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 only in terms of the systems mathematical characteristics. 2) What is 2.1.2 The basis of analyzing or designing the control systems. Mathematical models of systems the mathematical relationships between the systems 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 2.2 The input-output description of the physical systems differential equations The input-output descriptiondescription of the mathematical relationship between the output variable and the input variable of physical systems. 2.2.1 Examples

Chapter 2 mathematical models of systems

Example 2.1 : A passive circuit define: input we have ur output uc

ur

C uc

di duc Ri  L  uc ! ur i ! C dt dt d 2 uc duc LC 2  RC  uc ! ur dt dt

d 2 uc duc L 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 k F output y. We have:
dy d2y F  ky  f !m 2 dt d t d2y dy m 2  f  ky ! F dt dt

m
y
f

If we make :

f ! T1, k d2y dt 2

m ! T2 f

we have : T1T2

dy 1  T1 y! F 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
R 2 i2 ur R i1 1 R 1 C R 4 R 3 i3

Input
uc ! R3 i3 

ur

output

uc

uc

1 (i3  i2 )dt  R4 (i3  i2 )......(1) C u i2 !  i1 !  r ...........................................( 2) R1 1 ( uc  R2 i2 ).....................................( 3) R3

i3 !

dur duc R2  R3 R2 R3 (2) (3); (2) (1); (3) (1) R4C  uc !  R (  R4 )C  ur 1 R2  R3 dt dt

make : R4C ! T ; R2 R3 R2  R3  R4 )C ! X ! k; ( R2  R3 R1

duc dur we have : T  uc !  k (X  ur ) dt dt

Chapter 2 mathematical models of systems

Example 2.4 :
R a

A DC motor
La
( J1, f 1)

ua

ia
M

w 1

( J2, f 2)

w 2

( J3, f 3)

w 3

M f

Input

ua

output

i1
1

i2

dia La  Ra ia  Ea ! ua ....(1) dt M ! C m ia .........................( 2)

(4)

(2)

(1) and (3)

(1):

La J yy La f Ra J y Ra f [1  (  ) [1  (  1)[1 Ce C m CeC m CeC m E a ! C e[1 .........................( 3) C e C m y La Ra 1 d[1 M M MM !J  f [1 .....(4) ! ua  Ce CeC m CeC m dt

Chapter 2 mathematical models of systems

J ! J1  here : f ! f1  M! J2
2 i1

 

J3
2 2 i1 i2

......equivalent moment of inertia ......equivalent friction coefficie nt ..........................equivalent torque

f2
2 i1

f3
2 2 i1 i2

Mf i1i2

( can be derived from : [1 ! i1[ 2 ! i1i2[ 3 ) La Make: Te ! ............electric - magnetic time - constant Ra

Ra J Tm ! .......mechanical - electric time - constant CeCm Ra f Tf ! ....... friction - electric time - constant CeC m

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:
y

yy

TeTm

d 2[ dt 2

d[ 1  Tm [ ! ua dt Ce
----Analogous systems

Compare with example 2.1 and example 2.2:

uc y [ ;

ur F ua

Chapter 2 mathematical models of systems

Example 2.5 :
+
ur R 1 R 2

A DC-Motor control system

R 3 R 3 D C m or ot ua uk t r i gger
M

R 1 U f

w l oad
r ect i f i er
M

t echom er et

Input

+ ur, Output ; neglect the friction: R2 uk ! ( ur  u f ) ! k1 ( ur  u f )........................................(1) R1

u f ! E[ .....................(2) TeTm d 2[ dt 2

ua ! k 2 uk ......................(3)
y

d[ 1 1 ua  (TeTm M  Tm M )......(4)  Tm [ ! dt Ce J

Chapter 2 mathematical models of systems

2
2

we have
y

d[ 1 )[ ! k k 1 u  Tm (T M  M )  (1  k1k 2E C TeTm 2  Tm 1 2 r e e dt Ce J dt 2.2.2 steps to obtain the input-output description (differential equation) of control systems 1) Identify the output and input variables of the control systems.
2) Write the differential equations of each systems component in terms of the physical laws of the components. * necessary assumption and neglect. * proper approximation. 3) dispel the intermediate(across) variables to get the inputoutput description which only contains the output and input variables.

