Semester –III / ECE / SSNCE

Course Instructor
for oneself

For others
Knowledge is Collection of Dead Facts and Information

Knowing is Melting of Mind into the Unknown

Knowledge is Someone Else's Knowing

Knowing is Your Knowledge

[ ZENTILL]
From the Desire of humans to fly

To go against gravity

First step in Creating an air man ………...

Actuator is under the Load
Actuator is above the Load
 Move the arm from rest to some
Encoder angle θ
1) Start exciting the Propeller {with a Motor}
2) Check for angle {with an encoder}
3) When reached the angle do not excite
600
propeller further

Propeller

Motor
 Move the arm from rest to some angle θ

Mathematically we can say

lim θact(t)  θr
𝑡→∞
600
θact(t2) Whatever be θact(t0)

θr

θact(t1)

θact(t0) = θact(0)
Move the arm from rest to some angle θ

Find the relation between what we can change and

what we need to change

Voltage V(t) Angle θ(t)

Voltage V(t) ?
motor

600 speed ω(t)

θr Propeller

Thrust T(t)
Aluminium rod

Angle θ(t)
θact(t0) = θact(0)
Move the arm from rest to some angle θ

𝐑𝐞𝐥𝐚𝐭𝐢𝐨𝐧 𝐛𝐞𝐭𝐰𝐞𝐞𝐧 V(t) & θ(t)

Input : what we can change ?
Output : what we need to change

Angle θ(t)
𝐁𝐥𝐨𝐜𝐤 𝐃𝐢𝐚𝐠𝐚𝐦 𝐑𝐞𝐩𝐫𝐞𝐬𝐞𝐧𝐭𝐚𝐭𝐢𝐨𝐧

Voltage V(t)

Angle θ(t)
θ ω(t) , T(t)
Voltage V(t)
 ?
Block Diagram Representation

n Outputs
‘o’ relations
m Inputs

Y(t)
……….

U(t)

….
 Block Diagram Representation ?
Desired output reference

U(t)
n E

m Inputs

n Outputs
r Intelligent
r(t)

……….

Y(t)
r

……….
Device

….
o (Controller)
r

Output feed back signal

 ?
Y(t)
r(t) U(t)

Y(t)
Y(t)
Signals

U(t)
U(t)

lim Y(t)  r(t)

Δ𝑡→0
e(t)

Δt Time (t)
 Getting the ‘o’ relations

Voltage V(t) Speedω(t) Thrust T(t)

Angle θ(t)
Thats a lay mans way of stating the relation

? do we do it as an Engineer

Maths
 Getting the ‘o’ relations

Modeling ( Requirement )
Controller activity
1) Accurate This place needs Less maintenance
2) Simple Complexity

Region 2
Modeling
This place is too costly to live

Region 1
Modeling
This place too cheep to live Accuracy
Trade Off Line
Controller activity
This place needs more maintenance
 Reaction Force

Elastic Force Fs(x)

Input Force
F(t)

Viscous Frictional Force Fb(x)

Weight Force

X Reaction Force = Weight Force

Input Force Input Force
F(t) F(t)
X0 =0
𝑑𝑋
=0
𝑑𝑡

X1 >0
𝑑𝑋
>0
𝑑𝑡
 Elastic Force Fs(x)

Input Force
F(t)

Viscous Frictional Force Fb(x)

Sum of all forces = mass times acceleration

F(t) + Fs(x) + Fb(x) = ma
F(t) + Fs(x) + Fb(x) = md2x/dt2
F(t) + Fs(x) + Fb(x) = mX
 X0

Input Force Input Force

F(t) F(t)

Displacement due to External Force

1) Mass Spring system
2) Mass Spring and Damper system

What is happening with the Damper ?

