Cairo University Faculty of Engineering

Mechanical Design and Production Department

MDP 3430
System Dynamics

1
Example:
• An antenna azimuth position control system is shown. The purpose of this system
is to have the azimuth angle output of the antenna, ‘θo(t)’, follow the input angle
of the potentiometer, ‘θi(t)’.
• Write the system governing equations and draw the system block diagram.
• Derive the system transfer using the block reduction technique.

2
Solution:
• System governing equations
𝑉𝑖 = 𝑘𝑝𝑖 𝜃𝑖 (1)
𝑉𝑎 = 𝑘𝑎 (𝑉𝑖 − 𝑉𝑜 ) (2)
𝑑𝑖
𝑉𝑎 = 𝑖𝑅 + 𝐿 + 𝑘𝑏 𝜃ሶ𝑚 (3)
𝑑𝑡
𝑇𝑚 = 𝑘𝑚 𝑖 (4)
𝑟𝑚
𝜃𝑜 = 𝜃 (5)
𝑟𝑜 𝑚
𝑟𝑜
𝑇𝑜 = 𝑇𝑚 (6)
𝑟𝑚

𝑇𝑜 = 𝐽𝜃ሷ𝑜 + 𝐶 𝜃ሶ𝑜 (7)

𝑉𝑜 = 𝑘𝑝𝑜 𝜃𝑜 (8)

3
Solution:
• System governing equations
• Laplace transform
• 𝑉𝑖 (𝑠) = 𝑘𝑝𝑖 𝜃𝑖 (𝑠) (1)
• 𝑉𝑎 (𝑠) = 𝑘𝑎 (𝑉𝑖 (𝑠) − 𝑉𝑜 (𝑠)) (2)
• 𝑉𝑎 (𝑠) = 𝐿𝑠 + 𝑅 𝐼(𝑠) + 𝑘𝑏 𝑠𝜃𝑚 (𝑠) (3)
• 𝑇𝑚 (𝑠) = 𝑘𝑚 𝐼(𝑠) (4)
𝑟𝑚
• 𝜃𝑜 (𝑠) = 𝜃 (𝑠)
𝑟𝑜 𝑚
(5)
𝑟𝑜
• 𝑇𝑜 (𝑠) = 𝑇 (𝑠)
𝑟𝑚 𝑚
(6)
• 𝑇𝑜 (𝑠) = (𝐽𝑠 2 + 𝐶𝑠)𝜃𝑜 (𝑠) (7)
• 𝑉𝑜 (𝑠) = 𝑘𝑝𝑜 𝜃𝑜 (𝑠) (8)
4
Block Diagram

5
Block diagram algebra
• Series blocks
𝑌1 𝑠 = 𝐺1 𝑈(𝑠)
𝑌 𝑠 = 𝐺2 𝑌1 (𝑠)
𝑌 𝑠 = 𝐺1 𝐺2 𝑈(𝑠)

• Parallel blocks
𝑌 𝑠 = (𝐺1 + 𝐺2 )𝑈(𝑠)

6
Block diagram algebra
• Feedback blocks
𝑌 𝑠 = 𝐺1 𝐸(𝑠)
𝐸 𝑠 = 𝑅 𝑠 − 𝑌1 𝑠
𝑌1 𝑠 = 𝐺2 𝑌(𝑠)
𝑌 𝑠 𝐺1
=
𝑅 𝑠 1 + 𝐺1 𝐺2

Where 𝐺1 : feedforward transfer function

𝐺2 : feedback transfer function, if 𝐺2 = 1 this is called unity feedback system
𝑌 𝑠 : output signal, system response
𝑅 𝑠 : input (command) or reference signal.
𝐸 𝑠 : error signal, difference between the desired and actual output

7
Block diagram algebra
• Moving a pick off point
• Moving forward Moving backward

• Moving a summing point

• Moving forward Moving backward

8
Block diagram algebra
• In control system, a controller compares the actual value of the plant output with
the reference input (desired value), determines the deviation (error), and produces a
control signal to reduce the deviation to zero or to a small value. This is called the
control action.
• The output of a controller is amplified and fed to an actuator, such as an electric
motor, a hydraulic motor, or a pneumatic motor or valve.
• The sensor or measuring element is a device that converts the output variable into
another suitable variable, such as a displacement, pressure, voltage, ..., that can be
used to compare the output to the reference input signal.

