Mathematical Models of Physical Systems

Dynamics & Control Mathematical Models
Mathematical Models Of Physical Systems
Introduction
In any physical system, when at least one element or member is capable of storing
energy or some similar capacity, such a system is known to be dynamic. In such a
system, one or more states gives a lagging response, following an input. This means
that the states pass through a transient condition before they arrive at their
respective steady state values.
Most dynamic systems may be characterized by differential equations. The response

of a dynamic system to an input(or forcing function) may be obtained if these
differential equations are solved.
Mathematical Model
The mathematical description of the dynamic characteristics of a system is call a

mathematical model. The first step in the analysis of a dynamic system is to derive
its model. This model can normally be obtained by utilizing general physical laws
governing the particular system.
Page B - 1
A. Mechanical Translational System
SPRING-MASS-DASHPOT SYSTEM
The fundamental law governing the system is Newton's Law
where
m = mass
a = acceleration
F = force
Assuming that :
a. the friction force of the dashpot is directly proportional to .

b. the spring force is directly proportional to y.
c. f denotes the viscous friction coefficient and k denotes the spring constant.
Applying Newton's Law to the system,
.... 1
Page B - 2
B. Electrical System (L-R-C CIRCUIT)
Applying Kirchoff's Law
...1
...2
From these differential equations, we can then proceed to the next step of obtaining
the transfer function of the system.
Page B - 3
TRANSFER FUNCTIONS
The transfer function of a linear time-invariant system is defined to be the ratio of the
Laplace transform of the output (response function) to the Laplace transform of the
input (driving function), under the assumption that all initial conditions are zero.
Consider the spring-mass-dashpot system whose differential equation is
d2y dy
m 2
=−f − ky + x …1
dt dt
Taking Laplace Transform, assuming initial conditions are zero,
 d 2 y
L m 2  = ms 2Y ( s ) …a
 dt 
 dy 
L f = fsY (s ) …b
 dt 
L[ky ] = kY (s ) …c
L[x ] = xY (s ) …d
Hence, the equations becomes
...2
Taking ratio of Y(s) to X(s),
Y (s) 1
Transfer function G(s) = = 2
…3
X ( s ) ms + fs + k
Page B - 4
Example: . Consider the L-R-C circuit whose equation was:
...a
...b
Taking Laplace transform and assuming zero initial conditions
...c
...d
If ei is assumed to be the input and eo the output, then the transfer function of this
system is:
Another way of obtaining the transfer function as shown above is to obtain a block
diagram for each differential equation, and then to connect all these individual blocks
together to form the complete representation of the system.
The next section will show how to obtain these sub-blocks from individual differential
equations.
Page B - 5
PROCEDURE OF DRAWING BLOCK DIAGRAM
a. Write the equations which describe the dynamic behavior of each component.
b. Take the Laplace transforms of those equations assuming zero initial

conditions, and represent each Laplace-transformed equation individually in
block form.
c. Finally assemble the elements into a complete block diagram.
These procedures will be shown in examples below:
Example
The related equations for the circuit are:
...a
...b
Page B - 6
From (a) we construct the partial block diagram:
From (b) we construct the partial block diagram as:
Combining the 2 partial block diagrams together, we get the overall block diagram :
Block Diagram of the R-C circuit
Page B - 7
Eg. The figure below shows a d.c. motor. It is desired to develop a linear
approximation for the motor. Hysteresis and voltage drop across the brushes are
neglected.
VaVf
a. The air-gap flux of the motor is proportional to the field current, provided that
the field is unsaturated.
...a
b. The torque developed by the motor is assumed to be related linearly to O and

armature current as follows:
= k1k f i f (t )ia (t ) ...b
For this circuit there are two cases that can be considered.
Page B - 8
CASE 1: FIELD CURRENT CONTROLLED MOTOR
i.
= K m I f (s )
where ia = Ia is a constant armature current and Km is defined as the motor constant.
ii. The field current is related to the field voltage as
iii. The motor torque Tm(s) is equal to the torque delivered to the load, ie.
where TL(s) = load torque

Td(s) = disturbance torque which is often negligible
Page B - 9
iv. The load torque for rotating inertia is
v. Combining, the complete block diagram model of the field controlled d.c. motor is
Block Diagram Model of Field Controlled DC Motor
Page B - 10
CASE 2: ARMATURE CONTROLLED MOTOR
i. Utilizes a constant field current, and the motor torque is:
ii. The armature current is related to the input voltage applied to the armature.
where Vb(s) = back emf of the motor and is proportional to speed
Page B - 11
iii. As in the case of field controlled motor, we have
iv. Combining the previous sub block diagrams, we have the overall block diagram of
the armature controlled dc motor model
Block Diagram of armature Controlled DC Motor
Page B - 12

Mathematical Models of Physical Systems

Uploaded by

Copyright:

Available Formats

Mathematical Models of Physical Systems

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Mathematical Models of Physical Systems

Uploaded by

Copyright:

Available Formats

Dynamics & Control Mathematical Models

Mathematical Models Of Physical Systems

Most dynamic systems may be characterized by differential equations. The response

The mathematical description of the dynamic characteristics of a system is call a

A. Mechanical Translational System

The fundamental law governing the system is Newton's Law

a. the friction force of the dashpot is directly proportional to .

Applying Newton's Law to the system,

B. Electrical System (L-R-C CIRCUIT)

Applying Kirchoff's Law

Consider the spring-mass-dashpot system whose differential equation is

Taking Laplace Transform, assuming initial conditions are zero,

Hence, the equations becomes

Taking ratio of Y(s) to X(s),

Example: . Consider the L-R-C circuit whose equation was:

Taking Laplace transform and assuming zero initial conditions

PROCEDURE OF DRAWING BLOCK DIAGRAM

b. Take the Laplace transforms of those equations assuming zero initial

c. Finally assemble the elements into a complete block diagram.

These procedures will be shown in examples below:

The related equations for the circuit are:

From (a) we construct the partial block diagram:

From (b) we construct the partial block diagram as:

Block Diagram of the R-C circuit

b. The torque developed by the motor is assumed to be related linearly to O and

= k1k f i f (t )ia (t ) ...b

CASE 1: FIELD CURRENT CONTROLLED MOTOR

where ia = Ia is a constant armature current and Km is defined as the motor constant.

ii. The field current is related to the field voltage as

where TL(s) = load torque

iv. The load torque for rotating inertia is

Block Diagram Model of Field Controlled DC Motor

CASE 2: ARMATURE CONTROLLED MOTOR

i. Utilizes a constant field current, and the motor torque is:

where Vb(s) = back emf of the motor and is proportional to speed

iii. As in the case of field controlled motor, we have

Block Diagram of armature Controlled DC Motor

You might also like