3/25/2015

ME 461
Control Engineering
Semester: February 2015
Dr. Sumon Saha
Assistant Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology
Wednesday, March 25, 2015

Control
Engineering

Sample Questions
(Topic: Control System)

 What are the objectives of automatic control system?

 Functionally, how do closed-loop systems differ from openloop system?
 Do you think a closed loop system is always advantageous
over an open loop system?
 With appropriate examples, discuss the differences between
open loop and closed loop control systems.
 With examples discuss the differences between regulator and
follow up systems of feedback control.
 Discuss the steps to be followed during feedback control
system design.
 A very precise system is more prone to unstable explain
briefly.

Control
Course Syllabus
Engineering

Introduction to control systems and their representation
by different equations and Laplace transforms

Block diagrams and transfer functions

Analog computer solution of system equations

System response, control action and system types

Frequency response

System analysis

System compensation

Analogues to control systems

Hydraulic and pneumatic control systems

Elements of electro-mechanical controls

Introduction to digital computer control

Control
Engineering

Todays topic

Mathematical Modelling

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Control
Engineering

Mathematical Models

Control
Classification of System Models
Engineering

A mathematical model usually describes a system by means of

variables.

Think how systems behave with time when subject to some
disturbances or action.

The basis for any mathematical model is provided by the
fundamental physical laws that govern the behavior of the system.

Sometimes experimental procedures are necessary.

But no mathematical model can represent a physical system
completely.

Approximations and assumptions restrict the validity of the model.

Systems can be made up from a range of building blocks.

Each building block is considered to have a single property or
function.

Control
Mathematical Modeling Procedure
Engineering

Control
Engineering

Mechanical System Building

Blocks (Translational)

 Basic building block: spring, dashpots, and masses.

 Springs represent the stiffness of a system.
 Dashpots represent the forces opposing motion, for example
frictional or damping effects.
 Masses represent the inertia or resistance to acceleration.
 Mechanical systems does not have to be really made up of
springs, dashpots, and masses but have the properties of
stiffness, damping, and inertia.
 All these building blocks may be considered to have a force
as an input and displacement as an output.
Flowchart for the mathematical
modeling procedure

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Modeling Mechanical
System (Translational)

Control
Engineering

Modeling Mechanical
System (Translational)

Control
Engineering

Example: Spring-mass-damper system

d 2x
dx
+ b + kx = F
2
dt
dt

y1
M

Control
Engineering

Building Mechanical System

body of a car

y2

Control
Engineering

Building Mechanical System

y (+ve)

y (+ve)

F =M

d2y
dt 2

F =M

Free body diagram

Spring-mass-damper system
with an input. Here x is input
displacement and y is output
displacement.

Mathematical
system
F = 0 M

model

of

d2y
dt 2

Free body diagram

the

d2y
dy
+ c + ky = kx
dt 2
dt

Spring-mass-damper system
with an input. Here y is output
displacement.

Mathematical
system
F = 0 M

model

of

the

d2y
dy
+ c + ky = 0
dt 2
dt

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Control
Engineering

Building Mechanical System

Control
Engineering

Building Mechanical System

Here f(t) is input force and
x(t) is output displacement.

x (+ve)

b(dx/dt)
m(d2x/dt2)

kx
Free body diagram
Mathematical
system
Spring-mass-damper system
with an input. Here F is input
force and x is output
displacement.

F = 0 m

model

of

the

x (+ve)

fv(dx/dt)
M(d2x/dt2)

d x
dx
+ b + kx = F
dt 2
dt

Ksx
Mathematical model of the system
F = 0 M

Control
Engineering

Building Mechanical System

Position with
spring relaxed

c(dx/dt)
m(d2x/dt2)
kx
k

Free body diagram

f(t)

Control
Engineering

d 2 x (t )
dt 2

+ fv

dx ( t )
dt

+ K s x ( t ) = f (t )

Building Mechanical System

Forces on m1 due to only motion of m1
b(dx/dt)

k2 x

Reference Position
(x = 0)

x (+ve)

m
m1

x (+ve)

mg F
Spring-mass-damper system
with an input. Here F is input
force and x is output
displacement.

Free body diagram

When the system at rest, mg = k
Mathematical model of the system
F = 0 m

d x
dx
+ c + kx = F
2
dt
dt

Spring-mass-damper system
with an input. Here u(t) is input
displacement and x(t) is output
displacement.

k1 u
k1 x
2
m1(d x/dt2)
Free body diagram

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Control
Engineering
Forces on m1 due to
only motion of m1

Building Mechanical System

Free body diagram Forces on m1 due to
All Forces on m1 only motion of m2

b(dx/dt)
k2 x

x (+ve)

Control
Engineering

k2 y

y (+ve)
x (+ve)

x (+ve)

m1

Forces on m2 due to only motion of m1

b(dy/dt)

b(dy/dt - dx/dt)
k2(y-x)

Building Mechanical System

m2

m1

m1

k2 x

k1 u
k1 x
2
m1(d x/dt2)

b(dx/dt)

k1(x-u)
Spring-mass-damper system
with an input. Here u(t) is input
displacement and x(t) is output
displacement.

m1(d2x/dt2)

d 2x
dy dx
F = 0 m1 2 b + k1 ( x u ) k2 ( y x ) = 0
dt
dt dt

Control
Engineering
Forces on m2 due to
only motion of m1

Building Mechanical System

Free body diagram Forces on m2 due to
All Forces on m2 only motion of m2
m2(d2y/dt2)
m2

y (+ve)

(d2y/dt2)

Control
Engineering

Free body diagram

Class Practice

Find the relationship(s) for the system below where u is the input
force, and x1 and x2 are the output displacements of masses m1
and m2, respectively.

