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ME 413 SYSTEM DYNAMICS & CONTROL

Chapter 01

Introduction

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ME 413 SYSTEM DYNAMICS & CONTROL

CH 01, Slide 2

Textbook

SYSTEM DYNAMICS,
Fourth Edition

Katsuhiko Ogata

Pearson Education International

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ME 413 SYSTEM DYNAMICS & CONTROL

CH 01, Slide 3

HW

HW problems are pre-assigned as in the course outline Table.

All HW problems assigned are due in class unless stated


otherwise by the instructor.

Each HW should have the ME Department HW cover page.

Late HW will NOT BE ACCEPTED.

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ME 413 SYSTEM DYNAMICS & CONTROL

CH 01, Slide 4

Attendance

According to KFUPM regulations, attendance is MANDANTORY


and will be checked at the end of each lecture.

The only acceptable excuse for absence is the one authorized


by the Deanship of Student Affairs on their prescribed form.

For any unexcused absence, 0.5 marks will be deducted from


the final grade.

More than 8 unexcused absences will be reported to the


registrar office and result in a DN GRADE regardless of the
students grade.

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CH 01, Slide 5

Instructor
Instructor

Loc.

Tel.

E-mail

Dr. Abdelaziz Bazoune 63-206 1330 abazoune

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Office Hours
Sun, Mon, Tue, Wed: 9:30 > 10:20
or
by appointment.

ME 413 SYSTEM DYNAMICS & CONTROL

CH 01, Slide 6

Exams and Grading System


Assessment
HW
Quizzes
(No make up quizzes)

Weight Location

Date

5%

Take
Home

Refer to due dates


in syllabus

5%

@ the end of each


In Class
Chapter

@ the end of
the lecture
@ the end of
the lecture

Laboratory

20 %

In lab

1st Mid-Term Exam

20 %

TBA

Mon. 1 Aug. 2016

19:00 - 20:30

2nd Mid-Term Exam

20 %

TBA

Mon. 22 Aug. 2016

19:00 - 20:30

Final Exam

30 %

TBA

Tue. 30 Aug. 2016

8:00 - 10:00

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Weekly

Time

ME 413 SYSTEM DYNAMICS & CONTROL

As scheduled

CH 01, Slide 7

Course Outline
Ch.

Topics

No. of
Lec.

Introduction to systems dynamics

Laplace transform

Mechanical systems

Transfer function approach to modeling dynamic systems

Electrical and electromechanical systems

Fluid systems

Time-domain analysis of dynamic systems

Frequency-domain analysis of dynamic systems

10

Time-domain analysis and design of control systems

11

Frequency-domain analysis and design of control systems

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CH 01, Slide 8

HW Scheldule
Ch

Problems (Textbook)

B-2-2, B-2-6, B-2-15, B-2-18, B-2-21, B-2-24, B-2-25

B-3-9, B-3-12, B-3-13, B-3-14, B-3-15, B-3-18, B-3-19, B-3-20

B-4-1, B-4-3, B-4-4, B-4-7, B-4-8, B-4-12

B-6-4, B-6-7, B-6-10, B-6-11, B-6-19

B-7-2, B-7-3, B-7-4, B-7-5

B-8-3, B-8-4, B-8-7, B-8-8, B-8-9, B-8-14

Due Date

B-9-1, B-9-2, B-9-3, B-9-6, B-9-7, B-9-12

10

B-10-2, B-10-11, B-10-14, B-10-17

11

B-11-2, B-11-4, B-11-8, B-11-15

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ME 413 SYSTEM DYNAMICS & CONTROL

CH 01, Slide 9

Chapter Objectives
Upon successful completion of this Chapter, students will be able
to:
Define dynamic systems and types.
Identify how mechanical, thermal, fluid, and electrical systems
are modeled.

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CH 01, Slide 10

INTRODUCTION
A system is defined as a combination of components (elements)
that act together to perform a certain objective.

System dynamics deal with:


Mathematical modeling of dynamic systems.
Response analyses of such systems with a view toward
understanding the dynamic nature of each system and
improving the systems performance.

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CH 01, Slide 11

Static Systems
Static Systems have an output response to an input that does not
change with time.

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CH 01, Slide 12

Dynamic Systems
When the rates of change are significant, the systems are referred to as
dynamic systems.

Dynamic systems can respond to input signals, disturbance signals, or


initial conditions.

Dynamic Systems are found in all


major engineering disciplines and
include mechanical, electrical,
fluid and thermal systems.

Figure 1-1
system.

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Input/Output response of a

ME 413 SYSTEM DYNAMICS & CONTROL

CH 01, Slide 13

Examples of Dynamic Systems

Automobile

Water Tower

Boiling Pot
Figure 1-2 Examples of dynamic systems

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CH 01, Slide 14

Mechanical Systems
Systems that possess significant mass (inertia) and spring and energy
dissipation (damper) components driven by forces, torques, specified
displacements are considered to be mechanical systems.

Mass (Inertia)

Spring

Damper (dashpot)

An automobile is a good example of a dynamic mechanical system. It


has a dynamic response as it speeds up, slows down, or rounds a curve
in the road. The body and the suspension system of the car have a
dynamic response of the position of the vehicle as it goes over a bump.
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ME 413 SYSTEM DYNAMICS & CONTROL

CH 01, Slide 15

Electrical Systems
Electrical systems include circuits with resistive, capacitive, or inductive
components excited by voltage or current.

Electronic circuits can include transistors or amplifiers.

