C ONTROL S YSTEMS : AAOC C321

Department of EEE & I BITS Pilani, K K Birla Goa Campus

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Narayan Suresh Manjarekar narayan[at]bits-goa.ac.in

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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

Mechanical systems

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E LECTRICAL COMPONENTS
Voltage (across variable) Current (through variable) R: e = Ri
di L: e = L dt

C: i = C de dt

R L, R C series/parallel circuits R L C, series/parallel circuits

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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

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A SERIES RC CIRCUIT

Vc (s) = Vi (s) VR (s) = Vi (s) Tank system: A = C. Time constant = RC

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1 1+sRC sRC 1+sRC
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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

Mechanical systems

E XAMPLE : P ROCESS CONTROL

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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

Mechanical systems

E XAMPLE : P ROCESS CONTROL

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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

Mechanical systems

L IQUID LEVEL CONTROL

Inow rate: qi (t), outow rate: qo (t) (m3 /s) qo directly proportional to the height h. Input qi ; output qo , or h ? ODEs: volume ow balance equation ! Order of the system?
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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

Mechanical systems

L IQUID LEVEL CONTROL : DYNAMIC MODEL

replacements

qi (t) qo (t) = qo (t)

Is this system linear and time-invariant?

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Con
dAh(t) dt h(t) = R

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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

Mechanical systems

L IQUID LEVEL CONTROL : T RANSFER

If the system is LTI With zero initial conditions

qi (t) qo (t) = qo (t) Qo (s) = Qi (s) H(s) = Qi (s)

Poles and zeros of a transfer function.

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Con
dAh(t) dt h(t) = R 1 1+sRA R 1+sRA

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FUNCTION

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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

Mechanical systems

T WO - TANK SYSTEMS

1 qi1 (t) qo1 (t) = A1 dhdt(t) , 2 qi2 (t) qo2 (t) = A2 dhdt(t) ,

Can we determine

Qo1 (s) H1 (s) Qo2 (s) , , Qi1 (s) Qi1 (s) Qi2 (s)

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h1 (t) R1 h2 (t) qo2 (t) = R2 qo1 (t) =
H2 (s) Qi2 (s)

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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

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T WO - TANK SYSTEMS

Can we determine

Qo2 (s) Qi1 (s)

and

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H2 (s) Qi1 (s)

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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

Mechanical systems

T WO - TANK SYSTEMS

Can we determine

Qo2 (s) Qi1 (s)

and

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H2 (s) Qi1 (s)

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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

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T WO - TANK SYSTEMS

qi1 (t) qo1 (t) = qi2 (t) qo2 (t) =

dAh1 (t) , dt dAh2 (t) , dt

Then, the overall transfer functions

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(h1 (t) h2 (t)) R1 h2 (t) qo2 (t) = R2 qo1 (t) =

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Modeling: Electrical systems

Modeling: Hydraulic systems

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C OUPLED R-C CIRCUIT

Vc (s) = Vi (s) VR (s) = Vi (s)

Loading effect Buffer, isolation: transformer, Op-amp unity gain follower

Con
1 1+sRC sRC 1+sRC
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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

Mechanical systems

A CAR SUSPENSION SYSTEM

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Modeling: Electrical systems

Modeling: Hydraulic systems

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M ASS SPRING DAMPER

Mass and spring: sustained oscillations Energy storage elements Order of the system linearity
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Modeling: Electrical systems

Modeling: Hydraulic systems

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M ASS SPRING DAMPER

Fi = M d 2x + Kx dt Transfer functions: Order of the system linearity Electrical analog

X(s) V(s) , F(s) F(s)

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Modeling: Hydraulic systems

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M ECHANICAL TRANSLATIONAL

Mass-spring damper Fi = M d 2x + B dx + Kx dt dt Order of the system?

2

Mechanical rotational systems: 2 Ti = J d 2 + B d + K dt dt

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Modeling: Hydraulic systems

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M ECHANICAL COMPONENTS

Velocity (across variable) Force (through variable) B: F = Bv K: v = M: F

1 dF K dt = M dv dt

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Modeling: Hydraulic systems

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S UMMARY OF S YSTEM VARIABLES

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Modeling: Electrical systems

Modeling: Hydraulic systems

Electrical systems

Mechanical systems