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    EEE 3201 Week 3

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    harun or rashid
    This document discusses mathematical modeling of linear systems through differential equations and block diagrams. It covers obtaining differential equations to model mechanical and electrical systems using concepts like D'Alembert's principle and Kirchhoff's laws. Analogous electrical systems that are mathematically equivalent to mechanical systems are identified using force-voltage and force-current analogies. Mechanical equivalent networks are developed and used to determine transfer functions. Finally, block diagrams are introduced as a way to represent control systems by showing the relationship between component transfer functions. Worked examples demonstrate these modeling approaches.

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    EEE 3201 Week 3

    Uploaded by

    harun or rashid
    164 views12 pages
    This document discusses mathematical modeling of linear systems through differential equations and block diagrams. It covers obtaining differential equations to model mechanical and electrical systems using concepts like D'Alembert's principle and Kirchhoff's laws. Analogous electrical systems that are mathematically equivalent to mechanical systems are identified using force-voltage and force-current analogies. Mechanical equivalent networks are developed and used to determine transfer functions. Finally, block diagrams are introduced as a way to represent control systems by showing the relationship between component transfer functions. Worked examples demonstrate these modeling approaches.

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    This document discusses mathematical modeling of linear systems through differential equations and block diagrams. It covers obtaining differential equations to model mechanical and electrical systems using concepts like D'Alembert's principle and Kirchhoff's laws. Analogous electrical systems that are mathematically equivalent to mechanical systems are identified using force-voltage and force-current analogies. Mechanical equivalent networks are developed and used to determine transfer functions. Finally, block diagrams are introduced as a way to represent control systems by showing the relationship between component transfer functions. Worked examples demonstrate these modeling approaches.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    164 views12 pages

    EEE 3201 Week 3

    Uploaded by

    harun or rashid
    This document discusses mathematical modeling of linear systems through differential equations and block diagrams. It covers obtaining differential equations to model mechanical and electrical systems using concepts like D'Alembert's principle and Kirchhoff's laws. Analogous electrical systems that are mathematically equivalent to mechanical systems are identified using force-voltage and force-current analogies. Mechanical equivalent networks are developed and used to determine transfer functions. Finally, block diagrams are introduced as a way to represent control systems by showing the relationship between component transfer functions. Worked examples demonstrate these modeling approaches.

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    EEE 3201: Control System I

    Week 3: Lecture 1
    Topic: Mathematical Models of Linear Systems
    Example 1: Draw the free body diagram and write the differential equation of the given system
    shown in following Figure.

    Differential equation for M1:


    Apply D'Alembert principle
    External Force: F(t)
    Resisting Forces:
    Analogous System:
    The concept of analogous system is very useful in practice. Since one type of system may be easier
    to handle experimentally than another. A given electrical system consisting of resistance,
    inductance & capacitances may be analogous to the mechanical system consisting of suitable
    combination of Dash pot, Mass & Spring.
    The advantages of electrical systems are,
    1. Many circuit theorems, impedance concepts can be applicable.
    2. An Electrical engineer familiar with electrical systems can easily analyze the system under
    study & can predict the behavior of the system.
    3. The electrical analog system is easy to handle experimentally.
    Consider a series RLC circuit
    Apply Kirchhoff's voltage law

    In terms of charge the equation becomes

    Now consider a parallel RLC circuit

    Now apply Kirchhoff's current law

    In terms of magnetic flux linkage, the equation becomes


    Since,

    Now, compare the both equations, both equations are differential equations of same order i.e.
    identical such type of systems whose differential equations are in the same form are called
    analogous systems.
    By comparing resisting force equation of mechanical system with voltage equation of series RLC
    circuit we can see that in mechanical system the force F is analogous to voltage E in electrical
    system, such type of analogy is known as force voltage analogy.
    Also, By comparing resisting force equation of mechanical system with current equation of parallel
    RLC circuit we can see that in mechanical system the force F is analogous to current I in
    electrical system, such type of analogy is known as force current analogy.
    So, the electrical analog of the mechanical system can be obtained by,
    (i) Force Voltage analogy: (F.V)
    (ii) Force Current analogy: (F.I)

    EXAMPLE 2: Draw the analogous electrical network of the given system. Use f-v analogy.

    Solution:
    EXAMPLE 3: Draw the analogous electrical network of the given system. Use both f-v and f-i
    analogy.

    Solution:
    Using f-v analogy:

    Using f-i analogy:

    Example 4: Draw the analogous electrical circuit of a rotational mechanical system shown in
    following figure. Use f-i analogy.
    Solution:
    EEE 3201: Control System I
    Week 3: Lecture 2
    Topic: Mathematical Models of Linear Systems
    MECHANICAL EQUIVALENT NETWORK:
    The equivalent mechanical network is useful to determine the transfer function of the system.
    The following procedure is applied to draw the mechanical equivalent network.
    Step 1: Draw a reference line. Consider the fixed points as reference.
    Step 2: Corresponding to the displacement 𝑥1, 𝑥2 ... select the nodes.
    Step 3: Connect one end of masses to the reference line.
    Step 4: Connect other elements of the system to the nodes.
    Step 5: Apply nodal analysis, write the system equations.
    Consider a simple system shown in following figure:

    Apply the nodal analysis the system equation will be

    EXAMPLE 5: Draw the mechanical equivalent network, write the system equations and
    find the transfer function of the system shown in following figure:
    Solution:
    Mechanical network is shown in Figure.

    Laplace transform of equations

    Form equation

    So,

    Example 6: Draw the electrical analogous circuit (use f-v) analogy and derive their transfer
    functions.
    Solution:

    Electrical analogous circuit is shown in Figure.


    From Figure,

    Laplace transform,

    From figure,

    Laplace transform,

    Problems:
    (1) Obtain the electrical analog (FV & FI analog circuits) for the Machine system shown & also
    write the equations.
    EEE 3201: Control System I
    Week 3: Lecture 1
    Topic: BLOCK DIAGRAM
    BLOCK DIAGRAM:
    It is a representation of the control system giving the inter-relation between the transfer function
    of various components. The block diagram is obtained after obtaining the differential equation
    & Transfer function of all components of a control system. The arrow head pointing towards the
    block indicates the input & pointing away from the block indicates the output.

    After obtaining the block diagram for each & every component, all blocks are combined to obtain
    a complete representation. It is then reduced to a simple form with the help of block diagram
    algebra.
    BLOCK DIAGRAM REPRESENTATION:
    Block Diagram representation of following circuit:

    Consider a simple R-L circuit shown in Figure.


    Apply KVL,

    Laplace transform,

    So,
    Laplace Transform,

    The output of the summing point is given to block and output of the block is I(s) as per
    equation,

    The complete block diagram is as shown below,

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