Faculty of Engineering

Computer and Systems Engineering Department

CSE 371: Control Engineering

Topic# 4
Modeling of Dynamic Systems
Prof. Wahied Gharieb Ali
 TOPICS

• Introduction
• RLC Circuits
• Newton’s Laws of Motion
• Translational Mechanical Components
• Automobile Suspension System
• Linear Time Invariant (LTI) System
• Rotational Mechanical Components
• DC Motors
• Transfer Function
• Linearization

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 Introduction

What is mathematical model?

A set of mathematical equations (e.g., differential eqs.)
that describes the input-output behavior of a system.

For what purpose the model can be used?

• Simulation
• Analysis
• Control System Design
• Performance Evaluation
• Diagnostic to detect abnormal behaviors
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 Introduction

System: An interconnection of many components

or functional units act together to perform a
certain objective, e.g., automobile, machine tool,
robot, aircraft, etc.
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 Introduction

u y
System

d
Variables:

Input U variables originate outside the system and are not

affected by what happens in the system

Output y They result from the interaction of the system with its
environment and are influenced by the input variables. These
variables are used to monitor or regulate the system.

Environment d Unwanted signals like disturbance

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 Introduction

System Type Model Type

Nonlinear Input-output differential or

difference equation
Linear State equations (system of 1st
order eqs.)

Linear Time
Transfer function
Invariant

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 RLC Circuits

Electrical System

 v(t )  VR  VL  Vc  0

t
di (t ) 1
L  Ri (t )   i ( )d  v(t )
dt C0
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 RLC Circuits

Component V-I I-V V-Q Impedance Admittance

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 RLC Circuits

 Problem: Obtain the transfer function for the following RLC network.

 Answer:

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 Newton’s laws of motion
• The motion of mechanical system can be described as translational,
rotational, or combination of both.
• The motions are often obtained from Newton’s Law of motion
1st Law:
A particle remains at rest or continues to move in a straight line with a
constant velocity if there is no unbalancing force acting on it.
2nd Law:
: translational

: rotational
3rd Law:
For every action has an equal and opposite reaction.
• The mass is analogous to inductance in electric circuits

• The mass is considered to be an element that stores the Kinetic energy.

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 Translational Mechanical Components

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 Translational Mechanical Components

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 Translational Mechanical Components

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 Translational Mechanical Components

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 Translational Mechanical Components

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 Car Suspension System

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 Linear Time invariant (LTI) System

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 Linear Time invariant (LTI) System

First Order System

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 Linear Time invariant (LTI) System

First Order System

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 Linear Time invariant (LTI) System

Second Order System

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 Rotational Mechanical Components

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 Rotational Mechanical Components

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 Rotational Mechanical Components

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 Mechanical Friction Model

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 Mechanical Friction Model

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 DC Motors

Ra La
1) Field current is constant B
Input: voltage u ia
u dc
Output: Angular velocity  J


Elecrical Subsystem (loop method): if

di a
u  Ra i a  La  eb , eb  back - emf voltage
dt
Mechanical Subsystem Te  Jω  Bω

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 DC Motors

Power Transformation: Ra La
B
Torque-Current: Te  K t i a ia
u dc
Voltage-Speed: eb  K bω 

where Kt: torque constant, Kb: velocity constant For an ideal motor
Kt  K b
Combing previous equations results in the following
mathematical model:
 di a
La  Ra i a  K b   u
 dt

Jω   Bω - K t i a  0

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 DC Motors

Taking Laplace transform of the system’s differential equations with

zero initial conditions gives:
Ra La

La s  Ra I a ( s )  K b ω( s )  U ( s )
B
 ia
Js  B ω(s) - K t I a ( s )  0
u Kt


Eliminating Ia yields the input-output transfer function

ω(s) Kt

U(s) La Js 2  s JRa  BLa   BRa  K t K b

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 DC Motors

Assuming small inductance, La 0

ω(s)

K t Ra 
U(s) Js  B  K t K b Ra 

which is equivalent to

K t K b Ra B
K t u Ra


• The D.C. motor provides an input torque and an additional damping

effect known as back-emf damping

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 DC Motors

Ra La
B
Transfer Function, La=0:
ia
u Kt
ω(s)

K t Ra 

k 

U(s) Js  B  K t K b Ra  Ts  1
12

u ku 10

t 8

Amplitude 6

4
k=10, T=0.1
2
T
k
G (s ) 
Ts  1
0
0 0.1 0.2 0.3 0.4 0.5
Time (secs)

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 DC Motors

2) Armature current is constant B

ia
Input: voltage u dc
J
Output: Angular velocity  

Elecrical Subsystem (loop method): Rf Lf if

u
di f
u  Rf i f  Lf
dt
Mechanical Subsystem

Te  Jω  Bω

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 DC Motors

Power Transformation:

Torque-Current: Te  K t i f

Combing previous equations results in the following

mathematical model:

 di f
Lf  Rf i f  u
 dt
Jω   Bω - K t i f  0


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 DC Motors

Taking Laplace transform of the system’s differential equations with

zero initial conditions gives:

Lf s  Rf I f ( s )  U ( s )


Js  B ω(s) - K t I f ( s )  0


Eliminating Ia yields the input-output transfer function

ω(s) Kt

U(s) Lf Js 2  s JRf  BLf   BRf

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 DC Motors

Assuming small inductance, Lf 0

ω(s) K t Rf 

U(s) Js  B
B
which is equivalent to
K t u Rf


• The D.C. motor with field control has NO additional damping effect
therefor, the armature control provides more features.

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Linearization

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 Linearization

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 Linearization

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 Remember That!

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