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Module 2-1 Introduction To Modeling in The Frequency Domain

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8 views

Module 2-1 Introduction To Modeling in The Frequency Domain

Uploaded by

ganironremalyn01
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Module Learning Outcomes

After completing this chapter, the student will be able to:


 Find the Laplace transform of time functions and the inverse Laplace transform
 Find the transfer function from a differential equation and solve the differential
equation using the transfer function
 Find the transfer function for linear, time‐invariant electrical networks
 Find the transfer function for linear, time‐invariant translational mechanical systems
 Find the transfer function for linear, time‐invariant rotational mechanical systems
 Find the transfer functions for gear systems with no loss and for gear systems with
loss
 Find the transfer function for linear, time‐invariant electromechanical systems
 Produce analogous electrical and mechanical circuits
 Linearize a nonlinear system in order to find the transfer function

Case Study Learning


Outcomes
You will be able to demonstrate your knowledge of the chapter objectives with case studies
as follows:
 Given the antenna azimuth position control system shown on the front endpapers,
you will be able to find the transfer function of each subsystem.
 Given a model of a human leg or a nonlinear electrical circuit, you will be able to
linearize the model and then find the transfer function.

2.1 Introduction

In Module 1, we discussed the analysis and design sequence that included obtaining the
system’s schematic and demonstrated this step for a position control system. To obtain a
schematic, the control systems engineer must often make many simplifying assumptions in
order to keep the ensuing model manageable and still approximate physical reality.

The next step is to develop mathematical models from schematics of physical systems. We will
discuss two methods:

(1) transfer functions in the frequency domain (Module 2)


(2) state equations in the time domain (Module 3)

As we proceed, we will notice that in every case the first step in developing a mathematical
model is to apply the fundamental physical laws of science and engineering. For example, when
we model electrical networks, Ohm’s law and Kirchhoff’s laws, which are basic laws of electric
networks, will be applied initially. We will sum voltages in a loop or sum currents at a node.
When we study mechanical systems, we will use Newton’s laws as the fundamental guiding
principles. Here we will sum forces or torques. From these equations we will obtain the
relationship between the system’s output and input.
In the previous lesson, we saw that a differential equation can describe the relationship
between the input and output of a system. The form of the differential equation and its
coefficients are a formulation or description of the system. Although the differential equation
relates the system to its input and output, it is not a satisfying representation from a system
perspective. Looking at Eq. (1.2), a general, nth-order, linear, time-invariant differential
equation, we see that the system parameters, which are the coefficients, as well as the output,
c(t), and the input, r(t), appear throughout the equation.

We would prefer a mathematical representation such as that shown in Figure 2.1(a),


where the input, output, and system are distinct and separate parts. Also, we would like
to represent conveniently the interconnection of several subsystems. For example, we
would like to represent cascaded interconnections, as shown in Figure 2.1(b), where a
mathematical function, called a transfer function, is inside each block, and block functions
can easily be combined to yield Figure 2.1 (a) for ease of analysis and design. This
convenience cannot be obtained with the differential equation.

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