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Laplace Transformation Laplace Transformation

446 446 - - 5 5
Prof. Neil A. Duffie Prof. Neil A. Duffie
University of Wisconsin University of Wisconsin- -Madison Madison
Neil A. Duffie, 1996 Neil A. Duffie, 1996
All rights reserved. All rights reserved.
5 2
Laplace Transformation Laplace Transformation
Transform: Transform:
Differential equations Differential equations
Algebraic equations Algebraic equations
Functions of time (step, impulse, sine, etc.) Functions of time (step, impulse, sine, etc.)
s s is a new, complex variable is a new, complex variable
L[f(t)] = f(t)e
-st
dt
0

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DC Motor DC Motor- -Amplifier System Amplifier System
(t)
(t)
v(t) e(t),i(t)
(t),(t)
Motor torque
T(t)
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Mechanical System Variables Mechanical System Variables
(t)
(t)
v(t)
e(t),i(t)
(t),(t)
T(t)
(t) = rotational position (t) = rotational position
(t) = rotational velocity (t) = rotational velocity
T(t) = motor torque T(t) = motor torque
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Mechanical System Parameters Mechanical System Parameters
J = motor inertia J = motor inertia
K K
t t
= torque constant = torque constant
(t)
(t)
v(t)
e(t),i(t)
(t),(t)
T(t)
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Electrical System Variables Electrical System Variables
i(t) = motor current i(t) = motor current
e(t) = amplifier output voltage e(t) = amplifier output voltage
v(t) = amplifier input voltage v(t) = amplifier input voltage
(t)
(t)
v(t)
e(t),i(t)
(t),(t)
T(t)
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Electrical System Parameters Electrical System Parameters
R = motor resistance R = motor resistance
L = motor inductance L = motor inductance
K K
e e
= back emf constant = back emf constant
K K
v v
= tachometer gain = tachometer gain
(t)
(t)
v(t)
e(t),i(t)
(t),(t)
T(t)
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Motor Motor- -Amplifier Equations Amplifier Equations
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Transforms of Equations Transforms of Equations
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Transformed Model Transformed Model - - Velocity Velocity
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Transformed Model Transformed Model - - Position Position
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Unit Step Function Unit Step Function
0 0
t t
f(t) f(t)
u(t) u(t)
L[u(t)] = u(t)e
-st
dt
0

1 1
L[u(t)] = e
-st
dt
0

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Unit Step Function Unit Step Function
0 0
t t
f(t) f(t)
u(t) u(t)
1 1
L[u(t)] =
1
s
L[u(t)] =
e
-s
-s
-
e
-s0
-s
L[u(t)] =
e
-st
-s 0

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Unit Impulse Function Unit Impulse Function
0 0
t t
(t) (t)
0 0
t t
(t) (t)
t t
t t
1 1

0 0
t t
(t) (t)
t t
t t
1 1

t t
(t) (t)
t t
1 1

0 0 t t
"strength" "strength"
(Area) = 1 (Area) = 1
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Unit Impulse Function Unit Impulse Function
0 0
t t
(t) (t)
t t
t t
1 1

f(t) f(t)
Area = 1 Area = 1
L[(t)] = (t)e
-st
dt
0

L[(t)] = lim
t0
1
t
e
-st
dt
0
t
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Unit Impulse Function Unit Impulse Function
0 0
t t
(t) (t)
t t
t t
1 1

f(t) f(t)
strength = 1 strength = 1
L[(t)] = lim
t0
e
-st
- e
-s0
-st
= lim
t0
1 - e
-st
st
Use L'Hopital's rule Use L'Hopital's rule

L[(t)] = lim
t0
e
-st
-st
0
t

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Unit Impulse Function Unit Impulse Function
0 0
t t
(t) (t)
t t
t t
1 1

f(t) f(t)
L[(t)] = lim
t0
se
-st
s
= lim
t0
e
-st
L[(t)] = 1
Differentiate numerator and Differentiate numerator and
denominator with respect to denominator with respect to t t
strength = 1 strength = 1
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Exponential Function Exponential Function
0 0
t t
f(t) f(t)
1 1
L[e
-t

] = e
-t

e
-st
dt
0

L[e
-t

] = e
-(
1

+s)t
dt
0

f(t) = e
-t

5 19
Exponential Function Exponential Function
0 0
t t
f(t) f(t)
1 1
L[e
-t

] =
e
-(
1

+s)
-(
1

+s)
-
e
-(
1

+s)0
-(
1

+s)
L[e
-t

] =
1
1

+s
=

s +1
L[e
-t

] =
e
-(
1

+s)t
-(
1

+s)
0

f(t) = e
-t

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Nonlinear Tank System Nonlinear Tank System
q q
i i
(t) (t)
q q
0 0
(t) (t)
h(t) h(t)
Tank area = A Tank area = A
(t) (t)
Valve Valve
Tank Tank
Inlet Inlet
flow flow
Outlet Outlet
flow flow
q
0
(t) = k(t) h(t)
Nonlinear behavior of valve flow: Nonlinear behavior of valve flow:
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Nonlinear Tank Model Nonlinear Tank Model
q
s
(t) = q
i
(t) q
o
(t)
q
s
(t) = A
dh(t)
dt
q
o
(t) = k(t) h(t)
A
dh(t)
dt
= q
i
(t) k(t) h(t)
A
dh(t)
dt
+ k(t) h(t) = q
i
(t)
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Linearized Model of Valve Flow Linearized Model of Valve Flow
q
o
= k h
q
i
= q
o
h =
q
i
k






2
q
o
(t) q
o
+
q
o

.h
((t) ) +
q
o
h
.h
(h(t) h )
q
o
(t) q
o
+ k h ((t) )
k
2 h
(h(t) h )
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Linearized Tank Model Linearized Tank Model
q
o
(t) q
o
+ k h ((t) ) +
k
2 h
(h(t) h )
q
o
(t) k h + k h (t) k h
+
k
2 h
h(t)
k
2 h
h
q
o
(t) k h (t) +
k
2 h
h(t)
1
2
k h
A
dh(t)
dt
q
i
(t) k h (t)
k
2 h
h(t) +
1
2
k h
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Transformed Tank System Model Transformed Tank System Model
How would tank respond to a change in q How would tank respond to a change in q
i i
(t)? (t)?
To a change in To a change in (t)? Need solution! (t)? Need solution!
A
dh(t)
dt
+
k
2 h
h(t) q
i
(t) k h (t) +
1
2
k h
A
dh(t)
dt
+
k
2 h
h(t) q
i
(t) k h (t) +
1
2
k h u(t)
A sH(s) h(0
+
)
( )
+
k
2 h
H(s)
Q
i
(s) k h (s) +
1
2
k h
1
s