Mathematical Models of Systems

Spring Mass-damper System

Examples on Mechanical System

1)

2)
2) Suspension system

Electrical System

RLC Circuit
Mechanical/ Electrical Analogy

Mechanical Rotational System

Example: In the system shown one flywheel (J1) is attached by a flexible shaft (Kr)
to ground (the unmoving wall) and has an applied torque, a. A second flywheel
(J2) is driven by friction between the two flywheels (Br1). The second flywheel also
has friction to the ground (Br2). Derive equations of motion for the system shown.

Solution: define variables as positive in the counterclockwise direction.

at 1

a Applied torque

& applied torques=-reac ve torques

at 2
Laplace transform
TRANSFER FUNCTION
Examples:
1)
2)

3) Transfer function of Two-mass mechanical System & its analog Electrical

system
Poles & zeros

Poles and Zeros of a transfer function are the frequencies for which the value
of the denominator and numerator of transfer function becomes zero
respectively. The values of the poles and the zeros of a system determine
whether the system is stable, and how well the system performs.
Consider the transfer Function
G(s)=(s+1)/(s+2)(s+3)
N(s)=s+1
D(s)=(s+2)(s+3)
Hence, zeros=-1
& Poles=-2, -3

Polezero plot

It is a graphical representation of a rational transfer function in the complex

plane.
The poles of the system are indicated in the plot by an X while the zeroes are
indicated by a circle or O.
Poles are complex conjugate & lying in left half s-plane hence system is stable.
 Test Signals

For the analysis point of view, the signals, which are most commonly used as
reference inputs, are defined as standard test inputs.
The performance of a system can be evaluated with respect to these test signals.
Based on the information obtained the design of control system is carried out.
There are four types of typical test signals: Impulse Step, Ramp, Parabolic and
another important signal is sinusoidal signal.
Impulse Signal
Impulse response in control system imitates sudden shock quality of actual input
signal. Impulse is the output of system when given by small input.

When A=1 then the impulse signal is called Unit impulse signal.

Figure: Impulse Signal

More generally, an impulse response refers to the reaction of any dynamic system
in response to some external change.
The Impulse response from a simple audio system, shown from top to bottom,
the original impulse, the response after high frequency boosting, and the
response after low frequency boosting.

Step Signal
Step input signal (position function) It is the sudden application of the input at a
specified time as usual in the figure or instant any us change in the reference
input. Step function is integral of delta function.
Example:-
If the input is an angular position of a mechanical shaft a step input represent the
sudden rotation of a shaft.
Switching on a constant voltage in an electrical circuit.
Sudden opening or closing a valve.
The step signal defines the sudden change in properties of actual signal.

In the Laplace Transform form R(s) = A /s

i.e. The step is a signal who's value changes from 1 value (usually 0) to another
level A in Zero time. When A=1, the step is called unit step signal.

Ramp Signal
The ramp signal tells the constant velocity attribute of actual input signal. It is
being used to determine the behavior of system with the velocity factor.
The ramp function is used when dealing with many engineering systems,
particularly when dealing with vibrations and control systems found in mechanical
engineering.
Ramp function is integral of step function

R(s) =A/s2
When A=1, ramp signal is called unit ramp signal.
Parabolic Signal
Parabolic signal gives the constant acceleration distinction of actual input signal. It
gives the idea about how the system will respond along with acceleration.

P(s) =A/s3
When A=1, the parabolic signal is called unit parabolic signal.

Sinusoidal Signal
f(t) = Asint
F(s) = A./s2+2