 Small region of a
curve the tangent to
Spring dose not exert force when it is in its natural length the curve is a good
Fs approximation

Fs = -kx
Region 2
Displacement X -ve
Restoring Force Fs +ve First Order Approximation
of Taylors series
X 0
F′(0) F′′(0) 2 F′′′(0) 3
F(x) = F(0) + X+ X + X +…
1! 2! 3!

Region 1 F(0)=0 Neglecting higher

Displacement X +ve order terms
Restoring Force Fs -ve F′(0)
F(x) = X
1!

Fs = -kx

Where k is called the Spring Constant

 Small region of a
Damper dose not exert force when there is no velocity curve the tangent to
/ movement the curve is a good
Fb approximation

Fb = -bx
Region 2
Velocity x -ve
Restoring Force Fb +ve First Order Approximation
of Taylors series
x 0
F′(0) F′′(0) 2 F′′′(0) 3
F(x) = F(0) + X+ X + X +…
1! 2! 3!

Region 1 F(0)=0 Neglecting higher

Velocity x + ve order terms
Restoring Force Fb -ve F′(0)
F(x) = x
1!

Fb = -bx

Where b is called the Damping Constant

 Elastic Force Fs(x)

Input Force
F(t)

Viscous Frictional Force Fb(x)

Sum of all forces = mass times acceleration

F(t) + Fs(x) + Fb(x) = ma
F(t) – kx – bx = mx
F(t) = mX + bx + kx
Elastic Force Fs(x)

Mathematically
Input Force
F(t)

Viscous Frictional Force Fb(x)

F(t) = mX + bx + kx

That’s how we model a system

Newtonian dynamics for Rotational Systems
Translational motion Rotational motion
x (displacement) θ (Angular displacement)
𝑥 (velocity) θ (Angular velocity)
T 𝑥 (Acceleration) θ (Angular Acceleration)
Force Torque = Force *moment
arm
Mass m Moment of inertia J
= 𝑚𝑖 𝑟𝑖2 = 𝑟 2 dm
Damping force Fb= -b𝑥 Damping torque
Tb= - bθ
Spring Gravity

𝐴𝑙𝑙 𝑡𝑜𝑟𝑞𝑢𝑒𝑠 =Moment of inertia *angular acceleration

𝑎𝑏𝑜𝑢𝑡 𝑎𝑛 𝑎𝑥𝑖𝑠
 𝐴𝑙𝑙 𝑡𝑜𝑟𝑞𝑢𝑒𝑠 =Moment of inertia *angular acceleration
𝑎𝑏𝑜𝑢𝑡 𝑎𝑛 𝑎𝑥𝑖𝑠

L Torque due to trust = TL

Torque due to damping = -bθ
T
Torque due to gravity =-mgLCM sinθ

From Newton……………………

θ mg Jθ = TL - bθ - mgLCM sinθ
LCM We get a nonlinear differential equation
Jθ + bθ + mgLCM sinθ = TL
Fb
Linearizing it around an operating point
Jθ + bθ + mgLCMθ = TL
 We get a nonlinear differential equation
L
T Jθ + bθ + mgLCM sinθ = TL

Linearizing it around an operating point

Jθ + bθ + mgLCMθ = TL
θ mg
LCM
LCM
Fb
mg
mg sin θ
Mathematically

Jθ + bθ + mgLCMθ = TL

That’s how we model a rotational

system (Aero Thrust Pendulum)
 Getting the ‘o’ relations

Remember that all models are wrong;

The practical Question is How wrong do they
have to be to not to be useful
George E. P. Box
 Getting the ‘o’ relations

Remember that a perfect model is not needed;

A perfect model may be irrelevant to us.
What is useful is relevant to us, even if it is not perfect……
Manfred -Eigen
Questions
 Choose Heaven or Hell
Without any Choice
Then
Anything is Heaven
If Not
Every thing is Hell

Choicelessness is the Choice of Life

- ZnTill
[ Dedicated to OSHO ]
“Follow your heart. Being a caterpillar you will become a butterfly”
- ZnTill [ ]

Thank You …..