Chapter 3
Modelling of Physical Systems
System Transfer Function
Chapter Objective:
Dynamic modeling
Transfer function (Laplace operator)
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ME2142 Feedback Control Systems
C3.1
Differential Equations
U
Y
Plant
In the plant shown, the input u affects the response of the output y.
In general, the dynamics of this response can be described by a
differential equation of the form
Differential equation is linear if coefficients are constants or functions
only of time t.
Linear time-invariant system: if coefficients are constants.
Linear time-varying system: if coefficients are functions of time.
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ME2142 Feedback Control Systems
C3.2
Modelling of Physical Dynamic Systems
Mechanical Systems Fundamental Law
Translational Systems
Torsional Systems
x
f
Newtons Law
is applied force (N),
is mass (Kg)
is displacement (m).
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is applied torque, (Nm)
is moment of inertia in (Kgm2)
is displacement in radians
is the angular speed in rad/s
ME2142 Feedback Control Systems
C3.3
Modelling of Physical Dynamic Systems
Mechanical Systems Spring
Translational Systems
x2
Rotational Systems
x1
f
K
is tensile force in spring (N),
is spring constant (Nm-1)
Important: Note directions and signs
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is applied torque on torsional
spring, (Nm)
is torsional spring constant
(Nm/rad)
ME2142 Feedback Control Systems
C3.4
Modelling of Physical Dynamic Systems
Mechanical Systems dampers or dashpots
Translational Systems
.
x
Rotational Systems
.
x
1
f
is force in dashpot (N),
is damping coefficient (Nsm-1)
Important: Note directions and signs
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is applied torque in torsional
damper, (Nm)
is torsional damping
coefficient (Nms/rad)
ME2142 Feedback Control Systems
C3.5
Modelling of Physical Dynamic Systems
Example:
Derive the differential equation relating
the output displacement to the input
displacement .
Free-body diagram at point A,
fd
Since m = 0,
Since
gives
fs
Note: Direction of and
shown assumes they
are tensile.
0.
and
Thus
0
Or
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ME2142 Feedback Control Systems
C3.6
Transfer Function
The transfer function of a linear time invariant system is defined
as the ratio of the Laplace transform of the output (response) to the
Laplace transform of the input (actuating signal), under the
assumption that all initial conditions are zero.
by Ky Kx
Previous Example
Assuming zero conditions and taking Laplace transforms of both
sides we have
bsY ( s ) KY ( s ) KX ( s )
Transfer Function
G (s)
Y (s)
K
X ( s ) bs K
This is a first-order system.
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ME2142 Feedback Control Systems
C3.7
Modelling of Physical Dynamic Systems
Example:
For the spring-mass-damper system shown on
the right, derive the transfer function between
the output xo and the input xi.
Since
Thus
gives
.
and
xo
Note: fs and
fd assumed to
be tensile.
xi
Or
m
xo
And
fs
Transfer Function
fd
Free-Body diagram
G
Secondordersystem
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ME2142 Feedback Control Systems
C3.8
Modelling of Physical Dynamic Systems
Electrical Elements
Resistance
Capacitance
e
Laplace Transform
Differentiate w.r.t time
Taking Laplace Transform
or
1
Complex impedance
1
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Inductance
Laplace Transform
Complex impedance
ME2142 Feedback Control Systems
C3.9
Modelling of Physical Dynamic Systems
Electrical Circuits- Kirchhoffs Laws
Current Law:
The sum of currents entering a node is equal to that leaving it.
0
Voltage Law:
The sum algebraic sum of voltage drops around a closed loop is
zero.
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ME2142 Feedback Control Systems
C3.10
Modelling of Physical Dynamic Systems
Electrical Circuits- Examples
RC circuit: Derive the transfer function for the circuit
shown,
Using KVL,
R
and
ei
Giving
1
1
1
1
A first-order transfer function.
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ME2142 Feedback Control Systems
eo
Modelling of Physical Dynamic Systems
Electrical Circuits- Examples
RLC circuit: Derive the transfer function for the circuit shown,
Using KVL,
and
Giving
ei
1
1
1
1
A second-order transfer function.
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ME2142 Feedback Control Systems
eo
Modelling of Physical Dynamic Systems
Operational Amplifier Properties of an ideal Op Amp
Gain A is normally very large so that
compared with other values,
is
assumed small, approximately equal to
zero.
The input impedance of the Op Amp is usually very high (assumed
infinity) so that the currents and are very small, assumed zero.
Two basic equation governing the operation of the Op Amp
0 or
and
0
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ME2142 Feedback Control Systems
Modelling of Physical Dynamic Systems
Operational Amplifier Example
if
Say,
Rf
Zf
Ri
vi
ii
i1=0
Zi
Vi
vo
For the Op Amp, assume
and
0.
Then
0
0
or
Vo
We have
Therefore
1
Therefore
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ME2142 Feedback Control Systems
C3.14
Modelling of Physical Dynamic Systems
Electro-mechanical System
La
Ra
K e
Relevant equations:
b
For the dc motor, the back emf
is proportional to speed and is
Taking Laplace Transform and yields
given by
where
is the
voltage constant. The torque
produced is proportional to
Therefore
armature current and is given
by
where
is the torque
constant.
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ME2142 Feedback Control Systems
C3.15
Modelling of Physical Dynamic Systems
Thermal Systems
Making use of the followings:
Thermal Capacitance
Rate of energy stored =
where is the heat capacity of the system considered.
Conservation Law
where
and
are the rate of heat flowing in and out of the system
, respectively.
Thermal conductivity
where
is the thermal resistance of the conducting medium.
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ME2142 Feedback Control Systems
C3.16
Modelling of Physical Dynamic Systems
Thermal Systems Example
Consider a well insulated room,
however, with 2 windows of
different sizes and an airconditioner:
Thermal conductivity
,
Thermal conductivity
Qi1
Hence,
Qi2
Qo
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ME2142 Feedback Control Systems
C3.17
The End
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ME2142 Feedback Control Systems
C3.18
