Mathematical Modeling

Modeling of Electrical Systems

Basic Components of electrical systems are as follows.

Modeling of electrical system is based on Kirchhoffs Law, i.e either

using Nodal Analysis or Mesh Analysis depending on which one is
easier for each case.
LRC Circuit
Consider the following LRC circuit,

Using KVL (Kirchhoffs Voltage Law) we get,

Assuming zero initial conditions and transform the eqns into Laplace,

Then the transfer function of the circuit is

Cascaded RLC Circuit

Using KVL (Kirchhoffs Voltage Law) we get,

Assuming zero initial conditions and transform the eqns into Laplace,

Subtitude eqn(3-70) into eqn(3-69) to eliminate I1 from eqn(3-69),

then the transfer function is:

This approach becomes quite difficult as the circuit becomes more

complex. The simpler approach is by using SFG.
Modeling of Electrical Network Using SFG
Example 1
Consider the RC circuit,

Using KVL and KCL (Kirchhoffs Current Law) we can write,

Eo

1
I
sC

Ei Eo 1
1
Ei E o
R
R
R

Draw SFG,

The transfer function,

G s

Eo
1 sRC
1

E i 1 1 sRC 1 sRC

Example 2
Consider the cascaded RC circuit,

Using KVL and KCL (Kirchhoffs Current Law) we can write,

Draw SFG and apply Mason gain formula,

Example 3

Using KVL and KCL we can write,

Draw SFG and apply Mason gain formula,

Active Circuit
Active circuit consists of operational amplifier or op amps, normally
used to amplify signal in sensor circuit and also in filter or controller.

The equation that govern the op amps is,

Inverting Amplifier

Non-Inverting Amplifier

Example 1
Consider the following circuit that could be simplified as the next
circuit.

The second circuit is similar to the inverting amplifier, hence

Example 2
Consider the following lead or lag controller circuit,

From Figure (a) that is similar to inverting amplifier,

To get the non-inverting circuit, the sign inverter as in Figure (b) is

normally used, where

Modeling of Mechanical Systems

Basic elements and laws of mechanical systems are as follows:

1. Spring

F kx t

T k t

where k is the spring constant .

2. Damper and Dashpot

F c x1 t x 2 t

T c 1 t 2 t

where c = damping coefficient

3. Mass and Inertia

F mx t

where m, J = mass/ inertia

T J t

4. Lever Mechanism

b
a
x1 t
x2 t
ab
ab

without the fixed point,

y t

b
a
x1 t
x2 t
ab
ab

and if a = b,
y t 0.5 x1 t x 2 t

5. Gear

The number of teeth on the gear surface is proportional to the

gears radii
r1 N 2 r2 N1

The distance traveled along the surface of each gear is the same.
r11 t r2 2 t

The work done by the gear is equal to that of the other,

T1 1 t T2 2 t

The gear ratio,

n

N 2 1 t

N 1 2 t

Example 1 Damper-Spring-Mass system

Force equation according to Newtons Law

f t mx t cx t kx t

In Laplace domain,
F s ms cs k X s
2

Therefore, transfer function

G s

X s
1
2
F s ms cs k

Example 2: Dynamic Absorber (Two-mass system)