d [

Chapter 2 mathematical models of systems

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 the polynomialaccording 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 ( n1)  a 2 y ( n2)   an1 y (1)  a n y ! b0 r ( m )  b1r ( m 1)  b2 r ( m 2 )   bm 1r (1)  bm r .........n u m

Chapter 2 mathematical models of systems

2.3 Linearization of the nonlinear components 2.3.1 what is nonlinearity The output of system is not linearly vary with the linear variation of the systems (or components) 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:
f ( r ) ! f ( r0 )  f
(1)

f ( 2 ) ( r0 ) f (3) ( r0 ) 2 ( r  r0 )3  ( r  r0 )  ( r0 )( r  r0 )  2! 3!

} f ( r0 )  f (1) ( r0 )( r  r0 )

make : (y ! f ( r )  f ( r0 ) and : (r ! r  r0

we have : (y } f ' ( r0 )(r ............linearizat ion equation

Chapter 2 mathematical models of systems

Examples: Example 2.6 : Elasticity equation

F ( x ) ! kxE suppose : k ! 12 .65; E ! 1.1; operating point x0 ! 0.25

F ' ( x ) ! kExE 1 F ' ( x0 ) ! 12 .65 v1.1v 0.25 0.1 ! 12 .11

we have : that is :

F ( x )  F ( x0 ) } 12 .11( x  x0 ) F } 12 .11(x ..............linearizat ion equation

Q( p ) ! k p

Example 2.7 : Fluxograph equation Q Flux; p pressure difference

Chapter 2 mathematical models of systems

because : Q' ( p ) ! thus : (Q } k 2 p k (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 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: Because: Then: Example 2.8 :

G ( s ) ! L?g( t )A
C ( s) G( s) ! , if r ( t ) ! H ( t ) R( s ) ! 1 R( s )

G ( s ) ! C ( s ) ! L?g( t )A

g( t ) ! 5  3e

2 t

5 3 2( s  5) 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? ( t )A c G( s) ! L?r ( t )A

Chapter 2 mathematical models of systems

Example 2.9: 1 r ( t ) ! 1( t ) R(s) ! ........Unit step function s 1 1 3 3t c( t ) ! 1  e C (s) !  ! s s  3 s( s  3) .........Unit step response

Then:

C ( s ) 3 s ( s  3) 3 G( s) ! ! ! R( s ) s3 1s

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 )  6 r ( t )

yy

2 s 2C ( s )  3 sC ( s )  4C ( s ) ! 5 sR( s )  6 R( s ) C(s) 5s  6 G(s) ! ! 2 R(s) 2 s  3 s  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 ur C1 R2 C2 uc ur ( s) R1 1/ C1s R2 1/ C2s uc( s)

1 1 1 ) // ( R2  sC1 sC 2 sC 2 U r ( s) Uc ( s) ! 1 1 1 // ( R2  ) R1  R2  sC1 sC 2 sC 2 ! 1 T1T2 s  (T1  T2  T12 ) s  1

2

U r ( s)

U c ( s) 1 ! G( s) ! U r ( s ) T1T2 s 2  (T1  T2  T12 ) s  1 here : T1 ! R1C 1 ; T2 ! R2 C 2 ; T12 ! R1C 2

Chapter 2 mathematical models of systems

Example 2.12: For a op-amp circuit
R2 C R2 1/ Cs

ur R1
R1

uc

ur R1
R1

uc

1 R2  Uc ( s) sC !  R2Cs  1 G( s) ! ! U r ( s) R1 R1Cs 1 !  k (1  )................. .PI-Contro ller Xs R here : k ! 2 ; X ! R2C ...... Integral t ime consta nt R1