9
Solution:
• System governing equations
• Laplace transform
• 𝑉𝑖 (𝑠) = 𝑘𝑝𝑖 𝜃𝑖 (𝑠) (1)
• 𝑉𝑎 (𝑠) = 𝑘𝑎 (𝑉𝑖 (𝑠) − 𝑉𝑜 (𝑠)) (2)
• 𝑉𝑎 (𝑠) = 𝐿𝑠 + 𝑅 𝐼(𝑠) + 𝑘𝑏 𝑠𝜃𝑚 (𝑠) (3)
• 𝑇𝑚 (𝑠) = 𝑘𝑚 𝐼(𝑠) (4)
𝑟𝑚
• 𝜃𝑜 (𝑠) = 𝜃 (𝑠)
𝑟𝑜 𝑚
(5)
𝑟𝑜
• 𝑇𝑜 (𝑠) = 𝑇 (𝑠)
𝑟𝑚 𝑚
(6)
• 𝑇𝑜 (𝑠) = (𝐽𝑠 2 + 𝐶𝑠)𝜃𝑜 (𝑠) (7)
• 𝑉𝑜 (𝑠) = 𝑘𝑝𝑜 𝜃𝑜 (𝑠) (8)
10
Solution:
• Block diagram and block diagram reduction
𝐼 𝑇𝑚 𝑇𝑜
𝜃𝑖 𝑉𝑝𝑖 + 𝑉𝑎 + 𝑟𝑜 1 𝜃𝑜
1
𝑘𝑝𝑖 𝑘𝑎 𝑘𝑚
𝐿𝑠 + 𝑅 𝑟𝑚 𝐽𝑠 2 + 𝐶𝑠
- -

𝑉𝑝𝑜
𝑟𝑜
𝑘𝑏 𝑠
𝑟𝑚

𝑘𝑝𝑜

𝜃𝑖 𝑉𝑝𝑖 + 𝑉𝑎 + 𝑟𝑜 𝜃𝑜
𝑘𝑚
𝑟𝑚
𝑘𝑝𝑖 𝑘𝑎
𝐽𝐿𝑠 3 + (𝐽𝑅 + 𝐶𝐿)𝑠 2 + 𝐶𝑅𝑠
- -

𝑉𝑝𝑜

𝑘𝑏 𝑟𝑜
s
𝑟𝑚

𝑘𝑝𝑜

11
Solution:
• Block diagram and block diagram reduction
𝑟𝑜
𝑉𝑝𝑖 𝑉𝑎 𝑘𝑚
𝜃𝑖 + 𝑟𝑚 𝜃𝑜
𝑘𝑝𝑖 𝑘𝑎 𝑟 𝑟
𝐽𝐿𝑠 3 + (𝐽𝑅 + 𝐶𝐿)𝑠 2 + (𝐶𝑅 + 𝑘𝑚 𝑘𝑏 𝑜 𝑜 )𝑠
𝑟𝑚 𝑟𝑚
-

𝑉𝑝𝑜

𝑘𝑝𝑜

𝑟𝑜
𝑘𝑝𝑖 𝑘𝑎 𝑘𝑚 𝜃𝑜
𝜃𝑖 𝑟𝑚

• System transfer function 𝑟 𝑟 𝑟

𝐽𝐿𝑠 3 + 𝐽𝑅 + 𝐶𝐿 𝑠 2 + 𝐶𝑅 + 𝑘𝑚 𝑘𝑏 𝑜 𝑜 𝑠 + 𝑘𝑝𝑜 𝑘𝑎 𝑘𝑚 𝑜
𝑟𝑚 𝑟𝑚 𝑟𝑚

• 3rd order transfer function

𝜃𝑜 (𝑠) 𝑏0
• =
𝜃𝑖 (𝑠) 𝑎3 𝑠 3 +𝑎2 𝑠 2 +𝑎1 𝑠+𝑎0

12
Solution:
• System transfer function

• 3rd order transfer function

𝜃𝑜 (𝑠) 𝑏0
• =
𝜃𝑖 (𝑠) 𝑎3 𝑠 3 +𝑎2 𝑠 2 +𝑎1 𝑠+𝑎0

• The system is modeled using a 3rd order differential equation.

• 𝑎3 𝜃ሸ𝑜 (𝑡) + 𝑎2 𝜃ሷ𝑜 (𝑡) + 𝑎1 𝜃ሶ𝑜 (𝑡) + 𝑎0 𝜃𝑜 (𝑡) = 𝑏0 𝜃𝑖 (𝑡)
𝑑 3 𝜃𝑜 (𝑡) 𝑑 2 𝜃𝑜 (𝑡) 𝑑𝜃𝑜 (𝑡)
• 𝑎3 + 𝑎2 + 𝑎1 + 𝑎0 𝜃𝑜 (𝑡) = 𝑏0 𝜃𝑖 (𝑡)
𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡

13