Department of Electromechanical Engineering Course Title: Control System
Department of Electromechanical Engineering Course Title: Control System
Department of Electromechanical Engineering Course Title: Control System
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Chapter-2: Control system modeling and representation
1 Introduction
4 Analogous systems
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Introduction
Introduction
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Modeling of Electrical system
v (t) = Ri(t)
Inductor
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Modeling of Electrical system
di(t)
v (t) = L
dt
Capacitor
Z
1
v (t) = idt
C
Transfer function: it is the ratio of the laplace transform of output
response to the laplace transform of input (excitation) assuming all
the initial conditions to be zero.
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Modeling of Electrical system
b) Transfer function
ψ(s) L
=
I (s) LCs 2 + LGs + 1
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Modeling of Mechanical system
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Modeling of Mechanical system
f = KX
Here X2 is the displacement of end A, whereas X1 is the displacement
of end B.
If the force is applied at end B, X = X1 − X2 , we get
f = K (x1 − x2 )
f = K (X2 − X1 )
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Modeling of Mechanical system
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Modeling of Mechanical system
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Modeling of Mechanical system
Inertia (J)
The relation between torque and angular acceleration is given
by,
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Modeling of Mechanical system
Damper (D or B)
The torque and angular velocity relation is given by,
Spring (k)
The relation between torque and angular displacement is given
by,
T = J θ̈ + B θ̇ + K θ
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Analogous systems
Analogous systems
Analogous systems have the same type of equations, but they
have different physical appearance. Mechanical systems, fluid
systems, thermal systems etc. may be governed by the same types
of equations as that of electrical circuits.
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Analogous systems
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Analogous systems
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Modeling of Electromechanical system
DC MOTOR CONTROL
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Modeling of Electromechanical system
ARMATURE-CONTROLLED DC MOTOR
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