A television receiver has a dynamic response of the beam that traces


the picture on the screen of the set. The TV tuning circuit, which allows
you to select the desired channel, also has a dynamic response.
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CH 01, Slide 16

Fluid Systems
Fluid systems employ orifices, restrictions, control valves, accumulators
(capacitors), long tubes (inductors), and actuators excited by pressure
or fluid flow.

Tube (inductor)
Water tank (Capacitor)

A city water tower has a dynamic response of the height of the water as
a function of the amount of water pumped into the tower and the
amount being used by the citizens.
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CH 01, Slide 17

Thermal Systems
Thermal systems have components that provide resistance (conduction,
convection or radiation) and a capacitance (mass a specific heat) when excited by
temperature or heat flow.

Solar thermal system


A heating system warming a house has a dynamic response as the temperature
rises to meet the set point on the thermostat.
Placing a pot of water over a burner to boil has a dynamic response of the
temperature.
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CH 01, Slide 18

Mixed Systems
Some of the more interesting dynamic systems use two or more of the
previously mentioned engineering disciplines, with energy conversion
between various components.
Figure 1-3 shows several examples.

Speaker
Engine
Space heater
Figure 1-3 Examples of mixed systems
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CH 01, Slide 19

Fluid-Mechanical Systems
Hydraulic or pneumatic systems with fluid mechanical conversion
components exhibit dynamic behavior.
Examples are a hydraulic pump, a valve controlled actuator, and a
hydraulic motor drive.
A hydraulic servo system used for flight control in an airplane is a good
example of a common electro-fluid-mechanical dynamic system.

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CH 01, Slide 20

Electro-Mechanical Systems
Systems employing electromagnetic component that converts a current
into a force generally have a dynamic response.
Examples are a loudspeaker in a stereo system, a solenoid actuator, and
electric motors.
In a loudspeaker, electrical current from the amplifier is transformed
into movement of the speaker cone and the subsequent air pressure
fluctuations that cause us to hear the amplified sound.

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CH 01, Slide 21

Thermo-Mechanical Systems
A combustion engine used in a car, truck, ship, or airplane is a thermofluid-mechanical (or simply, thermo-mechanical) device, since it
converts thermal energy into a fluid power and then into mechanical
power. Thermodynamics, fluid dynamics, and mechanical dynamics are
all involved in the process.

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CH 01, Slide 22

Electro-Thermal Systems
A space heater that uses electric current to heat filament, which in turn
warms the air, has a dynamic response to the surrounding environment.
An electric water heater is another common example of an electrothermal system.

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CH 01, Slide 23

Mathematical Modeling of Dynamic Systems


A mathematical model usually describes a system by means of variables.
Usually physical laws are applied to obtain mathematical model.
Sometimes experimental procedures are necessary. But no mathematical
model can represent a physical system completely.
Approximations and assumptions restrict the validity of the model.

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CH 01, Slide 24

Classification of System Models


Model Type

Classification Criterion

Mathematical Model

Linear Time
Invariant
(LTI)

Principle of superposition
applies

Dif. eq. with constant


coefficients

Linear Time
Variant (LTV)

Model parameters vary in


time

Dif. eq. with varying parameters

Nonlinear

Principle of superposition
does not apply. Most, if not
all physical systems are
nonlinear

Non-linear dif. Eq.

Continuous

Dep. variables defined over


continuous range of
independent variables

Dif. eqs

Discrete

Dep. variables defined only


for distinct values of
independent variables

Time difference eqs

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+5

+ 1

ME 413 SYSTEM DYNAMICS & CONTROL

+ 10 = 0

cos(2 )

=0

=0

CH 01, Slide 25

Approximations Used in Mathematical Modeling


Approximation

Mathematical Simplification

Neglect small effects

Reduces no. and complexity of dif. Eqs.

Assume environment
independent of system motions

Same as above

Replace distribution charact. with Leads to ordin. (rather than partial) dif.
appropriate lumped elements
eqs
Assume linear relationships

Makes eqs linear, allows superposition


solutions

Assume constant parameters

Leads to constant coefficients in dif. eqs

Neglect uncertainty and noise

Avoids statistical treatment

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CH 01, Slide 26

Mathematical Modeling Procedures


Define Systems
& Variables

Write Equations
Using Physical Laws

Solve Equations

No

Agree with
Experiment
Yes

Final Model

Figure 1-4 Flowchart for the mathematical modeling procedure


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CH 01, Slide 27

Analysis and Design of Dynamic Systems


Specifications

Analysis: Investigation of the performance of a


system under specified conditions. The most crucial

Mathematical Model

step is the mathematical model.


Design

Design: Process of finding a system that


accomplishes a task.
Test

Synthesis: Finding a system that will perform in a


specified way.
No

Figure 1-5 Flowchart for analysis


and design of dynamic systems

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ME 413 SYSTEM DYNAMICS & CONTROL

Satisfactory

Yes

CH 01, Slide 28

(a) Model representation of an automobile.

Figure 1-6
(a) Model representation of an
automobile. (b) A simplified
representation.

(b) A simplified representation.


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CH 01, Slide 29

Figure 1-7
Simplified, multiple model for a human body
standing on a vibrating platform

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CH 01, Slide 30

Further Readings

https://legacy.saylor.org/me401/Intro/
http://www-old.me.gatech.edu/nader.sadegh/ME3015/
http://www.facstaff.bucknell.edu/mastascu/econtrolhtml/SysDyn/SysDyn1.html#TheSystem
http://www-old.me.gatech.edu/nader.sadegh/ME3015/
http://ocw.mit.edu/courses/mechanical-engineering/2-003j-dynamics-and-control-i-spring2007/lecture-notes/
https://www.youtube.com/watch?v=MN3RJWcJKnk

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CH 01, Slide 31

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