Chapter 2 mathematical models of systems

5) For a control system Write the differential equations of the control system; Make Laplace transformation, assume zero initial conditions, 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 2.5
+
ur R 1 R2 R3 R 3 D C m or ot ua uk t r i gger U f r ect i f i er
M

R1

w l oad

+
t echom er et

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 ! E[ ....................(2) TeTm d 2[ ua ! k 2 uk ...................(3)
y

dt 2 Make Laplace transformation, we have:

U f ( s ) ! E;( s )...............(2)
2

Tm d[ 1  Tm [ ! ua  (Te M  M )......(4) dt Ce J

U k ( s ) ! k1[U r ( s )  U f ( s )]...................................................(1) U a ( s ) ! k 2U k ( s )..............(3) 1 TeTm s  Tm (TeTm s  Tm s  1);( s ) ! U a ( s)  M ( s )......(4) Ce J (2) (1) (3) (4), we have:

Chapter 2 mathematical models of systems

1 1 TeTm s  Tm [TeTm s  Tm s  (1  k1k 2E )];( s ) ! k1k 2 U r ( s )  M ( s) Ce Ce J k1k 2 1 ;( s ) Ce G( s) ! ! U r ( s ) T T s 2  T s  (1  k k E 1 ) e m m 1 2 Ce
2

La here : Te ! ...........electric  magnetic time - constant Ra Ra J Tm ! ......mechanical  electric time - constant CeC m

Chapter 2 mathematical models of systems

2.5 Transfer function of the typical elements of linear systems A linear system can be regarded as the composing of several typical elements, which are: 2.5.1 Proportioning element Relationship between the input and output variables:

c ( t ) ! kr ( t )
C ( s) G( s) ! !k Transfer function: R( s ) Block diagram representation and unit step response:
R s) (
r( t ) 1 t

C s) ( k k
t C t) (

Examples: amplifier, gear train, tachometer

Chapter 2 mathematical models of systems

2.5.2 Integrating element Relationship between the input and output variables:
t

1 c( t ) ! r (t )dt ..........TI : integral time constant TI 0

C ( s) 1 Transfer function: G( s) ! ! R( s ) TI s Block diagram representation and unit step response:
R( s)
r( t )

1 TI s

C( s)

Examples: Integrating circuit, integrating motor, integrating wheel

t

1
t

C( t )

TI

Chapter 2 mathematical models of systems

2.5.3 Differentiating element Relationship between the input and output variables:

dr ( t ) c( t ) ! TD dt
Transfer function:

C ( s) G( s) ! ! TD s R( s )

Block diagram representation and unit step response:

R( s)
r( t )

TDs
t

C( s)
C( t )

Examples: differentiating amplifier, differential valve, differential condenser

t

TD

Chapter 2 mathematical models of systems

2.5.4 Inertial element Relationship between the input and output variables:

dc( t ) T  c( t ) ! kr ( t ) dt
C ( s) k Transfer function: G ( s ) ! ! R( s ) Ts  1 Block diagram representation and unit step response:
R( s)
r( t )

k Ts  1

C( s)
C( t )

Examples: inertia wheel, inertial load (such as temperature system)

t

1
t

k
T

Chapter 2 mathematical models of systems

2.5.5 Oscillating element Relationship between the input and output variables:
2 2

d c( t ) dt
2

dc( t )  2^T  c( t ) ! kr ( t ) dt

0 ^

1
1

C ( s) k Transfer function: G ( s ) ! ! 2 2 0 ^ R( s ) T s  2^Ts  1 Block diagram representation and unit step response:
R s) (
r( t )

1 T 2 s 2  2^Ts  1 k
t

C s) (
C( t )

Examples: oscillator, oscillating table, oscillating circuit

t

Chapter 2 mathematical models of systems

2.5.6 Delay element Relationship between the input and output variables:

c( t ) ! kr ( t  X )
C ( s) Transfer function: G ( s ) ! ! ke Xs R( s ) Block diagram representation and unit step response:
R( s) ke
r( t )
Xs

C( s)
C( t )