y (+ve)
y (+ve)

m2

m2
m2

k2 x

b(dx/dt)

k2 y

b(dy/dt)

k2(y-x)
b(dy/dt - dx/dt)
F = 0 m2

Answer:

d2y
dy dx
+ b + k2 ( y x ) = 0
dt 2
dt dt

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Control
Engineering

Important Problem

Control
Engineering

dy
dt 0

dv K + k
x =
=
dt
m

dy
k
o

dt c

The diagram below illustrates a mass m constrained to move

horizontally, and connected to ground by a parallel arrangement of a
spring of stiffness K and a spring of stiffness k in series with a dashpot
of coefficient c. A force u(t) is applied to the mass. The inertial
displacement and velocity of the mass are denoted by y(t) and v(t),
respectively. The displacement of the junction of the shorter spring
and the dashpot is denoted by yo(t). Using the state vector x = [y v
yo]T, show that the equations of motion for this system with input equal
to the force u are

Control
Engineering
k(y-yo)
m(d2y/dt2)

Solution

Solution

0
0
y
k 1
0
v +
u
m m

y
k o 0
0
c

dy
=v
dt
dv
K +k
k
u
=
y + yo +
dt
m
m
m
dyo k
k
= y yo
dt
c
c

Control
Engineering
c(dyo/dt)

Solution

M=0

k(yo - y)

Ky
d2 y
m 2 + Ky + k ( y yo ) u = 0
dt
dv
m + ( K + k ) y kyo u = 0
dt
dv
K +k
k
u
=
y + yo +
dt
m
m
m

dyo
+ k ( yo y ) = 0
dt
dy
c o = k ( y yo )
dt
dyo k
k
= y yo
dt
c
c

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Mechanical System Building

Blocks (Rotational)

Control
Engineering

Control
Engineering

Modeling Mechanical
System (Rotational)

Control
Engineering

Mechanical System Building

Blocks

If rotation is involved, then the equivalent three building blocks

are a torsional spring, a rotary damper and the moment of
inertia (i.e., the inertia of a rotating mass).
With a torsional spring the angle rotated is proportional to the
torque: T = k.
With a rotary damper a disc is rotated in a fluid and the resistive
torque T is proportional to the angular velocity .

T = D = D

d
dt

The moment of inertia block exhibit the property that the greater
the moment of inertia J the greater the torque needed to
produce an angular acceleration

T = Ja

Modeling Mechanical
System (Rotational)

Control
Engineering

Example: Torsional spring-mass-damper system

T(t)

(t)

Building Block

K
Spring

Dashpot

D
K(t) D[d(t)/dt]

T(t)

Mass

J[d2(t)/dt2]

Spring
Damper

d (t )
d ( t )
+D
+ K ( t ) = T ( t )
2
dt
dt
2

Moment of inertia

Equation

Energy representation

Translational
F = ky
E = 0.5 F2/k
F = D dy/dt
P = Dv2
F = m d2y/dt2
E = 0.5 mv2
Rotational
T = k
E = 0.5 T2/k
T = D d/dt
P = D2
T = J d2/dt2
P = 0.5 J2

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Control
Engineering

Systems with Gears

speed of the driving shaft

n=
speed of the driven shaft
n=

1 1 N 2 T2 r2
=
=
= =
2 2 N1 T1 r1

Control
Engineering

Systems with Gears

Control
Engineering

Systems with Gears

Equivalent system at the input after reflection of impedances

T(t)n

n = N2/N1
= 1/2

Equivalent system at the output after reflection of input torque

Control
Engineering

Systems with Gears

Equivalent system at the

output after reflection of
input torque

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Control
Engineering

Systems with Gears

Control
Engineering

Systems with Gears

Equivalent system at the

input after reflection of
impedances
Equivalent system at the input after reflection of impedances

Control
Engineering

Practice: Systems with Gears

Find the relationship between output displacement 1(t) and

input torque T1(t) for the system.

Je

d 21 ( t )
dt 2

+D

d1 ( t )
dt

Control
Engineering

Problem: Systems with Gears

Find the relationship between output displacement 2(t) and

input torque T1(t) for the system.

+ K e1 ( t ) = T1 ( t )

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Control
Engineering

Problem: Systems with Gears

Control
Engineering

Practice: Systems with Gears

Find the relationship between output displacement 2(t) and

input torque T(t) for the system.

Je

d 2 2 ( t )
dt 2

Control
Engineering

+ De

d 2 ( t )
dt

N
+ K e 2 ( t ) = T1 ( t ) 2
N1

Gear Train

Control
Engineering

Gear Train

If we allow our gears to be large enough we can obtain any

desired gear ratio. However, it is usually impractical to allow gears
with large radii. Instead, gear trains are employed.

Notice that we are assuming the rotations of all other shafts are
directly tied through the gear train to 1.
The equivalent gear ratio is the product of gear ratios for pairs of
meshed gears.

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Electrical System Building

Blocks

Control
Engineering
Resistor

Inductor

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Engineering

Building Electrical System

Capacitor

Mathematical model of the system (Applying KVL)

t

di
1
L + Ri + idt = e
dt
C0

Control
Engineering

d 2q
dq q
L 2 +R + =e
dt
dt C

System Modelling

Analogy between mechanical and electrical

systems

Mechanical
system

Building Block

Equation

Spring

F = kx
F = c dx/dt
F = m d2x/dt2
V = C-1q
V = R dq/dt
V = L d2q/dt2

Dashpot
Mass
Capacitor

Electrical
system

Resistor
Inductor

Analogy approach is also widely used to study system response.

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