System Dynamics,
KOM5107
Modeling and Simulation
Dynamic Systems, Modeling & Simulation
Asst. Prof. Claudia F. YAŞAR
[email protected] Mathematical Model of Physical Systems
1
Week Subjects Related
Preparation
1 Introduction to Mathematical Modeling Lecture Notes
2 Mathematical Model of Physical Systems (Mechanics ) Lecture Notes
3 Fluid System Modeling: Blending Tank Lecture Notes
4 Stirred-Tank Heating Process Lecture Notes
5 Process Modeling: Hydraulic Systems Lecture Notes
6 Process Modeling: Pneumatic Systems Lecture Notes
7 Analogies Electrical and Mechanical Models. Lecture Notes
8 Midterm 1 NA
9 Linearization and Scaling of Fundamental Models Lecture Notes
10 Electromechanical Models and System Identification, control application.Lecture Notes
11 Simulation and Model Based Design. Lecture Notes
Time Domain Analysis Dynamic Behavior: First-degree and Second-degree
12 Lecture Notes
Systems
13 Process Dynamics and Control Applications (Computer-based Analysis) Lecture Notes
14 Process Dynamics and Control Applications (Computer-based Analysis) Lecture Notes
15 Final
2
Mathematical Models of Systems Objectives
We use quantitative mathematical models of physical systems to design and analyze control systems.
The dynamic behavior is generally described by ordinary differential equations.
We will consider a wide range of systems, including mechanical, thermal, hydraulic, electrical, etc.
Since most physical systems are nonlinear, we will discuss linearization approximations, which allow us to
use the Laplace transform methods.
We will then obtain input-output relationships for physical systems in the form of transfer functions and
state space representations.
These representations can be organized into block diagrams or signal-flow graphs to graphically depict
inter-connections. Block diagrams (and signal-flow graphs) are very convenient and natural tools for
designing and analyzing complicated control systems.
Introduction
Six Step Approach to Dynamic System Problems
1. Define the system and its components.
2. Formulate the mathematical model and list the necessary
assumptions.
3. Write the differential equations to describe the model.
4. Solve the equations for the desired output variables.
5. Examine the solutions and the assumptions.
6. If necessary, reanalyze or redesign the system.
Mechanical Translational systems
u is the net force at the upper end Reaction force,
The moving mass stores energy E
M : mass
A restoring force, K The spring stores energy E
spring constant
1
𝐸= 𝐾𝑦 2
2
A restoring force, The energy transformed into
B viscous friction coefficient heat per unit of time
where v is the relative velocity at the end of
the absorber
Translational Mass
Reaction force
Mechanical work:
In physics, work is the
energy transferred to or
from an object via the
application of force along a
displacement.
Kinetic energy:
due to motion of body
Translational Spring
Restoring force
In physics, potential energy is
the energy held by an object
because of its position relative
to other objects, stresses
within itself, its electric charge,
or other factors
Translational Damper
Restoring force
Energy transformed in
heat per unit of time
Differential Equation of Physical Systems
differential equation
2
d d
M y ( t) b y ( t) k y ( t) r( t)
2 dt
dt
Example: Mechanical Translational systems
For the translational mechanical system of the figure obtain a mathematical model.
Here, u(t) is an external force, y10 is the resting position with weight and y0 is the length of the spring
without weight (natural length of the spring). The system’s output is y(t) .
differential equation
State and Output Equations
• Obtain the state and output equations of the previous problem.
Example: System Dynamics and Transfer Functions
• Obtain a set of equations that describe completely the dynamics of the translational mechanical system.
• Get the system’s transfer functions, considering y1(t) as the output and the force u(t) as the input.
U(s)
Mechanical rotational systems
The elements of idealized mechanical rotation systems are inertia, spring and damper.
Example: Mechanical rotational systems
For the rotational system of Figure find the differential equation that relates to the output θ(t)
with the input T (t), and the system transfer function.
Example: Mechanical rotational systems
For the rotational system of the figure find the differential equations that relate the
output θ1(t) with the input T(t). Find the state and output equations.
+
Electrical circuits
• R-L-C circuit
Analogous systems
Computer-based Analysis
Suspension system
A quarter-car and its suspension system has to be modelled and simulated. Here, zu is the
vertical displacement of the wheel center and zs is the vertical displacement of vehicle
chassis. We are interested in obtaining how the speed of masses ms and mu change by
time.
Quarter-car
27
Mass-Spring-Damper Simulink
28
Mass-Spring-Damper Simscape
29
Mass-Spring-Damper
30
Suspension system
A suspension system has to be modelled and simulated. Here, z is the vertical displacement of
the wheel center and zr is the reference of the system. We are interested in obtaining how the
𝑑𝑧
speed of mass m changes by time .
𝑑𝑡
𝑑𝑧
𝑑𝑡
𝑑𝑧
𝑑𝑡
%%%%% MASS-SPRING-DAMPING
%%%%% IN SIMULINK AND SIMSCAPE
%%%%%
% 1. SIMULATION PARAMETERS
b=10;
k=400;
m=3.6;
x0=1;
% 2. SIMULATION AND PLOTS
%
sim ssc_mass_spring_damper_sl_2020;
figure;
plot(v_sc,'g','LineWidth',2);
hold on
plot(v_sl,'--r','LineWidth',2);
xlabel('Time(s)'); ylabel('Velocity
(m/s)'); title('Velocity of Mass');
ssc_mass_spring_damper_sl
Velocity of
mass (m/s)
Time (s)
