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ME451: Control Systems ME451: Control Systems
Prof. Clark Radcliffe and Prof. Prof. Clark Radcliffe and Prof. Jongeun Choi Jongeun Choi
Department of Mechanical Engineering Department of Mechanical Engineering
Michigan State University Michigan State University
Lecture 4 Lecture 4
Modeling of electrical systems Modeling of electrical systems
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Course roadmap Course roadmap
Laplace transform Laplace transform
Transfer function Transfer function
Models for systems Models for systems
electrical electrical
mechanical mechanical
electromechanical electromechanical
Block diagrams Block diagrams
Linearization Linearization
Modeling Modeling Analysis Analysis Design Design
Time response Time response
Transient Transient
Steady state Steady state
Frequency response Frequency response
Bode plot Bode plot
Stability Stability
Routh Routh-Hurwitz -Hurwitz
Nyquist Nyquist
Design specs Design specs
Root locus Root locus
Frequency domain Frequency domain
PID & Lead-lag PID & Lead-lag
Design examples Design examples
( (Matlab Matlab simulations &) laboratories simulations &) laboratories
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Controller design procedure (review) Controller design procedure (review)
plant plant
Input Input Output Output Ref. Ref.
Sensor Sensor
Actuator Actuator Controller Controller
Disturbance Disturbance
1. Modeling
Mathematical model Mathematical model
2. Analysis
Controller Controller
3. Design
4. Implemenation
! ! What is the What is the mathematical model mathematical model ? ?
! ! Transfer function Transfer function
! ! Modeling of electrical circuits Modeling of electrical circuits
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! ! Representation of the input-output (signal) Representation of the input-output (signal)
relation of a physical system relation of a physical system
! ! A model is used for the A model is used for the analysis analysis and and design design of of
control systems. control systems.
Mathematical model Mathematical model
Physical Physical
system system
Model Model
Modeling Modeling
Input Input
Output Output
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! ! Modeling is Modeling is the most important and difficult task the most important and difficult task
in control system design. in control system design.
! ! No mathematical model exactly represents a No mathematical model exactly represents a
physical system. physical system.
! ! Do not confuse Do not confuse models models with with physical systems physical systems! !
! ! In this course, we may use the term In this course, we may use the term system system to to
mean a mathematical model. mean a mathematical model.
Important remarks on models Important remarks on models
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Transfer function Transfer function
! ! Defined by Defined by
! ! Zero initial condition are assumed because Zero initial condition are assumed because
! ! We are interested in the response we can design We are interested in the response we can design
! ! IC response disappears with time IC response disappears with time
! ! F Final system response depends only on inputs inal system response depends only on inputs
Laplace transform of system output Laplace transform of system output
Laplace transform of system input Laplace transform of system input
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Impulse response Impulse response
! ! Suppose that u(t) is the unit impulse function Suppose that u(t) is the unit impulse function
and system is at rest. and system is at rest.
! ! The output g(t) for the unit impulse input is called The output g(t) for the unit impulse input is called
impulse response impulse response. .
! ! When U(s)=1, the transfer function can also be When U(s)=1, the transfer function can also be
defined as the defined as the Laplace transform of impulse Laplace transform of impulse
response response: :
System System
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Models of electrical elements: Models of electrical elements:
(constitutive equations) (constitutive equations)
v(t) v(t)
i(t) i(t)
R R
Resistance Resistance Capacitance Capacitance Inductance Inductance
i(t) i(t)
L L v(t) v(t) v(t) v(t)
Laplace Laplace
transform transform
i(t) i(t)
C C
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Impedance Impedance
! ! Generalized resistance to a sinusoidal Generalized resistance to a sinusoidal
alternating current (AC) current I(s) alternating current (AC) current I(s)
! ! Z(s): V(s)=Z(s)I(s) Z(s): V(s)=Z(s)I(s) V(s) V(s) I(s) I(s)
Z(s) Z(s)
Memorize! Memorize!
Time domain Impedance Z(s)
Resistance Resistance
Capacitance Capacitance
Inductance Inductance
Element
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Kirchhoff Kirchhoff s Voltage Law (KVL) s Voltage Law (KVL)
! ! The algebraic sum of voltage drops around any The algebraic sum of voltage drops around any
loop is =0. loop is =0.
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Kirchhoff Kirchhoff s Current Law (KCL) s Current Law (KCL)
! ! The algebraic sum of currents into any junction The algebraic sum of currents into any junction
is zero. is zero.
