Modeling of Physical System

Mathematical modeling → first step in control engineering

o n
icati Modeling Analysis
n t if
Mathematical Ide
Real System
Model n
atio
d
V ali
Real System
Often, very simple, Design
Usually, very complicated, linear, time invariant Implementation/Testing
nonlinear, time varying

It makes sense to start with the simplest model, and make it fancier if necessary.

Modeling principles look up relevant conservation principles (physical laws)

Given: a plant description and derive balance equations and establish initial conditions
basic principles of operation. (if possible) for the differential equations.
verify existence of solutions to model equations
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 Examples of linear models in time domain

Modeling of electrical networks

Ohm’s law
Resistor Capacitor Inductor
vR vC vL

iR R iC C iL L
dvC diL
vR iR R iC C vL L
dt dt

Kirchhoff’s law (KVL,KCL): v 0 in a closed loop, i 0 at a node.

vR vL di dv dv d 2vC
vS Ri L vC ; i C C vS RC C LC 2 vC
R L dt dt dt dt
vS d 2vC dvC
i C vC LC 2 RC vC vS
dt dt

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Mechanical Systems

Translation motion

d 2 y (t )
Mass f (t ) m
dt 2

f (t ) Ky(t )
Spring
K : spring constant
dy (t )
f (t ) B
Friction dt
B : viscous frictional coef.

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Static friction: f (t ) FS y 0

dy (t )
Coulomb friction: f (t ) FC dt
dy (t )
dt

Viscous friction Static friction Coulomb friction

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Rotational Motion

d2
Inertia T J 2
dt

Torsional spring T K

Friction for rotational motion

d
Viscous friction: T B ; Static friction: T FS 0
dt

Coulomb friction: T FC

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Rotary-to-linear motion:

x r

x r

Gear Trains
Gear 1: radius: r1 ; number of teeth: n1
torque: T1 ; rotational displacement: 1
Gear 2: radius: r2 ; number of teeth: n2
torque: T2 ; rotational displacement: 2

n1 r1
gear ratio: ; distance travel: r
11 r
2 2
n2 r2
r2
work down: T1 1 T2 2 ; angular velocity: 1

2 r1

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Backlash and Dead Zone (nonlinear characteristics)

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 DC Motors in ControlSystems

DC motor: a torque transducer

convert electric energy into mechanical energy
The torque developed by the motor is Tm K m ia .
Tm : motor torque (Newton-m) ia : armature current (ampere)
: magnetic flux (webers) K m : a proportional constant

In servo application, the DC motors are generally used in the linear range of the
magnetization curve, k f if .
k f : a constant ; i f : field current (in field windings)

In PM (permanent magnet) DC motors, is produced by permanent magnet.

PM DC motors are widely used in control system applications.

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Mathematical Modeling of PM DC Motors

Ra La
Magnetic flux
ia (from PM)
ea eb M TL
J,B
Tm m,
m

Ra : armature resistance La : armature inductance ia : armature current

eb : back emf ea : applied voltage : magnetic flux
Tm : motor torque m : rotor angular velocity m : rotor displacement
TL : load torque
J : moment of inertia of the motor rotor with attached mechanical load
B : viscous-friction coefficient of motor rotor with attached mechanical load
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 Tm K m ia ; is a constant Tm ki ia ; ki is the torque constant.

dia
ea Ra ia La eb
dt
Tm ki ia
d m
eb kb kb m ; kb : back-emf constant
dt
d d2
Tm TL B m J 2
m
dt dt

Signals: ea (t ) , ia (t ) , Tm (t ) , TL (t ) , eb (t ) , m (t ) , m (t )

Input signal: ea (t )
Output signals: m (t ) , m (t )

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 dia
La ea Raia eb La s Ra I a ( s) Ea ( s) Eb ( s)
dt
Tm ki ia Tm ( s) ki I a ( s)
d m
eb kb kb m Eb ( s) kb s m ( s) kb m ( s) ; m ( s) s m ( s)
dt
d d2 d2 m d m
Tm TL B m J 2
m
J B Tm TL Js B m ( s) Tm ( s) TL ( s)
dt dt dt 2 dt

TL ( s )
1 I a (s) Tm ( s ) 1 m (s) 1 m (s)
Ea ( s ) ki
La s Ra Js B s

Eb ( s )

kb
an integrating device

A DC motor is essentially an integrating device.

Back emf generally improves system stability.
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Relationship between ki and kb
Power developed in the armature: P eb (t ) ia (t ) ; Mechanical power: P Tm (t ) m (t )

In SI units, Tm in N-m, m in rad/sec

Tm
P Tm (t ) m (t ) eb (t )ia (t ) kb m kb V/rad/sec ki N-m/A
ki

In British unit, Tm in ft-lb, m in rad/sec

eb (t )ia (t ) Tm (t ) m (t )
P hp, (horse power) ; 1 hp = 746 W ; P hp ; 1 hp = 550 ft-lb/sec
746 550
T (t )
kb m (t ) m
eb (t )ia (t ) Tm (t ) m (t ) ki Tm (t ) m (t )
746 550 746 550
746
kb ki 1.356ki , kb in V/rad/sec , ki in ft-lb/A
550

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Approximation of the Time-Delay Function by Rational Function

Time delays are often encountered in many control systems, due to hydraulic, pneumatic or
mechanical transmissions, computer computations, etc.

u y
Time Delay Delay time Td

Td s Y ( s) Td s
y u t Td Y (s) e U (s) e not a polynomial
U ( s)

Some common approximations

Td s
1
Td s Td2 s 2 Td s 1 Td s 2
(1). e 1 Td s ; (2). e ; (3). e
2 Td2 s 2 1
Td s
1 Td s
2 2

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