Examples: gap effect of gear mechanism, threshold voltage of transistors

t

1
t

k
X

Chapter 2 mathematical models of systems

2.6 block diagram models (dynamic) Portray the control systems by the block diagram models more intuitively than the transfer function or differential equation models .2.6.1 Block diagram representation of the control systems
Si gnal ( var i abl e)

X( s)

C ponent om ( devi ce)

G s) (

X3( s)
A dder ( com i son) par E( s) =x1( s) +x3( s) - x2( s)

X1( s)

+ -

E( s)

Examples:

X2( s)

Chapter 2 mathematical models of systems

Example 2.14 For the DC motor in Example 2.4 In Example 2.4, we have written down the differential equations as: dia La  Ra ia  Ea ! ua ....(1) M ! C m ia .........................( 2) dt d[ Ea ! C e[ .........................( 3) M  M ! J  f [ .....(4) dt Make Laplace transformation, we have: U a ( s )  Ea ( s) La sI a ( s )  Ra I a ( s )  Ea ( s ) ! U a ( s ) I a ( s ) ! .............(5) La s  Ra
M ( s ) ! C m I a ( s )......................................................................................(6) Ea ( s ) ! C e ;( s ).......................................................................................(7) 1 M ( s )  M ( s ) ! J s;( s )  f ;( s ) ;( s ) ! [ M ( s )  M ( s )]......(8) Js  f

Chapter 2 mathematical models of systems

Draw block diagram in terms of the equations (5)
M (s )
Ua( s)

(8):

1 La s  Ra

I a( s)

Cm

M s) (

1 Js  f

;(s )

Ea( s)

Ce
M(s)

Consider the Motor as a whole:

1 (TeTms  Tm) J TeTms2  (Tm  TeTf )s  Tf 1

U (s) a

1 Ce TeTms2  (Tm  TeTf )s  Tf 1

;(s)

Chapter 2 mathematical models of systems

Example 2.15 The water level control system in Fig 1.8: 1 k4 k3 Ce k 2e Xs
TeTm s 2  Tm s  1

k1
Desi r ed w er l evel at I nput hi e

s
U

T1 s  1

T2 s  1

am i f i er pl

ua

M or ot

G i ng ear

Feedback si gnal hf Fl oat

Act ual w er l evel at Q W er Out put h at Val ve cont ai ner

Tm (Te s  1) J M ( s)  2 TeTm s  Tm s  1

Chapter 2 mathematical models of systems

The block diagram model is:
M (s )

Tm (Te s  1) J TeTm s 2  Tm s  1
Hi ( s) E( s) Ua( s)

1 Ce TeTm s 2  Tm s  1

Hf ( s)

k3 k4 k 2 e X s ;(s) s U(s) T1s 1 Q( s) T2 s  1 -

H( s)

Chapter 2 mathematical models of systems

Example 2.16 The DC motor control system in Fig 1.9

1 k p (1  ) TI s
Desi r ed r ot at e speed Ref er ence i nput ur
Err or

kDe

Xs

Ce
Act ual r ot at e speed Out put [

TeTm s 2  Tm s  1
ua
Rect i f i er DC m or ot

Act uat or e Regul at or

uk
Tr i gger

Techom er et Feedback si gnal uf

E Ts  1

Tm (Te s  1) J  M ( s) 2 TeTm s  Tm s  1

Chapter 2 mathematical models of systems

The block diagram model is:
M (s)

Tm ( T e s  1) J TeTm s 2  Tm s  1

Ur ( s)

E( s)

Uf ( s)

1 k p (1  ) TI s

Uk( s)

kD e

Xs

Ua( s)

1 Ce TeTm s 2  Tm s  1

; (s ) 1

U (s )

E Ts1

Chapter 2 mathematical models of systems

2.6.2 Block diagram reduction purpose: reduce a complicated block diagram to a simple one. 2.6.2.1 Basic forms of the block diagrams of control systems Chapter 2-2.ppt

Chapter 2 mathematical models of systems