrical
network;
b. transformed
two-loop
electrical
network;
c. block diagram

11
Figure 2.7
Block diagram of
the network of
Figure 2.6
G1 = 1/ R1
G2 = 1/ R2
12
Figure 2.8
Transformed
network ready
for nodal analysis

13
Table 2.4
Force-velocity,
forcedisplacement, and
impedance
translational
relationships
for springs,
viscous dampers,
and mass
14
Figure 2.11
a. Mass, spring, and
damper system;
b. block diagram

15
Figure 2.12
a. Free-body diagram of mass,
spring, and damper system;
b. transformed free-body diagram
[ Sum of impedances ] X ( s ) = [ Sum of applied forces ]

16
Figure 2.13
a. Two-degrees-offreedom translational
mechanical
system8;
b. block diagram

17
Figure 2.14
a. Forces on M1 due
only to motion of M1
b. forces on M1 due
only to motion of M2
c. all forces on M1

18
Figure 2.15
a. Forces on M2
due only to motion
of M2;
b. forces on M2 due
only to motion
of M1;
c. all forces on M2

19
Figure 2.16
Three-degrees-of-freedom
translational
mechanical system

20
Figure 2.17
Translational
mechanical system
for Skill-Assessment
Exercise 2.8
G (s) =
X2 (s)
F (s)
3s + 1
s ( s 3 + 7 s 2 + 5s + 1)

21
Table 2.5
Torque-angular
velocity, torqueangular
displacement,
and impedance
rotational
relationships for
springs, viscous
dampers, and
inertia
22
Figure 2.18
a. Physical system;
b. schematic; c. block diagram

23
Figure 2.19
a. Torques on J1
due only to the
motion of J1
b. torques on J1
due only to the
motion of J2
c. final free-body
diagram for J1

24
Figure 2.20
a. Torques on J2
due only to the
motion of J2;
b. torques on J2
due only to the
motion of J1
c. final free-body
diagram for J2

25
Figure 2.21
Three-degrees-offreedom rotational
system

26
Figure 2.22
A gear system

27
Figure 2.23
Transfer functions for a. angular
displacement in lossless gears
and b. torque in lossless gears

28
Figure 2.24
a. Rotational
system driven
by gears;
b. equivalent
system at the
output after
reflection of input
torque;
c. equivalent
system at the input
after reflection of
impedances
29
Figure 2.25
a. Rotational mechanical system with gears;
b. system after reflection of torques and
impedances to the output shaft;
c. block diagram

30
Figure 2.26
Gear train

31
Figure 2.29
NASA flight
simulator
robot arm with
electromechanical
control system
components
Debra Lex.

32
Figure 2.30
DC motor:
a. schematic;
b. block diagram

33
Figure 2.31
Typical equivalent
mechanical loading
on a motor

34
Figure 2.32
DC motor driving a rotational
mechanical load

35
Figure 2.33
Torque-speed
curves with an
armature
voltage, ea,
as a parameter

36
Figure 2.34
a. DC motor and
load;
b. torque-speed
curve;
c. block diagram

37
Figure 2.35
Electromechanical system for
Skill-Assessment Exercise 2.11

38
Figure 2.36
Development of
series analog:
a. mechanical
system;
b. desired electrical
representation;
c. series analog;
d. parameters for
series analog

39
Figure 2.36
Series analog of mechanical
system of Figure 2.17(a)

40
Figure 2.37
Development of
parallel analog:
a. mechanical
system;
b. desired
electrical
representation;
c. parallel analog;
d. parameters for
parallel analog
41
Figure 2.40
Parallel analog of
mechanical
system
of Figure 2.17(a)

42
Figure 2.41
a. Linear system;
b. nonlinear system

43
Figure 2.42
Some physical
nonlinearities

44
Figure 2.43
Linearization
about a point A

45
Figure 2.44
Linearization
of 5 cos x about
x = /2

46
Figure 2.45
Nonlinear
electrical
network

47
Figure 2.46
Nonlinear electric circuit for
Skill-Assessment Exercise 2.13

48
Table 2.6
Subsystems of the antenna azimuth
position control system

49
Figure 2.47
Cylinder model
of a
human leg
1996 McGraw-Hill, Inc.

50
Figure 2.48
Free-body
diagram of
leg model

51
Figure 2.49
Nonlinear electric
circuit


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1

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

Inverse Laplace transform

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

[ Sum of impedances ] X ( s ) = [ Sum of applied forces ]

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2000, John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain