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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, hydraulic, and electrical. Since most physical systems are
nonlinear, we will discuss linearization approximations, which allow us to use
Laplace transform methods.
We will then proceed to obtain the inputoutput relationship for components and
subsystems in the form of transfer functions. The transfer function blocks can be
organized into block diagrams or signal-flow graphs to graphically depict the
interconnections. Block diagrams (and signal-flow graphs) are very convenient
and natural tools for designing and analyzing complicated control systems
Illustrations
Introduction
Six Step Approach to Dynamic System Problems
Define the system and its components
Formulate the mathematical model and list the necessary
assumptions
Write the differential equations describing the model
Solve the equations for the desired output variables
Examine the solutions and the assumptions
If necessary, reanalyze or redesign the system
Illustrations
Ta( t ) Ts( t)
Ta( t )
( t )
Ta( t )
Ts ( t )
s( t) a( t )
= through - variable
Illustrations
Energy or Power
Describing Equation
v 21
d
L i
dt
v 21
1 d
F
k dt
1
2
L i
Translational Spring
1 F
2 k
21
1 d
T
k dt
1 T
2 k
P21
d
I Q
dt
Rotational Spring
Fluid Inertia
Illustrations
1
2
I Q
d
C v 21
dt
d
M v2
dt
d
J 2
dt
d
Cf P21
dt
d
Ct T2
dt
1
2
M v 21
Translational Mass
1
2
M v2
Rotational Mass
1
2
J 2
Fluid Capacitance
1
2
Cf P21
Thermal Capacitance
Illustrations
Ct T2
v 21
b v 21
b v 21
b 21
b 21
v 21
Translational Damper
2
Rotational Damper
Fluid Resistance
P21
T21
Rf
1
Rf
P21
Thermal Resistance
Illustrations
1
Rt
1
Rt
T21
Illustrations
d
y ( t) b y ( t) k y ( t)
2
dt
dt
r( t)
v ( t)
1
d
C v ( t ) v ( t ) d t
R
L 0
dt
y( t)
Illustrations
K 1 e
1 t
r( t)
sin 1 t 1
Illustrations
2 .5
y ( t ) K2 e
2 t
y1( t ) K2 e
2 10
2 2
sin 2 t 2
2 t
y2( t ) K2 e
2 t
1
y ( t)
y1( t )
y2( t )
4
t
Illustrations
Linear Approximations
Illustrations
Linear Approximations
Linear Systems - Necessary condition
Principle of Superposition
Property of Homogeneity
Taylor Series
http://www.maths.abdn.ac.uk/%7Eigc/tch/ma2001/notes/node46.html
Illustrations
g 9.8
m
s
L 100cm
0 0rad
15
16
T0 M g L sin 0
T1 M g L sin
T2 M g L cos 0 0 T0
10
T 1( )
T 2( )
10
Students are encouraged to investigate linear approximation accuracy for different values of 0
Illustrations
Illustrations
R L p
H( t)
H( t)
L p 1
R L p
H( t )
L p
2
3
R
1
R
1
H( t)
.....
R L p L
2 L
3
p
p
R 1
R t
R t
t
..
R L
L
2 L 3
1
v = H(t)
1 du
Z( p )
Z( p )
1
2 2
3 3
R t
1
L
1 e
(*) Oliver Heaviside: Sage in Solitude, Paul J. Nahin, IEEE Press 1987 .
Illustrations
L( f ( t ) )
f ( t) e
s t
dt
= F(s)
j w
Illustrations
f ( t) e
s t
dt
a)
for
f1( t) 1
F1( s )
s t
dt
b)
F2( s )
f2( t)
Illustrations
t0
1 ( s t )
e
s
1
s
( a t )
( a t ) ( s t )
dt
1
s1
[ ( s a) t ]
F2( s )
1
sa
d f ( t)
dt
by the use of
where
( s t )
d
f ( t) e
dt
dt
u dv
( s t )
dv
u v
v du
df ( t )
du
( s t )
dt
and
f ( t)
we obtain
u dv
f ( t) e
( s t )
= -f(0+) +
dt
f ( t) s e
f ( t) e
( s t )
( s t )
dt
dt
d f(t)
L
Illustrations
= sF(s) - f(0+) note that the initial condition is included in the transformation
assume i(0+) = 5 A
4 i( t) 2 d i( t) e ( s t ) d t 0
dt
0
4 I( s ) 2 ( s I( s ) i( 0) )
I( s )
5
s2
d t 2
4 I( s ) 2 s I( s ) 10
i( t ) e
( s t )
( s t )
d
i( t ) e
dt
dt
i( t) 5 e
( 2 t )
4
i( t )
2
0
Illustrations
1
t
Suppose that
F(s )
s z1
( s p1 ) ( s p2 )
or
F(s )
K1
s p1
K2
s p2
Evaluation of Ki in the manner just described requires the simultaneous solution of n equations.
An alternative method is to multiply both sides of the equation by (s + pi) then setting s= - pi, the
right-hand side is zero except for Ki so that
Ki
Illustrations
( s pi ) ( s z1 )
( s p1 ) ( s p2 )
s = - pi
Time Domain
Frequency Domain
e
1. Time delay
( s T )
f ( t T) u ( t T)
1
2. Time scaling
3. Frequency
differentiation
4. Frequency shifting
5. Frequency
6. Initial-value
f ( at )
Integration
Theorem
( a t )
Illustrations
Theorem
F( s a)
f ( t)
Lim( f ( t ) )
F( s ) d s
f ( 0)
t -> 0
7. Final-value
d
F( s )
ds
t f ( t)
f ( t) e
F( s )
Lim( s F( s ) )
s -> infinite
Lim( f ( t ) )
Lim( s F( s ) )
t -> infinite
s -> 0
Illustrations
( Ms b ) yo
equation 2.21
Ms bs k
y(s )
s1
s2
s b y
o
M
s2 b s k
s 2 n n
n n 1
s 2 n
k
M
k M
n n 1
Roots
Real
Real repeated
Imaginary (conjugates)
Complex (conjugates)
Illustrations
s1
n j n 1
s2
n j n 1
Illustrations
V1( s )
V2( s )
Cs
V2( s )
V1( s )
Illustrations
Cs
I( s )
I( s )
Z2( s )
Z2( s )
Cs
Z1( s )
1
Cs
Z 1( s ) Z 2( s )
R
1
Cs
d
y ( t) 4 y( t) 3 y( t) 2 r( t)
2
dt
dt
Initial Conditions: Y( 0) 1
d
y( 0)
dt
r( t)
2
2
s 4s 3
s s 4s 3
Illustrations
3
2
( s 1)
1
2
( s 3)
( s 1)
1
3
2 R( s )
y( t)
3 e t 1 e 3 t 1e t 1 e 3 t 2
2
3
2
3
2
3
( s 3)
1 Y( s )
2
3
Illustrations
Illustrations
Illustrations
Illustrations
Kf if
Tm
K1 Kf if( t ) ia( t )
Vf( s )
K1 Kf Ia If( s )
Rf Lf s If( s )
Tm( s )
TL( s ) Td ( s )
TL( s )
J s ( s ) b s ( s )
Tm( s )
rearranging equations
TL( s )
Tm( s ) Td ( s )
Tm( s )
Km If( s )
If( s )
Illustrations
Vf ( s )
Rf Lf s
Td ( s )
(s )
Km
Vf( s )
s ( J s b ) Lf s Rf
Illustrations
Illustrations
Illustrations
Illustrations
V 1( s )
RCs
V 2( s )
V 1( s )
Illustrations
RCs
Illustrations
V 2( s )
R 2 R 1 C s 1
V 1( s )
R1
V 2( s )
R 1 C 1 s 1 R 2 C 2 s 1
V 1( s )
R 1 C 2 s
(s)
V f(s )
(s )
V a( s )
Illustrations
Km
s ( J s b ) L f s R f
Km
s R a L a s ( J s b ) K b K m
(s)
s s 1
Vc( s )
J
( b m)
m = slope of linearized
torque-speed curve
(normally negative)
R R
c q
Vo( s )
s c 1 s q 1
Vc( s )
c
Lc
Lq
Rc
Rq
For the unloaded case:
id 0
c q
0.05s c 0.5s
V12
Illustrations
Vq
V34
Vd
X( s )
s ( Ms B)
A kx
K
B
kp
kx
g
dx
g ( x P)
kp
kp
b
d
dP
flow
A = area of piston
Illustrations
N1 m
n m
n m
R2
R2
V1( s )
R1 R2
R2
max
ks 1( s ) 2( s )
V2( s )
ks error( s )
ks
Illustrations
V2( s )
Vbattery
max
Kt ( s )
Kt s ( s )
constant
V2( s )
ka
V1( s )
s 1
Ro = output resistance
Co = output capacitance
Ro Co
1s
Illustrations
xo( t)
Xo( s )
Xin( s )
b s k
M
M
Xin j
k
M
T( s )
q( s )
1
Ct s Q S
T
Ct
Q
S
Rt
q(s )
Illustrations
thermal capacitance
fluid flow rate = constant
specific heat of water
thermal resistance of insulation
rate of heat flow of heating element
Illustrations
Illustrations
Illustrations
Illustrations
Original Diagram
Equivalent Diagram
Original Diagram
Equivalent Diagram
Illustrations
Original Diagram
Equivalent Diagram
Original Diagram
Equivalent Diagram
Illustrations
Original Diagram
Equivalent Diagram
Original Diagram
Equivalent Diagram
Illustrations
Illustrations
Illustrations
Example 2.7
Illustrations
Illustrations
Y1( s )
Y2( s )
Illustrations
a11 x1 a12 x2 r1
x1
a21 x1 a22 x2 r2
x2
Illustrations
Y( s )
G 1 G 2 G 3 G 4 1 L 3 L 4 G 5 G 6 G 7 G 8 1 L 1 L 2
R( s )
1 L 1 L 2 L 3 L 4 L 1 L 3 L 1 L 4 L 2 L 3 L 2 L 4
Illustrations
Y( s )
G 1 G 2 G 3 G 4
R( s )
1 G 2 G 3 H 2 G 3 G 4 H 1 G 1 G 2 G 3 G 4 H 3
P1
Illustrations
Y( s )
P1 P2 2 P3
R( s )
G1 G2 G3 G4 G5 G6
P2
G1 G2 G7 G6
P3
G1 G2 G3 G4 G8
1 L1 L2 L3 L4 L5 L6 L7 L8 L5 L7 L5 L4 L3 L4
3
1 L5
1 G4 H4
Design Examples
Illustrations
Design Examples
Design Examples
Illustrations
Design Examples
Illustrations
Design Examples
Illustrations
Design Examples
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
error
Illustrations
Illustrations
error
Num4=[0.1];
Illustrations
Illustrations
Illustrations
Illustrations
Illustrations
=
Illustrations
P2.11
Illustrations
P2.11
L d L a s R d R a
L c s R c
+Vd
Vq
Id
K2
K1
1
L qs R q
Illustrations
J s b
Vc
Ic
Tm
Km
-Vb
K3
Illustrations
http://www.jhu.edu/%7Esignals/sensitivity/index.htm
Illustrations
http://www.jhu.edu/%7Esignals/
Illustrations