Mass m:
f t mx kx k1 x x1 c1 x x 1

or
f t mx c1 x kx k1 x c1 x 1 k1 x1

Mass m1
k1 x x1 c1 x x 1 m1 x

or
m1 x1 c1 x 1 k1 x1 c1 x k1 x

In Laplace Domain

c1 s k1 X 1 ms 2 c1 s k k1 X F
c1 s k1 X m1 s 2 c1 s k1 X 1

or
X1
X

ms

m s

c1s k k1
1
X
F
c1s k1
c1s k1

c1s k1
X1
c1s k1

Draw SFG

Using Masons Gain formula,

c1s k1
X1

m1s 2 c1s k1 ms 2 c1s k k1

F
1
c1s k1 2

c1s k1
2
m1s c1s k1 ms c1s k k1 c1s k1

m1s 2 c1s k1

c
s

X
1
1

2
2
m s c1s k1 ms c1s k k1
F
1 1
c1s k1 2

m1s 2 c1s k1
2
m1s 2 c1s k1 ms 2 c1s k k1 c1s k1

Example 3 Rotational Drive system

Assume

2 3

k 1 2 J 12

, then force eqns.,

c and
2

c 2 3 J 23

In Laplace domain,
cs J s cs k k
cs J s cs
or
J s cs k k

2

cs

s 2 cs
3
cs

Draw SFG

cs

Apply Masons gain formula

3
k cs
kcs

2
2
2
2
1 1 J1s cs k J 2 s cs cs
J1s cs k J 2 s 2 cs cs 2

kc
J1 J 2 s J1 J 2 cs 2 kJ 2 s kc
3

2
k J 2 s 2 cs cs
k J 2 s 2 cs

1 1 J1s 2 cs k J 2 s 2 cs cs 2 J1s 2 cs k J 2 s 2 cs cs 2
2

k J 2s c
J1 J 2 s J1 J 2 cs 2 kJ 2 s kc
3

Example 4 System with Gears

Force Eqns.,
T1 J1 1

n2

k
J
c
2 2 2
2
n
n
n2

In Laplace Domain,
T1 J11s

n2

k
J
c
2 2 s
2
2
n
n
n2

n2
n 2 J1s
T1
1
k
k
k

Js c

Draw SFG

The Transfer Functions,

2 n 2

;
T1 Js c

2 n 2 J 1s

;
1 Js c

n2
;
T1 k

n2 J s
1
1
k

Modeling of Biomedical Instruments/ Devices

Most of the biomedical instruments / devices are made of a
combination of mechanical and electrical components. Some of those
simple instruments will be considered in this section.
Example 1 Dialysate weight measuring circuit (for Peritoneal
Dialysis)
A simple schematic diagram for Peritoneal Dialysis system is shown
bellow. To provide a mobile system, the control hardware, dialysate
supply and spent dialysate are commonly mounted on a wheeled
stand.

It is required to measure the weight of the dialysate supply and spent

dialysate to determine the amount of fluid and waste removed from
the body. The measuring circuit consists of the following circuit
attached to a spring-loaded mechanism to change the position of a
potentiometer.

The transfer function of circuit is given by a standard non-inverting

amplifier,
G(s)

Rf
V0 ( s )

1
Vi ( s )
Ri

Example 2 An Integrator for EMG signals

It is frequently of interest to quantify the amount of EMG
(Electromyogram) activity. Such quantification often assumes the
form of taking the absolute value of EMG and integrating it, as shown
in the block diagram bellow,

The transfer function of the integrator is,

1
V3 ( s )
1
G( s)
sC
V2 ( s )
R
sCR

Example 3 An ECG amplifier circuit

The block diagram of an electrocardiograph (ECG) is shown bellow.

The transfer function of the first op amp,

G1 ( s )

Vi ( s )
R
1 2
Va ( s )
R1

Since the second op-amp also has the same resisters so it has the same
transfer function. The third op-amp will have the transfer function of,
G3 ( s )

Vo ( s ) Ro

Vi ( s ) Ri

Therefore, the overall transfer function will be,

G(s)

Vo ( s )
R
G1 ( s ) G2 ( s ) G3 ( s ) 2 1 2
(Va ( s ) Vb ( s ))
R1

Ro

Ri

Example 4 Signal conditioning, low pass filter for ECG signal

A low pass filter is part of the conditioning circuit for ECG and one of
the common filters is Sallen and Key quadratic low-pass filter as in
the following diagram.

Note that

G1 1 / R1 & G2 1 / R2

KCF at V1

(V1 Vs )G1 (V1 V2 )G2 (V1 Vo ) sC1 0

V1 G1 G2 sC1 VsG1 V2G2 Vo sC1

V1 G1 G2 sC1 VsG1 Vo sC1 G2 / K v ; since Vo K vV2

KCF at V2
(V2 V1 )G2 V2 sC2 0

V2 G2 sC2 V1G2

Vo G2 sC2 V1 K v G2 ; since Vo K vV2

Hence the transfer function is,

G( s)

Vo ( s )
K v G1G2 G1 G2 sC1 G2 sC2

Vs ( s ) 1 K v G2 sC1 G2 K v G1 G2 sC1 G2 sC2

K v G1G2

s C1C2 s G1C2 G2 C2 C1G2 K v G2 C1 G1G2

2

Kv

s 2 C1C2 R1 R2 s R2 C2 R1C2 C1 R1 (1 K v ) 1

Example 5 Strain gauge to study the strength of artificial bone

A fine wire is cemented on a carrier (e.g thin paper, bakelite or teflon).
The carrier is then bonded to subject being measured

Stress tends to elongate the wire, hence increase its length and
decrease cross-sectional area. Thus resistance is:
R

l
A

= resistivity of the material in m

A strain gauge is normally glued to an artificial bone to study the
effect of applying a load to the bone.

Initially the circuit is balance (as R 1 = R2), thus the output voltage is
zero. However, if the active gauge is stretched or compressed the

gauge resistance will vary and produce some voltage. The transfer
function is,
V 1( s )

R2 r
Rr
Vi
Vi
R1 R2 r
2R r

V 2( s )

R2
1
Vi Vi
R1 R2
2
Rr 1
Vi
2R r 2

Vo ( s ) V 1( s ) V 2( s )
G( s)

Vo ( s ) R r 1
r

Vi ( s ) 2 R r 2 4 R 2r

Where r is the resistance due to the strain of the gauge,

r kR

Where k is the gauge factor and strain is the change in length divide
original length,

L
L