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Modeling example Modeling example
! ! Kirchhoff voltage law Kirchhoff voltage law (with zero initial conditions) (with zero initial conditions)
! ! By By Laplace transform Laplace transform, (easiest , (easiest to do directly) to do directly)
v v11(t) (t)
i(t) i(t)
R R22 Input Input
R R11
v v22(t) (t) Output Output
C C
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Modeling example (cont Modeling example (cont d) d)
! ! By By Laplace transform Laplace transform, (easiest , (easiest to do directly) to do directly)
! ! Transfer function Transfer function
(first-order system) (first-order system)
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Modeling example (cont Modeling example (cont d) d)
! ! Transfer function Transfer function
v v11(t) (t)
i(t) i(t)
R R22 Input Input
R R11
v v22(t) (t) Output Output
C C
(first-order system) (first-order system)
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Example: Modeling of op amp Example: Modeling of op amp
! ! Op Amps: The Amplifier you want to know about Op Amps: The Amplifier you want to know about
! ! Op Amp Behavior is simple Op Amp Behavior is simple
! ! Voltage: Voltage:
! ! Current: Current:
K
v+
v!
vout
+
-
v
out
= K v
+
! v
!
( ) where K !10
6
" #
means for finite v
out
, v
+
= v
!
i
+
= i
!
=
v
!
R
where R "10
6
means i
+
= i
!
= 0
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v vdd
Example: Modeling of op amp Example: Modeling of op amp
! ! Impedance Impedance Z(s): V(s)=Z(s)I(s) Z(s): V(s)=Z(s)I(s)
V Vii (s) (s)
I(s) I(s)
Input Input
Z Zii (s) (s)
V Voo(s (s) ) Output Output
- -
+ +
i i
--
Rule 1 => Rule 1 => v v
dd=0 =0
Rule 2 => Rule 2 => i i
--
=0 =0
Z Zff(s) (s)
I I
ff
(s (s) )
V
O
(s) ! 0 ( ) = Z
f
(s)I
f
(s)
V
i
(s) ! 0 ( ) = Z
i
(s)I(s)
0 = I(s) + I
f
(s)
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Example: Modeling of op amp Example: Modeling of op amp
! ! Impedance Impedance Z(s): V(s)=Z(s)I(s) Z(s): V(s)=Z(s)I(s)
! ! Transfer function Transfer function of the above op amp: of the above op amp:
V
O
(s) ! 0 ( ) = Z
f
(s)I
f
(s)
V
i
(s) ! 0 ( ) = Z
i
(s)I(s)
0 = I(s) + I
f
(s)
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Modeling example: op amp Modeling example: op amp
! ! By the formula in previous two pages, By the formula in previous two pages,
v vii (t (t) )
i(t i(t) )
R R22
Input Input
R R11
v voo(t (t) ) Output Output
C C
- -
+ +
i i
--
v vdd
V Vdd=0 =0
i i
--
=0 =0
(first-order system) (first-order system)
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Modeling exercise: op amp Modeling exercise: op amp
Find the transfer function Find the transfer function G(s) =
v
o
(t )
v
i
(t )
i
!
(t ) = 0
v
d
(t ) = 0
Input Input v
i
(t )
R R22
R R11
C C22
- -
+ +
C C11
v
d
i
!
Output Output v
o
(t )
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Modeling exercise: op amp Modeling exercise: op amp
! ! We We need need the impedance the impedance of the parallel RC of the parallel RC
circuit circuit
! ! Find the impedance transfer function Find the impedance transfer function
v(t )
i(t )
R C
iR iC
V(s) = R ( ) I
R
(s)
V(s) =
1
Cs
!
"
#
$
%
&
I
C
(s)
I(s) = I
R
(s) + I
C
(s)
I(s) = I
R
(s) + I
C
(s) =
V(s)
R
!
"
#
$
%
&
+ CsV(s) ( ) =
1
R
+ Cs
!
"
#
$
%
&
V(s)
=
1+ RCs
R
!
"
#
$
%
&
V(s)
Z(s) =
V(s)
I(s)
=
R
1+ RCs
!
"
#
$
%
&
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Modeling exercise: op amp Modeling exercise: op amp
!! With the With the impedence impedence, we can now model the op amp circuit , we can now model the op amp circuit
!! The Transfer Function The Transfer Function
Input Input v
i
(t )
RR
11
--
++
RR
22
CC
22
CC
11
vd
i
!
Output Output v
o
(t )
Z1(s)
Z2 (s)
Z
1
(s) =
R
1
1+ R
1
C
1
s
!
"
#
$
%
&
Z
2
(s) =
R
2
1+ R
2
C
2
s
!
"
#
$
%
&
G(s) =
V
o
(s)
V
o
(s)
= !
Z
2
(s)
Z
1
(s)
= !
R
2
1+ R
1
C
1
s ( )
R
1
1+ R
2
C
2
s ( )
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Summary & Exercises Summary & Exercises
! ! Modeling Modeling
! ! Modeling is an important task! Modeling is an important task!
! ! Mathematical model Mathematical model
! ! Transfer function Transfer function
! ! Modeling of electrical systems Modeling of electrical systems
! ! Next, modeling of mechanical systems Next, modeling of mechanical systems
! ! Exercises Exercises
! ! Read Sections 2.2, 2.3 Read Sections 2.2, 2.3
! ! Solve problems 2.1, 2.2, and 2.3 in page 62 Solve problems 2.1, 2.2, and 2.3 in page 62