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Ch.02 modeling in frequency domain
1. 1/11/2016
1
02. Modeling in Frequency
Domain
System Dynamics and Control 2.01 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Chapter Objectives
After completing this chapter, the student will be able to
β’ Find the Laplace transform of time functions and the inverse
Laplace transform
β’ Find the transfer function (TF) from a differential equation and
solve the differential equation using the transfer function
β’ Find the transfer function for linear, time-invariant electrical networks
β’ Find the TF for linear, time-invarianttranslational mechanical systems
β’ Find the TF for linear, time-invariant rotational mechanical systems
β’ Find the TF for gear systems with no loss and for gear systems
with loss
β’ Find the TF for linear, time-invariant electromechanical systems
β’ Produce analogous electrical and mechanical circuits
β’ Linearize a nonlinear system in order to find the TF
System Dynamics and Control 2.02 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§1.Introduction
- Mathematical models from schematics of physical systems
β’ transfer functions in the frequency domain
β’ state equations in the time domain
System Dynamics and Control 2.03 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
- Transforms: a mathematical conversion from one way of
thinking to another to make a problem easier to solve
- The Laplace transform the problem in time-domain to problem in
π -domain, then applying the solution in π -domain, and finally using
inverse transform to converse the solution back to the time-domain
- The Laplace transform is named in honor of mathematician and
astronomer Pierre-Simon Laplace (1749-1827)
- Others: Fourier transform, z-transform, wavelet transform, β¦
System Dynamics and Control 2.04 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
- The Laplace transform of the function π(π‘) for π‘ > 0 is defined
by the following relationship
π : complex frequency variable, π = π + ππ with π , π are
real numbers, π β πΆ for which makes πΉ π convergent
β : Laplace transform
πΉ(π ): a complex-valued function of complex numbers
- The inverse Laplace transform of the function πΉ(π ) for π‘ > 0 is
defined by the following relationship
π’(π‘) : the unit step function, π’ π‘ =
1 ππ π‘ > 0
0 ππ π‘ < 0
System Dynamics and Control 2.05 Modeling in Frequency Domain
πΉ π = β π(π‘) =
0β
+β
π(π‘)πβπ π‘
ππ‘
π π‘ = ββ1
πΉ π =
1
2ππ πβπβ
π+πβ
πΉ π π π π‘
ππ = π π‘ π’(π‘)
(2.1)
(2.2)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
- The Laplace transform table
System Dynamics and Control 2.06 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
2. 1/11/2016
2
Β§2.Laplace Transform Review
- Ex.2.1 Laplace Transform of a Time Function
Find the Laplace transform of π π‘ = π΄πβππ‘
π’(π‘)
Solution
πΉ π =
0
β
π(π‘)πβπ π‘
ππ‘
=
0
β
π΄πβππ‘
πβπ π‘
ππ‘
= π΄
0
β
πβ(π+π )π‘
ππ‘
= β
π΄
π + π
πβ(π+π )π‘
0
β
βΉ πΉ π =
π΄
π + π
System Dynamics and Control 2.07 Modeling in Frequency Domain
(2.3)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
System Dynamics and Control 2.08 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
β π‘π’ π‘ =
1
π 2 (Table 2.1 β 3)
β πβππ‘
π(π‘) = πΉ(π + π) (Table 2.2 β 4)
Β§2.Laplace Transform Review
- Ex.2.2 Inverse Laplace Transform
Find the inverse Laplace transform of πΉ1 π = 1/(π + 3)2
Solution
π π‘ = ββ1
1
π 2 = π‘π’(π‘)
π1 π‘ = ββ1
1
(π + 3)2
= πβ3π‘
π π‘
βΉ π1 π‘ = πβ3π‘
π‘π’(π‘)
System Dynamics and Control 2.09 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
β πΏ π‘ = 1 (Table 2.1 β 1)
β
ππ(π‘)
ππ‘
= π πΉ(π ) β β
ππΏ(π‘)
ππ‘
= π (Table 2.2 β 7)
Β§2.Laplace Transform Review
Partial-Fraction Expansion
πΉ1 π =
π 3
+ 2π 2
+ 6π + 7
π 2 + π + 5
= (π + 1) +
2
π 2 + π + 5
βΉ π1 π‘ =
ππΏ(π‘)
ππ‘
+ πΏ π‘ + ββ1
2
π 2 + π + 5
Using partial-fraction expansion to expand function like πΉ(π )
into a sum of terms and then find the inverse Laplace transform
for each term
System Dynamics and Control 2.10 Modeling in Frequency Domain
πΉ(π )
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
Case 1. Roots of the Denominator of πΉ(π ) are Real and Distinct
πΉ π =
2
(π + 1)(π + 2)
=
πΎ1
π + 1
+
πΎ2
π + 2
lim
π ββ1
[(2.8) Γ (π + 1)]
βΉ lim
π ββ1
2
π + 2
= lim
π ββ1
πΎ1 +
(π + 1)πΎ2
π + 2
βΉ πΎ1 = 2
lim
π ββ2
[(2.8) Γ (π + 2)]
βΉ lim
π ββ2
2
π + 1
= lim
π ββ2
(π + 2)πΎ1
π + 1
+ πΎ2
βΉ πΎ2 = β2
βΉ πΉ π =
2
π + 1
β
2
π + 2
βΉ π π‘ = 2πβπ‘
β 2πβ2π‘
π’(π‘)
System Dynamics and Control 2.11 Modeling in Frequency Domain
(2.8)
(2.10)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
In general, given an πΉ(π ) whose denominator has real and
distinct roots, a partial-fraction expansion
πΉ π =
π(π )
π·(π )
=
π(π )
π + π1 π + π2 β¦ π + ππ β¦ (π + π π)
=
πΎ1
π + π1
+
πΎ2
π + π2
+ β― +
πΎπ
π + ππ
+ β― +
πΎπ
π + π π
To find πΎπ
β’ multiply (2.11) by π + ππ
β’ let π approach βππ
System Dynamics and Control 2.12 Modeling in Frequency Domain
(2.11)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
3. 1/11/2016
3
β
ππ
ππ‘
= π πΉ π β π(0β) (Table 2.2 β 7)
β
π2 π
ππ‘2 = π 2
πΉ π β π π(0β) β πβ²(0β) (Table 2.2 β 8)
Β§2.Laplace Transform Review
- Ex.2.3 Laplace Transform Solution of a Differential Equation
Given the following differential equation, solve for π¦(π‘) if all
initial conditions are zero. Use the Laplace transform
π2
π¦
ππ‘2 + 12
ππ¦
ππ‘
+ 32π¦ = 32π’(π‘)
Solution
π 2
π π + 12π π π + 32π π =
32
π
βΉ π π =
32
π π 2 + 12π + 32
=
32
π (π + 4)(π + 8)
=
πΎ1
π
+
πΎ2
π + 4
+
πΎ3
π + 8
System Dynamics and Control 2.13 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
π π =
32
π (π + 4)(π + 8)
=
πΎ1
π
+
πΎ2
π + 4
+
πΎ3
π + 8
Evaluate the residue πΎπ
πΎ1 =
32
(π + 4)(π + 8) π β0
= 1
πΎ2 =
32
π (π + 8) π ββ4
= β2
πΎ2 =
32
π (π + 4) π ββ8
= 1
βΉ π π =
1
π
β
2
π + 4
+
1
π + 8
Hence
π¦ π‘ = 1 β 2πβ4π‘
+ πβ8π‘
π’(π‘)
System Dynamics and Control 2.14 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
π π =
32
π π 2 + 12π + 32
=
1
π
β
2
π + 4
+
1
π + 8
π¦ π‘ = 1 β 2πβ4π‘
+ πβ8π‘
π’(π‘) (2.20)
The π’(π‘) in (2.20) shows that the response is zero until π‘ = 0
Unless otherwise specified, all inputs to systems in the text
will not start until π‘ = 0. Thus, output responses will also be
zero until π‘ = 0
For convenience, the π’(π‘) notation will be eliminated from now
on. Accordingly, the output response
π¦ π‘ = 1 β 2πβ4π‘
+ πβ8π‘
(2.21)
System Dynamics and Control 2.15 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
Run ch2p1 through ch2p8 in Appendix B
Learn how to use MATLAB to
β’ represent polynomials
β’ find roots of polynomials
β’ multiply polynomials, and
β’ find partial-fraction expansions
System Dynamics and Control 2.16 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
System Dynamics and Control 2.17 Modeling in Frequency Domain
Β§2.Laplace Transform Review
π π =
32
π 3 + 12π 2 + 32π
=
1
π
β
2
π + 4
+
1
π + 8
Matlab [r,p,k] = residue([32],[1,12,32,0])
Result r = [1, β2, 1], p = [β8, β4, 0], k = [ ]
π π = 0
π
+ 1
π1
1
π β (β8
π1
)
+ (β2
π2
)
1
π β (β4
π2
)
+ 1
π3
1
π β (0
π3
)
=
1
π + 8
β
2
π + 4
+
1
π
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
Case 2. Roots of the Denominator of πΉ(π ) are Real and Repeated
πΉ π =
2
(π + 1)(π + 2)2
=
πΎ1
π + 1
+
πΎ2
(π + 2)2 +
πΎ3
π + 2
lim
π ββ1
[(2.23) Γ (π + 1)]
βΉ lim
π ββ1
2
π + 2
= lim
π ββ1
πΎ1 +
(π + 1)πΎ2
π + 2
βΉ πΎ1 = 2
lim
π ββ2
[(2.23) Γ (π + 2)]
βΉ lim
π ββ2
2
π + 1
= lim
π ββ2
(π + 2)πΎ1
π + 1
+ πΎ2
βΉ πΎ2 = β2
System Dynamics and Control 2.18 Modeling in Frequency Domain
(2.22)
(2.23)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
4. 1/11/2016
4
Β§2.Laplace Transform Review
πΉ π =
πΎ1
π + 1
+
πΎ2
(π + 2)2 +
πΎ3
π + 2
πΎ1 = 2, πΎ2 = β2
(2.23) Γ (π + 2)2
βΉ
2
π + 1
=
(π + 2)2
πΎ1
π + 1
+ πΎ2 + (π + 2)πΎ3
Differentiate (2.24) with respect to π
β2
π + 1 2 =
(π + 2)πΎ1
π + 1 2 + πΎ3
βΉ πΎ3 = β2
βΉ π π =
2
π + 1
β
2
π + 2 2 β
2
π + 2
Hence
π¦ π‘ = 2πβπ‘
β 2π‘πβ2π‘
β 2πβ2π‘
(2.26)
System Dynamics and Control 2.19 Modeling in Frequency Domain
(2.23)
(2.24)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
System Dynamics and Control 2.20 Modeling in Frequency Domain
Β§2.Laplace Transform Review
πΉ π =
2
(π + 1)(π + 2)2
Matlab F=zpk([], [-1 -2 -2],2)
Result F =
2
------------------
(s+1) (s+2)^2
Continuous-time zero/pole/gain model
(2.22)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
System Dynamics and Control 2.21 Modeling in Frequency Domain
Β§2.Laplace Transform Review
πΉ π =
2
π 3 + 5π 2 + 8π + 4
=
2
π + 1
β
2
π + 2 2 β
2
π + 2
Matlab [r,p,k] = residue([2],[1,5,8,4])
Result r = [β2, β2, 2], p = [β2, β2, β1], k = [ ]
πΉ π = 0
π
+ (β2)
π1
1
[π β (β2
π1
)]2 + (β2
π2
)
1
π β(β2
π2
)
+ 2
π3
1
π β(β1
π3
)
= β
2
π + 2 2 β
2
π + 2
+
2
π + 1
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
In general, given an πΉ(π ) whose denominator has real and
distinct roots, a partial-fraction expansion
πΉ π =
π(π )
π·(π )
=
π(π )
π + π1
π π + π2 β¦ π + ππ β¦ (π + π π)
=
πΎ1
π + π1
π +
πΎ1
π + π1
πβ1 + β― +
πΎ2
π + π1
+
πΎ2
π + π2
+ β― +
πΎπ
π + ππ
+ β― +
πΎπ
π + π π
β’ multiply (2.27) by π + π1
π
to get πΉ1 π = π + π1
π
πΉ(π )
β’ let π approach βππ
System Dynamics and Control 2.22 Modeling in Frequency Domain
(2.27)
To find πΎπ
πΎπ =
1
π β 1 !
π πβ1
πΉ1(π )
ππ πβ1
π βπ1
π = 1,2, β¦, π; 0! = 1
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
Case 3. Roots of the Denominator of πΉ(π ) are Complex or Imaginary
πΉ π =
3
π (π 2 + 2π + 5)
=
πΎ1
π
+
πΎ2 π + πΎ3
π 2 + 2π + 5
lim
π β0
[(2.31) Γ π ] βΉ πΎ1 = 3/5
First multiplying (2.31) by the lowest common denominator,
π (π 2
+ 2π + 5), and clearing the fraction
3 = πΎ1 π 2
+ 2π + 5 + πΎ2 π + πΎ3 π (2.32)
βΉ 3 = πΎ2 +
3
5
π 2
+ πΎ3 +
6
5
π + 3
Balancing the coefficients: πΎ2 = β3/5, πΎ3 = β6/5
πΉ π =
3
π (π 2 + 2π + 5)
=
3
5
1
π
β
3
5
π + 2
π 2 + 2π + 5
System Dynamics and Control 2.23 Modeling in Frequency Domain
(2.30)
(2.33)
(2.31)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
β π΄πβππ‘ πππ ππ‘ + π΅πβππ‘ π ππππ‘ =
π΅ π +π +π΅π
(π +π)2+π2 (Table 2.1 β 6&7)
Β§2.Laplace Transform Review
πΉ π =
3
5
1
π
β
3
5
π + 2
π 2 + 2π + 5
=
3
5
1
π
β
3
5
π + 1 + 1/2 2
(π + 1)2+22
βΉ π π‘ =
3
5
β
3
5
πβπ‘
πππ 2π‘ +
1
2
π ππ2π‘
or
π π‘ = 0.6 β 0.671πβπ‘
cos(2π‘ β π) (2.41)
System Dynamics and Control 2.24 Modeling in Frequency Domain
(2.38)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
5. 1/11/2016
5
Β§2.Laplace Transform Review
πΉ π =
2
(π + 1)(π + 2)2
π¦ π‘ = 2πβπ‘
β 2π‘πβ2π‘
β 2πβ2π‘
(2.26)
Matlab numf=2;
denf=poly([-1 -2 -2]);
[r,p,k]=residue(numf,denf)
Result r = [-2 -2 2], p = [-2 -2 -1], k = []
πΉ π = 0
π
+ β2
π1
1
[π β (β2
π1
)]2 + (β2
π2
)
1
π β (β2
π2
)
+ 2
π3
1
π β (β1
π3
)
= β2
1
(π + 2)2 β 2
1
π + 2
+ 2
1
π + 1
System Dynamics and Control 2.25 Modeling in Frequency Domain
(2.22)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
πΉ π =
3
π (π 2 + 2π + 5)
Matlab F=tf([3],[1 2 5 0])
Result F =
3
-----------------------
s^3 + 2 s^2 + 5 s
Continuous-time transfer function
System Dynamics and Control 2.26 Modeling in Frequency Domain
(2.30)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
In general, given an πΉ(π ) whose denominator has complex or
purely imaginary roots, a partial-fraction expansion
πΉ π =
π(π )
π·(π )
=
π(π )
π + π1 (π 2 + ππ + π) β¦
=
πΎ1
(π + π1)
+
πΎ2 π + πΎ3
(π 2 + ππ + π)
+ β―
To find πΎπ
β’ the πΎπ βs in (2.42) are found through balancing the
coefficients of the equation after clearing fractions
β’ put (πΎ2 π + πΎ3)/(π 2
+ ππ + π) in to the form
π΅ π + π + π΅π
(π + π)2+π2
System Dynamics and Control 2.27 Modeling in Frequency Domain
(2.42)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
πΉ π =
3
π (π 2 + 2π + 5)
π π‘ =
3
5
β
3
5
πβπ‘
πππ 2π‘ +
1
2
π ππ2π‘
Matlab syms s; f=ilaplace(3/(s*(s^2+2*s+5))); pretty(f)
Result f =
3/5 - (3*exp(-t)*(cos(2*t) + sin(2*t)/2))/5
/ sin(2 t)
exp(-t) | cos(2 t) + ---------- | 3
3 2 /
- - --------------------------------------
5 5
System Dynamics and Control 2.28 Modeling in Frequency Domain
(2.30)
(2.38)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
πΉ π =
3
π (π 2 + 2π + 5)
πΉ π =
3/5
π
β
3
20
2+ π1
π + 1 + π2
+
2 β π1
π + 1 + π2
Matlab numf=3; denf=[1 2 5 0]; [r,p,k]=residue(numf,denf)
Result r=[-0.3+0.15i; -0.3-0.15i; 0.6]; p=[-1+2i; -1-2i; 0]; k=[]
πΉ π = 0
π
+ (β0.3 + π0.15)
π1
1
π β (β1 + π2
π1
)
+(β0.3 β π0.15)
π2
1
π β (β1 β 2π
π2
)
+ (0.6)
π3
1
π β (0
π3
)
= β
0.3 β π0.15
π + 1 β 2π
β
0.3 + π0.15
π + 1 + 2π
+ 0.6
1
π
System Dynamics and Control 2.29 Modeling in Frequency Domain
(2.30)
(2.47)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
Run ch2sp1 and ch2sp2 in Appendix F
Learn how to use the Symbolic Math Toolbox to
β’ construct symbolic objects
β’ find the inverse Laplace transforms of frequency
functions
β’ find the Laplace of time functions
System Dynamics and Control 2.30 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
6. 1/11/2016
6
Β§2.Laplace Transform Review
Skill-Assessment Ex.2.1
Problem Find the Laplace transform of
π π‘ = π‘πβ5π‘
Solution
πΉ π = β π‘πβ5π‘
=
1
(π + 5)2
Matlab syms t s F; f = t*exp(-5*t); F=laplace(f, s); pretty(F)
Result 1
---------
2
(s + 5)
System Dynamics and Control 2.31 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
Skill-Assessment Ex.2.2
Problem Find the inverse Laplace transform of
πΉ π =
10
π (π + 2)(π + 3)2
Solution Expanding πΉ(π ) by partial fractions
πΉ π =
π΄
π
+
π΅
π + 2
+
πΆ
(π + 3)2 +
π·
π + 3
π΄ =
10
(π + 2)(π + 3)2
π β0
=
5
9
, π΅ =
10
π (π + 3)2
π ββ2
= β5
πΆ =
10
π (π + 2) π ββ3
=
10
3
, π· = (π + 3)2
ππΉ(π )
ππ π ββ3
=
40
9
βΉ πΉ π =
5
9
1
π
β 5
1
π + 2
+
10
3
1
(π + 3)2 +
40
9
1
π + 3
System Dynamics and Control 2.32 Modeling in Frequency Domain
where,
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§2.Laplace Transform Review
πΉ π =
5
9
1
π
β 5
1
π + 2
+
10
3
1
(π + 3)2 +
40
9
1
π + 3
Taking the inverse Laplace transform
π π‘ =
5
9
β 5πβ2π‘
+
10
3
π‘πβ3π‘
+
40
9
πβ3π‘
Matlab syms s; f=ilaplace(10/(s*(s+2)*(s+3)^2)); pretty(f)
Result exp(-3 t) 40 t exp(-3 t) 10 5
--------------- - exp(-2 t) 5 + ---------------- + -
9 3 9
System Dynamics and Control 2.33 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§3.The Transfer Function
- The transfer function of a component is the quotient of the
Laplace transform of the output divided by the Laplace
transform of the input, with all initial conditions assumed to be
zero
- Transfer functions are defined only for linear time invariant systems
- The input-output relationship of a control system πΊ π πΆ(π )
π π
π π
π(π‘)
ππ‘ π
+ π πβ1
π πβ1
π π‘
ππ‘ πβ1
+ β― + π0 π π‘
= π π
π π
π(π‘)
ππ‘ π
+ π πβ1
π πβ1
π(π‘)
ππ‘ πβ1
+ β― + π0 π π‘
π(π‘): output π(π‘): input ππβs, ππβs: constant
System Dynamics and Control 2.34 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§3.The Transfer Function
π π
π π
π(π‘)
ππ‘ π
+ π πβ1
π πβ1
π π‘
ππ‘ πβ1
+ β― + π0 π π‘
= π π
π π
π(π‘)
ππ‘ π
+ π πβ1
π πβ1
π(π‘)
ππ‘ πβ1
+ β― + π0 π π‘
- Taking the Laplace transform of both sides with zero initial
conditions
π π π π
πΆ π + π πβ1 π πβ1
πΆ π + β― + π0 πΆ π
= π π π π
π π + π πβ1 π πβ1
π π + β― + π0 π π
- The transfer function
πΊ π =
πΆ(π )
π (π )
=
π π π π
+ π πβ1 π πβ1
+ β― + π0
π π π π + π πβ1 π πβ1 + β― + π0
- The output of the system can be written in the form
πΆ π = πΊ π π (π ) (2.54)
System Dynamics and Control 2.35 Modeling in Frequency Domain
(2.53)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§3.The Transfer Function
- Ex.2.4 Transfer Function for a Differential Equation
Find the transfer function represented by
ππ(π‘)
ππ‘
+ 2π(π‘) = π(π‘)
Solution
Taking the Laplace transform with zero initial conditions
π πΆ π + 2πΆ(π ) = π (π )
The transfer function
πΊ π =
πΆ(π )
π (π )
=
1
π + 2
System Dynamics and Control 2.36 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
7. 1/11/2016
7
Β§3.The Transfer Function
Run ch2p9 through ch2p12 in Appendix B
Learn how to use MATLAB to
β’ create transfer functions with numerators and
denominators in polynomial or factored form
β’ convert between polynomial and factored forms
β’ plot time functions
System Dynamics and Control 2.37 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§3.The Transfer Function
Run ch2sp3 in Appendix F
Learn how to use the Symbolic Math Toolbox to
β’ simplify the input of complicated transfer functions as
well as improve readability
β’ enter a symbolic transfer function and convert it to a
linear time-invariant (LTI) object as presented in
Appendix B, ch2p9
System Dynamics and Control 2.38 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§3.The Transfer Function
- Ex.2.5 System Response from the Transfer Function
Given πΊ π = 1/(π + 2), find the response, π(π‘) to an input,
π π‘ = π’(π‘), a unit step, assuming zero initial conditions
Solution
For a unit step
π π‘ = π’ π‘ βΉ π π = 1/π
The output
πΆ π = π π πΊ π =
1
π
1
π + 2
Expanding by partial fractions
πΆ π‘ =
1
2
1
π
β
1
2
1
π + 2
Taking the inverse Laplace transform
π π‘ = 0.5 β 0.5πβ2π‘
(2.60)
System Dynamics and Control 2.39 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§3.The Transfer Function
πΊ π =
1
π + 2
π π =
1
π
π π‘ =
1
2
β
1
2
πβ2π‘
Matlab syms s
C=1/(s*(s+2))
C=ilaplace(C)
Result C =
1/2 - exp(-2*t)/2
π π‘ =
1
2
β
1
2
πβ2π‘
System Dynamics and Control 2.40 Modeling in Frequency Domain
(2.60)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§3.The Transfer Function
π π‘ =
1
2
β
1
2
πβ2π‘
Matlab t=0:0.01:1;
plot(t,(1/2-1/2*exp(-2*t)))
Result
System Dynamics and Control 2.41 Modeling in Frequency Domain
(2.60)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§3.The Transfer Function
Skill-Assessment Ex.2.3
Problem Find the transfer function, πΊ π = πΆ(π )/π (π ), corresponding
to the differential equation
π3
π
ππ‘3 + 3
π2
π
ππ‘2 + 7
ππ
ππ‘
+ 5π =
π2
π
ππ‘2 + 4
ππ
ππ‘
+ 3π
Solution Taking the Laplace transform with zero initial conditions
π 3
πΆ π + 3π 2
πΆ π + 7π πΆ π + 5πΆ π
= π 2
π π + 4π π π + 3π π
Collecting terms
π 3
+ 3π 2
+ 7π + 5 πΆ π = π 2
+ 4π + 3 π (π )
The transfer function
πΊ π =
πΆ(π )
π (π )
=
π 2
+ 4π + 3
π 3 + 3π 2 + 7π + 5
System Dynamics and Control 2.42 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
8. 1/11/2016
8
Β§3.The Transfer Function
Skill-Assessment Ex.2.4
Problem Find the differential equation corresponding to the
transfer function
πΊ π =
2π + 1
π 2 + 6π + 2
Solution The transfer function
πΊ π =
πΆ(π )
π (π )
=
2π + 1
π 2 + 6π + 2
Cross multiplying
π2
π
ππ‘2 + 6
ππ
ππ‘
+ 2π = 2
ππ
ππ‘
+ π
System Dynamics and Control 2.43 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§3.The Transfer Function
Skill-Assessment Ex.2.5
Problem Find the ramp response for a system whose transfer
function
πΊ π =
π
(π + 4)(π + 8)
Solution For a ramp response
π π‘ = π‘π’ π‘ βΉ π π =
1
π 2
The output
πΆ π = π π πΊ π
=
1
π 2
π
(π + 4)(π + 8)
=
π΄
π
+
π΅
π + 4
+
πΆ
π + 8
System Dynamics and Control 2.44 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§3.The Transfer Function
πΆ π =
1
π (π + 4)(π + 8)
=
π΄
π
+
π΅
π + 4
+
πΆ
π + 8
π΄ =
1
(π + 4)(π + 8) π β0
=
1
32
π΅ =
1
π (π + 8) π ββ4
= β
1
16
πΆ =
1
π (π + 4) π ββ8
=
1
32
βΉ πΆ π =
1
32
1
π
β
1
16
1
π + 4
+
1
32
1
π + 8
The ramp response
π π‘ =
1
32
β
1
16
πβ4π‘
+
1
32
πβ8π‘
System Dynamics and Control 2.45 Modeling in Frequency Domain
where,
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Summarizes the components and the relationships between
voltage and current and between voltage and charge under zero
initial conditions
System Dynamics and Control 2.46 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Simple Circuits via Mesh Analysis
- Ex.2.6 Transfer Function - Single Loop via the Differential Equation
Find the transfer function ππΆ(π )/π(π )
Solution
The voltage loop
πΏ
ππ
ππ‘
+ π π +
1
πΆ 0
1
π π ππ = π£(π‘)
Using the relationships π π‘ = ππ(π‘)/ππ‘ and π = πΆπ£ πΆ
πΏ
π2
π
ππ‘2 + π
ππ
ππ‘
+
1
πΆ
π = π£(π‘)
βΉ πΏπΆ
π2
π£ πΆ
ππ‘2 + π πΆ
ππ£ πΆ
ππ‘
+ π£ πΆ = π£(π‘)
System Dynamics and Control 2.47 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
πΏπΆ
π2
π£ πΆ
ππ‘2 + π πΆ
ππ£ πΆ
ππ‘
+ π£ πΆ = π£(π‘)
Taking Laplace transform assuming zero initial conditions
πΏπΆπ 2
+ π πΆπ + 1 ππΆ π = π(π )
Solving for the transfer function
ππΆ(π )
π(π )
=
1
πΏπΆ
π 2 +
π
πΏ
π +
1
πΏπΆ
Block diagram of series RLC electrical network
System Dynamics and Control 2.48 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
9. 1/11/2016
9
Β§4.Electrical Network Transfer Functions
Impedance
- A resistance resists or βimpedesβ the flow of current. The
corresponding relation is π£/π = π . Capacitance and
inductance elements also impede the flow of current
- In electrical systems an impedance is a generalization of the
resistance concept and is defined as the ratio of a voltage
transform π(π ) to a current transform πΌ(π ) and thus implies a
current source
- Standard symbol for impedance
π(π ) β‘
π(π )
πΌ(π )
- Kirchhoffβs voltage law to the transformed circuit
[ Sum of Impedances ] Γ πΌ π = [ Sum ofApplied Voltages ] (2.72)
System Dynamics and Control 2.49 Modeling in Frequency Domain
(2.70)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
- The impedance of a resistor is its resistance
π π = π
- For a capacitor
π£ π‘ =
1
πΆ 0
π‘
πππ‘ βΉ π π =
πΌ(π )
πΆ π π
The impedance of a capacitor
π π =
1
πΆπ
- For an inductor
π£ π‘ = πΏ
ππ
ππ‘
βΉ π π = πΏπΌ π π
The impedance of a inductor
π π = πΏπ
System Dynamics and Control 2.50 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Series and Parallel Impedances
- The concept of impedance is useful because the impedances
of individual elements can be combined with series and
parallel laws to find the impedance at any point in the system
- The laws for combining series or parallel impedances are
extensions to the dynamic case of the laws governing series
and parallel resistance elements
System Dynamics and Control 2.51 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
- Series Impedances
β’ Two impedances are in series if they have the same current.
If so, the total impedance is the sum of the individual
impedances π π£ π πΆ
π π = π1 π + π2(π )
β’ Example: a resistor π and capacitor πΆ in series have the
equivalent impedance
π π = π +
1
πΆπ
=
π πΆπ + 1
πΆπ
βΉ
π(π )
πΌ(π )
β‘ π π =
π πΆπ + 1
πΆπ
and the differential equation model is
πΆ
ππ£
ππ‘
= π πΆ
ππ
ππ‘
+ π(π‘)
System Dynamics and Control 2.52 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
- Parallel Impedances
β’ Two impedances are in parallel if they have the same
voltage difference across them. Their impedances combine
by the reciprocal rule
1
π(π )
=
1
π1(π )
+
1
π2(π )
β’ Example: a resistor π and capacitor πΆ in parallel have the
equivalent impedance
1
π(π )
=
1
1/πΆπ
+
1
π
βΉ
π(π )
πΌ(π )
β‘ π π =
π
π πΆπ + 1
and the differential equation model is
π πΆ
ππ£
ππ‘
+ π£ = π π(π‘)
System Dynamics and Control 2.53 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Admittance
π π β‘
1
π(π )
=
πΌ(π )
π(π )
In general, admittance is complex
β’ The real part of admittance is called conductance
πΊ =
1
π
β’ The imaginary part of admittance is called susceptance
When we take the reciprocal of resistance to obtain the
admittance, a purely real quantity results. The reciprocal of
resistance is called conductance
System Dynamics and Control 2.54 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
10. 1/11/2016
10
Β§4.Electrical Network Transfer Functions
Instead of taking the Laplace transform of the differential
equation, we can draw the transformed circuit and obtain the
Laplace transform of the differential equation simply by
applying Kirchhoffβs voltage law to the transformed circuit
The steps are as follows
1.Redraw the original network showing all time variables, such
as π£(π‘), π(π‘), and π£ πΆ(π‘), as Laplace transforms π(π ), πΌ(π ), and
ππΆ(π ), respectively
2.Replace the component values with their impedance values.
This replacement is similar to the case of dc circuits, where
we represent resistors with their resistance values
System Dynamics and Control 2.55 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
- Ex.2.7 Transfer Function - Single Loop via Transform Method
Find the transfer function ππΆ(π )/π(π )
Solution
The mess equation using impedances
πΏπ + π +
1
πΆπ
πΌ π = π(π )
βΉ
πΌ(π )
π(π )
=
1
πΏπ + π +
1
πΆπ
The voltage across the capacitor
ππΆ π = πΌ(π )
1
πΆπ
βΉ ππΆ(π )/π(π )
System Dynamics and Control 2.56 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Simple Circuits via Nodal Analysis
- Ex.2.8 Transfer Function - Single Node via Transform Method
Find the transfer function ππΆ(π )/π(π )
Solution
The transfer function can be obtained by
summing currents flowing out of the node
whose voltage is ππΆ(π )
ππΆ(π )
1/πΆπ
+
ππΆ π β π(π )
π + πΏπ
= 0
: the current flowing out of the node through the
capacitor
: the current flowing out of the node through the
series resistor and inductor
System Dynamics and Control 2.57 Modeling in Frequency Domain
βΉ
ππΆ(π )
π(π )
ππΆ(π )
πΌ/πΆπ
ππΆ π β π(π )
π + πΏπ
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Complex Circuits via Mesh Analysis
To solve complex electrical networks - those with multiple loops
and nodes β using mesh analysis
1.Replace passive element values with their impedances
2.Replace all sources and time variables with their Laplace
transform
3.Assume a transform current and a current direction in each
mesh
4.Write Kirchhoffβs voltage law around each mesh
5.Solve the simultaneous equations for the output
6.Form the transfer function
System Dynamics and Control 2.58 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
- Ex.2.10 Transfer Function β Multiple Loops
Find the transfer function πΌ2(π )/π(π )
Solution
Convert the network into
Laplace transforms
Summing voltages around
each mesh through which
the assumed currents flow
π 1 πΌ1 + πΏπ πΌ1 β πΏπ πΌ2 = π
πΏπ πΌ2 + π 2 πΌ2 +
1
πΆπ
πΌ2 β πΏπ πΌ1 = 0
π 1 + πΏπ πΌ1 β πΏπ πΌ2 = π
βπΏπ πΌ1 + πΏπ + π 2 +
1
πΆπ
πΌ2 = 0
System Dynamics and Control 2.59 Modeling in Frequency Domain
or
(2.80)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Cramerβs Rule
Consider a system of π linear equations for π unknowns,
represented in matrix multiplication form as follows
π΄π₯ = π
π΄ : (π Γ π) matrix has a nonzero determinant
π₯ : the column vector of the variables π₯ = (π₯1, β¦, π₯ π) π
π : the column vector of known parameters
The system has a unique solution, whose individual values for
the unknowns are given by
π₯π =
det(π΄π)
det(π΄)
, π = 1, β¦ , π
π΄π : the matrix formed by replacing the πth column of π΄ by the
column vector π
System Dynamics and Control 2.60 Modeling in Frequency Domain
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11. 1/11/2016
11
Β§4.Electrical Network Transfer Functions
π 1 + πΏπ πΌ1 β πΏπ πΌ2 = π
βπΏπ πΌ1 + πΏπ + π 2 +
1
πΆπ
πΌ2 = 0
Using Cramerβs rule
πΌ2 =
π 1 + πΏπ π
βπΏπ 0
π 1 + πΏπ βπΏπ
βπΏπ πΏπ + π 2 +
1
πΆπ
=
0 β πΏπ π
π 1 + πΏπ πΏπ + π 2 +
1
πΆπ
β πΏ2 π 2
=
πΏπΆπ 2
π
π 1 + π 2 πΏπΆπ 2 + π 1 π 2 πΆ + πΏ π + π 1
System Dynamics and Control 2.61 Modeling in Frequency Domain
(2.80)
(2.81)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
πΌ2 =
πΏπΆπ 2
π
π 1 + π 2 πΏπΆπ 2 + π 1 π 2 πΆ + πΏ π + π 1
Forming the transfer function
πΊ π =
πΌ2 π
π(π )
=
πΏπΆπ 2
π 1 + π 2 πΏπΆπ 2 + π 1 π 2 πΆ + πΏ π + π 1
The network is now modeled as the transfer function of figure
System Dynamics and Control 2.62 Modeling in Frequency Domain
(2.82)
(2.81)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Note
π 1 + πΏπ πΌ1 β πΏπ πΌ2 = π
βπΏπ πΌ1 + πΏπ + π 2 +
1
πΆπ
πΌ2 = 0
System Dynamics and Control 2.63 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Run ch2sp4 in Appendix F
Learn how to use the Symbolic Math Toolbox to
β’ solve simultaneous equations using Cramerβs rule
β’ solve for the transfer function in Eq. (2.82) using Eq.
(2.80)
System Dynamics and Control 2.64 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Complex Circuits via Nodal Analysis
- Ex.2.11 Transfer Function β Multiple Nodes
Find the transfer function ππΆ(π )/π(π )
Solution
Sum of currents flowing from
the nodes marked ππΏ(π ) and
ππΆ(π )
ππΏ β π
π 1
+
ππΏ
πΏπ
+
ππΏ β ππΆ
π 2
= 0
ππΆ
1/πΆπ
+
ππΆ β ππΏ
π 2
= 0
πΊ1 + πΊ2 +
1
πΏπ
ππΏ β πΊ2 ππΆ = ππΊ1
βπΊ2 ππΏ + πΊ2 + πΆπ ππΆ = 0
System Dynamics and Control 2.65 Modeling in Frequency Domain
or
(2.86)
(2.85)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
πΊ1 + πΊ2 +
1
πΏπ
ππΏ β πΊ2 ππΆ = ππΊ1
βπΊ2 ππΏ + πΊ2 + πΆπ ππΆ = 0
Solving for the transfer function
ππΆ(π )
π(π )
=
πΊ1 πΊ2
πΆ
π
πΊ1 + πΊ2 π 2 +
πΊ1 πΊ2 πΏ + πΆ
πΏπΆ
π +
πΊ2
πΏπΆ
Block diagram of the network
System Dynamics and Control 2.66 Modeling in Frequency Domain
(2.86)
(2.87)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
12. 1/11/2016
12
Β§4.Electrical Network Transfer Functions
- Another way to write node equations is to replace voltage
sources by current sources. In order to handle multiple-node
electrical networks, we can perform the following steps
1.Replace passive element values with their admittances
2.Replace all sources and time variables with their Laplace
transform
3.Replace transformed voltage sources with transformed
current sources
4.Write Kirchhoffβs current law at each node
5.Solve the simultaneous equations for the output
6.Form the transfer function
System Dynamics and Control 2.67 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Norton's Theorem
Any collection of batteries and resistances with two terminals is electrically equivalent
to an ideal current source π in parallel with a single resistor π. The value of π is the
same as that in the Thevenin equivalent and the current π can be found by dividing the
open circuit voltage by π
Β§4.Electrical Network Transfer Functions
- Ex.2.12 Transfer Function β Multiple Nodes with Current Sources
Find the transfer function ππΆ(π )/π(π )
Solution
Convert all impedances to
admittances and all voltage
sources in series with an
impedance to current
sources in parallel with an
admittance using Nortonβs
theorem
System Dynamics and Control 2.68 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Using the general relationship πΌ π =
π π π(π ) and summing currents at the
node ππΏ(π )
πΊ1 ππΏ π +
1
πΏπ
ππΏ π + πΊ2 ππΏ π β ππΆ π = πΊ1 π(π )
Summing the currents at the node ππΆ(π )
πΆππΆ π + πΊ2 ππΆ π β ππΏ π = 0 (2.89)
Solving (2.88) and (2.89), forming the transfer function
ππΆ(π )
π(π )
=
πΊ1 πΊ2
πΆ
π
πΊ1 + πΊ2 π 2 +
πΊ1 πΊ2 πΏ + πΆ
πΏπΆ
π +
πΊ2
πΏπΆ
System Dynamics and Control 2.69 Modeling in Frequency Domain
(2.88)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Note
πΊ1 ππΏ π +
1
πΏπ
ππΏ π + πΊ2 ππΏ π β ππΆ π = πΊ1 π(π )
πΆππΆ π + πΊ2 ππΆ π β ππΏ π = 0 (2.89)
System Dynamics and Control 2.70 Modeling in Frequency Domain
(2.88)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
A Problem-Solving Technique
In all of the previous examples, we have seen a repeating
pattern in the equations that we can use to our advantage. If we
recognize this pattern, we need not write the equations
component by component; we can sum impedances around a
mesh in the case of mesh equations or sum admittances at a
node in the case of node equations
System Dynamics and Control 2.71 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
- Ex.2.13 Mesh Equations via Inspection
Write the mesh equations for the
network
Solution
The mesh equations for loop 1
+ 2π + 2 πΌ1 β 2π + 1 πΌ2 β πΌ3 = π
(2.94.a)
System Dynamics and Control 2.72 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
13. 1/11/2016
13
Β§4.Electrical Network Transfer Functions
The mesh equations for loop 2
β 2π + 2 πΌ1 + 9π + 1 πΌ2 β 4π πΌ3 = 0
(2.94.b)
System Dynamics and Control 2.73 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
The mesh equations for loop 3
βπΌ1 β 4π πΌ2 + 4π + 1 +
1
π
πΌ3 = 0
(2.94.c)
System Dynamics and Control 2.74 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
+ 2π + 2 πΌ1 β 2π + 1 πΌ2 β πΌ3 = π (2.94.a)
β 2π + 2 πΌ1 + 9π + 1 πΌ2 β 4π πΌ3 = 0 (2.94.b)
βπΌ1 β 4π πΌ2 + 4π + 1 +
1
π
πΌ3 = 0
Matlab syms s I1 I2 I3 V;
A=[(2*s+2) -(2*s+1) -1; -(2*s+1) (9*s+1) -4*s; -1 -4*s
(4*s+1+1/s)]; B=[I1;I2;I3]; C=[V;0;0];
B=inv(A)*C;
pretty(B)
System Dynamics and Control 2.75 Modeling in Frequency Domain
(2.94.c)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Result / 3 2
| V (20 s + 13 s + 10 s + 1) |
| ----------------------------------- |
| #1 |
| 3 2 |
| V (8 s + 10 s + 3 s + 1) |
| -------------------------------- |
| #1 |
| 2 |
| V s (8 s + 13 s + 1) |
| -------------------------- |
#1 /
where
4 3 2
#1 == 24 s + 30 s + 17 s + 16 s + 1
System Dynamics and Control 2.76 Modeling in Frequency Domain
20π 3
+ 13π 2
+ 10π + 1 π
24π 4 + 30π 3 + 17π 2 + 16π + 1
8π 3
+ 10π 2
+ 3π + 1 π
24π 4 + 30π 3 + 17π 2 + 16π + 1
π 8π 2 + 13π + 1 π
24π 4 + 30π 3 + 17π 2 + 16π + 1
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Operational Amplifiers
- An operational amplifier (op-amp) is an electronic amplifier
used as a basic building block to implement transfer functions
- Op-amp has the following characteristics
1.Differential input, π£2 π‘ β π£1 π‘
2.High input impedance, ππ = β (ideal)
3.Low output impedance, π π = 0 (ideal)
4.High constant gain amplification, π΄ = β (ideal)
- The output, π£ π(π‘), is given by
π£ π π‘ = π΄[π£2 π‘ β π£1 π‘ ] (2.95)
System Dynamics and Control 2.77 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Inverting Operational Amplifiers
- If π£2(π‘) is grounded, the amplifier is called an inverting
operational amplifier
- The output, π£ π(π‘), is given by
π£ π π‘ = βπ΄π£1 π‘ (2.96)
System Dynamics and Control 2.78 Modeling in Frequency Domain
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14. 1/11/2016
14
Β§4.Electrical Network Transfer Functions
Inverting Operational Amplifiers
ππ π = β β πΌ π(π ) = 0
πΌ1 π = βπΌ2 π
π΄ = β β π£1 π‘ β 0
πΌ1 π =
ππ π
π1 π
= βπΌ2 π = β
ππ π
π2 π
The transfer function of the inverting operational amplifier
ππ(π )
ππ(π )
= β
π2(π )
π1(π )
System Dynamics and Control 2.79 Modeling in Frequency Domain
(2.97)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
- Ex.2.14 Transfer Function β Inverting Op-Amp Circuit
Find the transfer function ππ(π )/ππ(π )
Solution
The impedances
1
π1
=
1
1/πΆ1 π
+
1
π 1
β π1 =
1
πΆ1 π +
1
π 1
=
360 Γ 103
2.016π + 1
π2 = π 2 +
1
πΆ2 π
= 220 Γ 103
+
107
π
The transfer function
ππ(π )
ππ(π )
= β
π2 π
π1 π
= β
360 Γ 103
2.016π + 1
220 Γ 103 +
107
π
= β1.232
π 2
+ 45.95π + 22.55
π
System Dynamics and Control 2.80 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Noninverting Operational Amplifiers
ππ = π΄ ππ β π1
π1 =
π1
π1 + π2
ππ
The transfer function of the noninverting operational amplifier
ππ(π )
ππ(π )
=
π1 π + π2(π )
π1(π )
System Dynamics and Control 2.81 Modeling in Frequency Domain
(2.104)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
- Ex.2.15 Transfer Function β Noninverting Op-Amp Circuit
Find the transfer function ππ(π )/ππ(π )
Solution
The impedances
π1 = π 1 +
1
πΆ1 π
π2 =
π 2
1
πΆ2 π
π 2 +
1
πΆ2 π
The transfer function
ππ(π )
ππ(π )
=
π1 π + π2(π )
π1(π )
=
πΆ2 πΆ1 π 2 π 1 π 2
+ (πΆ2 π 2 + πΆ1 π 2 + πΆ1 π 1)π + 1
πΆ2 πΆ1 π 2 π 1 π 2 + πΆ2 π 2 + πΆ1 π 1 π + 1
System Dynamics and Control 2.82 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
Skill Assessment Ex.2.6
Problem Find πΊ π = ππΏ(π )/π(π ) using mesh and nodal analysis
Solution
Mesh analysis
Writing the mesh equations
π + 1 πΌ1 β π πΌ2 β πΌ3 = π
βπ πΌ1 + 2π + 1 πΌ2 β πΌ3 = 0
βπΌ1 β πΌ2 + π + 2 πΌ3 = 0
System Dynamics and Control 2.83 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§4.Electrical Network Transfer Functions
π + 1 πΌ1 β π πΌ2 β πΌ3 = π
βπ πΌ1 + 2π + 1 πΌ2 β πΌ3 = 0
βπΌ1 β πΌ2 + π + 2 πΌ3 = 0
Solving the mesh equation for πΌ2
πΌ2 =
π + 1 π β1
βπ 0 β1
β1 0 π + 2
π + 1 βπ β1
βπ 2π + 1 β1
β1 β1 π + 2
=
π 2
+ 2π + 1 π
π (π 2 + 5π + 2)
The voltage across πΏ
ππΏ = π πΌ2 =
π 2
+ 2π + 1 π
π 2 + 5π + 2
βΉ πΊ π =
ππΏ
π
=
π 2
+ 2π + 1
π 2 + 5π + 2
System Dynamics and Control 2.84 Modeling in Frequency Domain
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16. 1/11/2016
16
Β§5.Translational Mechanical System Transfer Functions
Impedance
- Define impedance for mechanical components
π π π β‘
πΉ π
π π
βΉ πΉ π = π π π π π
Sum of Impedances Γ π(π ) = Sum of Applied Forces
- The impedance of a spring is its stiffness coefficient
πΉ π = πΎπ π βΉ π π π = πΎ (2.112)
- For the viscous damper
πΉ π = ππ£ π π π βΉ π π π = ππ£ π (2.113)
- For the mass
πΉ π = ππ 2
π π βΉ π π π = ππ 2
(2.114)
System Dynamics and Control 2.91 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§5.Translational Mechanical System Transfer Functions
- Ex.2.17 Transfer Function - Two Degrees of Freedom
Find the transfer function
π2(π )/πΉ(π )
Solution
Free body diagram of π1
The Laplace transform of the equation of motion of π1
+ π1 π 2
+ ππ£1
+ ππ£3
π + πΎ1 + πΎ2 π1 β ππ£3
π + πΎ2 π2 = πΉ
System Dynamics and Control 2.92 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§5.Translational Mechanical System Transfer Functions
Free body diagram of π2
The Laplace transform of the equation of motion of π2
β ππ£3
π + πΎ2 π1 + π2 π 2
+ ππ£2
+ ππ£3
π + πΎ2 + πΎ3 π2 = 0
System Dynamics and Control 2.93 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§5.Translational Mechanical System Transfer Functions
The Laplace transform of the equations of motion
+ π1 π 2
+ ππ£1
+ ππ£3
π + πΎ1 + πΎ2 π1 β ππ£3
π + πΎ2 π2 = πΉ
β ππ£3
π + πΎ2 π1 + π2 π 2
+ ππ£2
+ ππ£3
π + πΎ2 + πΎ3 π2 = 0
The Laplace transform of the equations of motion
π2 =
π1 π 2
+ ππ£1
+ ππ£3
π + πΎ1 + πΎ2 πΉ
β ππ£3
π + πΎ2 0
β
=
ππ£3
π + πΎ2 πΉ
β
where
β =
π1 π 2
+ ππ£1
+ππ£3
π + πΎ1 +πΎ2 β ππ£3
π + πΎ2
β ππ£3
π + πΎ2 π2 π 2
+ ππ£2
+ππ£3
π + πΎ2 +πΎ3
The transfer function
πΊ π =
π2(π )
πΉ(π )
=
ππ£3
π + πΎ2
β
System Dynamics and Control 2.94 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§5.Translational Mechanical System Transfer Functions
Note
The Laplace transform of the equations of motion of π1
+ π1 π 2
+ ππ£1
+ ππ£3
π + πΎ1 + πΎ2 π1 β ππ£3
π + πΎ2 π2 = πΉ
The Laplace transform of the equations of motion of π2
β ππ£3
π + πΎ2 π1 + π2 π 2
+ ππ£2
+ ππ£3
π + πΎ2 + πΎ3 π2 = 0
System Dynamics and Control 2.95 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§5.Translational Mechanical System Transfer Functions
- Ex.2.18 Equations of Motion by Inspection
Write the equations of
motion for the mechanical
network
Solution
The Laplace transform of the equations of motion of π1
+ π1 π 2
+ ππ£1
+ ππ£3
π + πΎ1 + πΎ2 π1 β πΎ2 π2 β ππ£3
π3 = 0
System Dynamics and Control 2.96 Modeling in Frequency Domain
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17. 1/11/2016
17
Β§5.Translational Mechanical System Transfer Functions
The Laplace transform of the equations of motion of π2
βπΎ2 π1 + [π2 π 2
+ ππ£2
+ ππ£4
π + πΎ2]π2 β ππ£4
π π3 = πΉ
System Dynamics and Control 2.97 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§5.Translational Mechanical System Transfer Functions
The Laplace transform of the equations of motion of π3
βππ£3
π π1 β ππ£4
π π2 + [π3 π 2
+ ππ£3
+ ππ£4
π ]π3 = 0
System Dynamics and Control 2.98 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§5.Translational Mechanical System Transfer Functions
Skill-Assessment Ex.2.8
Problem Find the transfer
function
πΊ π =
π2(π )
πΉ(π )
Solution
+ π1 π 2
+ ππ£1
+ ππ£2
+ ππ£3
π + πΎ π1
β ππ£1
+ ππ£2
+ ππ£3
π + πΎ π2 = πΉ
βΉ +(π 2
+ 3π + 1)π1 β (3π + 1)π2 = πΉ
System Dynamics and Control 2.99 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§5.Translational Mechanical System Transfer Functions
β ππ£1
+ ππ£2
+ ππ£3
π + πΎ π1
+ π2 π 2
+ ππ£1
+ ππ£2
+ ππ£3
+ ππ£4
π + πΎ π2 = 0
βΉ β(3π + 1)π1 + (π 2
+ 4π + 1)π2 = 0
System Dynamics and Control 2.100 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§5.Translational Mechanical System Transfer Functions
+ π 2
+ 3π + 1 π1 β 3π + 1 π2 = πΉ
β(3π + 1)π1 + (π 2
+ 4π + 1)π2 = 0
The solution for π2
π2 =
π 2
+ 3π + 1 πΉ
β 3π + 1 0
β
=
3π + 1 πΉ
β
where
β=
π 2
+ 3π + 1 β 3π + 1
β 3π + 1 π 2
+ 4π + 1
= π (π 3
+ 7π 2
+ 5π + 1)
βΉ πΊ π =
π2(π )
πΉ(π )
=
3π + 1
π (π 3 + 7π 2 + 5π + 1)
System Dynamics and Control 2.101 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§6.Rotational Mechanical System Transfer Functions
System Dynamics and Control 2.102 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
18. 1/11/2016
18
Β§6.Rotational Mechanical System Transfer Functions
- Ex.2.19 Transfer Function β Two Equations of Motion
Find the transfer function, π2(π )/π(π ), for the rotational system
shown in figure. The rod is supported by bearings at either end
and is undergoing torsion. A torque is applied at the left, and
the displacement is measured at the right
Solution
First, obtain the schematic from the physical system
System Dynamics and Control 2.103 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§6.Rotational Mechanical System Transfer Functions
Next, draw a free-body diagram of π½1 vΓ π½2, using superposition
π½1 π 2
+ π·1 π + πΎ π1 π β πΎπ2 π = π(π ) (2.127.a)
βπΎ1 π1 π + (π½2 π 2
+ π·2 π + πΎ)π2 π = 0 (2.127.b)
System Dynamics and Control 2.104 Modeling in Frequency Domain
Final free-body diagram for π½2
Torques on π½2 due only
to the motion of π½2
Torques on π½2 due only
to the motion of π½1
Final free-body diagram for π½1
Torques on π½1 due only
to the motion of π½1
Torques on π½1 due only
to the motion of π½2
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§6.Rotational Mechanical System Transfer Functions
π½1 π 2
+ π·1 π + πΎ π1 π β πΎπ2 π = π(π )(2.127.a)
βπΎ1 π1 π + (π½2 π 2
+ π·2 π + πΎ)π2 π = 0 (2.127.b)
The solution for π2
π2 =
π½1 π 2
+ π·1 π + πΎ π
βπΎ 0
β
=
πΎπ
β
where
β=
π½1 π 2
+ π·1 π + πΎ βπΎ
βπΎ π½2 π 2
+ π·2 π + πΎ
βΉ πΊ π =
π2(π )
π(π )
=
πΎ
β
System Dynamics and Control 2.105 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§6.Rotational Mechanical System Transfer Functions
Note
π½1 π 2
+ π·1 π + πΎ π1 π β πΎπ2 π = π(π ) (2.127.a)
βπΎ1 π1 π + (π½2 π 2
+ π·2 π + πΎ)π2 π = 0 (2.127.b)
System Dynamics and Control 2.106 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§6.Rotational Mechanical System Transfer Functions
- Ex.2.20 Equations of Motion by Inspection
Write the Laplace transform of the equations of motion for the
system shown in the figure
Solution
The Laplace transform of the equations of motion of π½1
+ π½1 π 2
+ π·1 π + πΎ π1 β πΎπ2 β 0π3 = π(π ) (2.131.a)
System Dynamics and Control 2.107 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§6.Rotational Mechanical System Transfer Functions
The Laplace transform of the equations of motion of π½2
βπΎπ1 + π½2 π 2
+ π·2 π + πΎ π2 β π·2 π π3 = 0 (2.131.b)
System Dynamics and Control 2.108 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
19. 1/11/2016
19
Β§6.Rotational Mechanical System Transfer Functions
The Laplace transform of the equations of motion of π½3
β0π1 β π·2 π π2 + π½3 π 2
+ π·3 π + π·2 π π3 = 0 (2.131.c)
System Dynamics and Control 2.109 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§6.Rotational Mechanical System Transfer Functions
Skill-Assessment Ex.2.9
Problem
Find the transfer function
πΊ π =
π2(π )
π(π )
Solution
The equations of motion
+ π 2
+ π + 1 π1 π β (π + 1)π2 π = π(π )
β π + 1 π1 π + (2π + 2)π2 π = 0
System Dynamics and Control 2.110 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§6.Rotational Mechanical System Transfer Functions
The equations of motion
π 2
+ π + 1 π1 π β (π + 1)π2 π = π(π )
β π + 1 π1 π + (2π + 2)π2 π = 0
Solving for π2(π )
π2 =
π 2
+ π + 1 π
β π + 1 0
π 2 + π + 1 β(π + 1)
β π + 1 2π + 2
=
(π + 1)π
2π 3 + 3π 2 + 2π + 1
βΉ πΊ π =
π2(π )
π(π )
=
π + 1
2π 3 + 3π 2 + 2π + 1
System Dynamics and Control 2.111 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§7.Transfer Functions for Systems with Gears
Kinematic relationship
π2
π1
=
π1
π2
=
π1
π2
Power on gears
π1 π1 = π2 π2
The ratio of torques on two gears
π2
π1
=
π1
π2
=
π2
π1
π1, π2 : rotation angles of gear 1 and 2, πππ
π1, π2 : radius of gear 1 and 2, π
π1, π2 : number of teeth of gear 1 and 2
π1, π2 : torques on gear 1 and 2, ππ
System Dynamics and Control 2.112 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§7.Transfer Functions for Systems with Gears
What happens to mechanical impedances that are driven by gears?
(a) : gears driving a rotational inertia, spring, and viscous damper
(b) : an equivalent system at π1 without the gears
Can the mechanical impedances be reflected from the output to
the input, thereby eliminating the gears?
System Dynamics and Control 2.113 Modeling in Frequency Domain
b.equivalentsystem at the output
after reflection of input torque
a.rotational system driven by
gears
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§7.Transfer Functions for Systems with Gears
π1 can be reflected to the output by multiplying by π2/π1
π½π 2
+ π·π + πΎ π2 π = π1(π )
π2
π1
Convert π2(π ) into an equivalent π1(π ), so that
π½π 2
+ π·π + πΎ
π1
π2
π1 π = π1(π )
π2
π1
System Dynamics and Control 2.114 Modeling in Frequency Domain
b.equivalentsystem at the output
after reflection of input torque
a.rotational system driven by
gears
(2.131)
(2.132)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
20. 1/11/2016
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Β§7.Transfer Functions for Systems with Gears
π½π 2
+ π·π + πΎ π2 π = π1(π )(π2/π1) (2.131)
π½π 2
+ π·π + πΎ (π2/π1)π1 π = π1(π )(π2/π1) (2.132)
βΉ π½
π1
π2
2
π 2
+ π·
π1
π2
2
π + πΎ
π1
π2
2
π1 π = π1(π )
Thus, the load can be thought of as having been reflected from
the output to the input
System Dynamics and Control 2.115 Modeling in Frequency Domain
(2.133)
b.equivalentsystem at the output
after reflection of input torque
c.equivalent system at the input
after reflection of impedances
a.rotational system driven by
gears
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§7.Transfer Functions for Systems with Gears
Generalizing the results
Rotational mechanical impedances can be reflected through
gear trains by multiplying the mechanical impedance by the
ratio
where the impedance to be reflected is attached to the source
shaft and is being reflected to the destination shaft
System Dynamics and Control 2.116 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§7.Transfer Functions for Systems with Gears
- Ex.2.21 Transfer Function - System with Lossless Gears
Find the transfer function, π2(π )/π1(π ), for the system
Solution
Reflect the impedances (π½1 and π·1) and torque (π1) on the input
shaft to the output, where the impedances are reflected by
(π1/π2)2
and the torque is reflected by (π1/π2)
The equation of motion can now be written as
π½π π 2
+ π·π π + πΎπ π2 π = π1 π (π2/π1) (2.139)
System Dynamics and Control 2.117 Modeling in Frequency Domain
b.system after reflection of torques
and impedances to the output shaft
a.rotationalmechanicalsystemwithgears
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§7.Transfer Functions for Systems with Gears
π½π π 2
+ π·π π + πΎπ π2 π = π1 π (π2/π1) (2.139)
where, π½ π = π½1(π2/π1)2
+π½2, π·π = π·1(π2/π1)2
+π·2, πΎπ = πΎ2
Solving for πΊ(π )
πΊ π =
π2(π )
π1(π )
=
π2/π1
π½ π π 2 + π·π π + πΎπ
System Dynamics and Control 2.118 Modeling in Frequency Domain
b.system after reflection of torques
and impedances to the output shaft
a.rotationalmechanicalsystemwithgears
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§7.Transfer Functions for Systems with Gears
- In order to eliminate gears with large radii, a gear train is used
to implement large gear ratios by cascading smaller gear ratios.
π4 =
π1 π3 π5
π2 π4 π6
π1
- For gear trains, the equivalent gear ratio is the product of the
individual gear ratios
System Dynamics and Control 2.119 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§7.Transfer Functions for Systems with Gears
- Ex.2.22 Transfer Function β Gears with Loss
Find the transfer function, π1(π )/π1(π ), for the system
Solution
Reflect all of the impedances to the input shaft, π1
The equation of motion can now be written as
π½π π 2
+ π·π π π1 π = π1 π
The transfer function
πΊ π = π1 π /π1 π = 1/(π½ π π 2
+ π·π π )
System Dynamics and Control 2.120 Modeling in Frequency Domain
b.equivalent system at the inputa.system using a gear train
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
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Β§7.Transfer Functions for Systems with Gears
Skill-Assessment Ex.2.10
Problem Find the TF
πΊ π =
π2(π )
π(π )
Solution Transforming the network to one without gears by
reflecting the 4ππ/πππ spring to the left and multiplying
by (25/50)2
4[ππ/πππ] Γ
25
50
2
= 1[ππ/πππ]
System Dynamics and Control 2.121 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§7.Transfer Functions for Systems with Gears
The equation of motion
+ π 2
+ π π1 π β π π π π = π(π )
βπ π1 π + (π + 1)π π π = 0
System Dynamics and Control 2.122 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§7.Transfer Functions for Systems with Gears
The equation of motion
π 2
+ π π1 π β π π π π = π(π )
βπ π1 π + (π + 1)π π π = 0
Solving for π π(π )
π π π =
π 2
+ π π
βπ 0
π 2 + π βπ
βπ π + 1
=
π π(π )
π 3 + π 2 + π
βΉ
π π π
π(π )
=
1
π 2 + π + 1
The transfer function
π2 π
π(π )
=
1
2
π π π
π(π )
=
1/2
π 2 + π + 1
System Dynamics and Control 2.123 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§8.Electromechanical System Transfer Functions
System Dynamics and Control 2.124 Modeling in Frequency Domain
NASA flight simulator robot arm with electromechanical control system components
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§8.Electromechanical System Transfer Functions
- A motor is an electromechanical component that yields a
displacement output for a voltage input, that is, a mechanical
output generated by an electrical input
- Derive the transfer function for the armature-controlled dc
servomotor (Mablekos, 1980)
β’ Fixed field: a magnetic field is developed by stationary
permanent magnets or a stationary electromagnet
β’ Armature: a rotating circuit, through
which current π π(π‘) flows, passes
through this magnetic field at right
angles and feels a force
πΉ = π΅ππ π(π‘)
π΅ : the magnetic field strength
π : the length of the conductor
System Dynamics and Control 2.125 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§8.Electromechanical System Transfer Functions
β’ A conductor moving at right angles to a magnetic field
generates a voltage at the terminals of the conductor equal to
π = π΅ππ£
π : the voltage
π£ : the velocity of the conductor normal to the magnetic field
β’ The current-carrying armature is rotating in a magnetic field,
its voltage is proportional to speed
π£ π π‘ = πΎπ π π(π‘) (2.144)
π£ π π‘ : the back electromotive force
(back emf)
πΎπ : a constant of proportionality
called the back emf constant
π π(π‘): the angular velocity of the
motor
System Dynamics and Control 2.126 Modeling in Frequency Domain
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22. 1/11/2016
22
Β§8.Electromechanical System Transfer Functions
β’ Taking the Laplace transform
ππ(π ) = πΎπ π π π(π ) (2.145)
β’ The relationship between the armature current, π π(π‘), the
applied armature voltage, π π(π‘), and the back emf, π£ π(π‘)
π π πΌ π π + πΏ π π πΌ π π + ππ π = πΈ π π (2.146)
β’ The torque developed by the motor is proportional to the
armature current
π π π = πΎπ‘ πΌ π π (2.147)
π π : the torque developed by the
motor
πΎπ‘ : the motor torque constant,
which depends on the motor
and magnetic field characteristics
System Dynamics and Control 2.127 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
ππ(π ) = πΎπ π π π(π ) (2.145), π π πΌ π π + πΏ π π πΌ π π + ππ π = πΈ π π (2.146)
Β§8.Electromechanical System Transfer Functions
β’ Rearranging Eq.(2.147)
πΌ π(π ) =
1
πΎπ‘
π π(π )
β’ To find the TF of the motor, first substitute Eqs. (2.145) and
(2.148) into (2.146), yielding
(π π + πΏ π π )π π(π )
πΎπ‘
+ πΎπ π π π π = πΈ π π
β’ Then, find π π(π ) in terms of π π(π ),
separate the input and output
variables and obtain the transfer
function, π π(π )/πΈ π(π )
System Dynamics and Control 2.128 Modeling in Frequency Domain
(2.148)
(2.149)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
(π π+πΏ π π )π π(π )
πΎπ‘
+ πΎπ π π π π = πΈ π π (2.149)
Β§8.Electromechanical System Transfer Functions
β’ A typical equivalent mechanical loading on a motor
π½ π : the equivalent inertia at the armature and includes both the
armature inertia and, the load inertia reflected to the armature
π· π : the equivalent viscous damping at the armature and
includes both the armature viscous damping and, the
load viscous damping reflected to the armature
π π π = (π½ π π 2
+ π· π π )π π(π ) (2.150)
β’ Substituting Eq.(2.150) into Eq.(2.149)
(π π + πΏ π π )(π½ π π 2
+ π· π π )π π(π )
πΎπ‘
+ πΎπ π π π π = πΈπ(π )
System Dynamics and Control 2.129 Modeling in Frequency Domain
(2.151)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
(π π+πΏ π π )(π½ π π 2+π· π π )π π(π )
πΎπ‘
+ πΎπ π π π π = πΈπ(π ) (2.151)
Β§8.Electromechanical System Transfer Functions
β’ Assume that the armature inductance, πΏ π, is small compared
to the armature resistance, π π, which is usual for a dc motor,
Eq. (2.151) becomes
π π
πΎπ‘
π½ π π + π· π + πΎπ π π π π = πΈ π(π )
β’ After simplification
π π(π )
πΈ π(π )
=
πΎπ‘
π π
1
π½ π
π π +
1
π½ π
π· π +
πΎπ‘
π π
πΎπ
β’ The form of Eq.(2.153)
π π(π )
πΈ π(π )
=
πΎ
π (π + πΌ)
System Dynamics and Control 2.130 Modeling in Frequency Domain
(2.153)
(2.154)
(2.152)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§8.Electromechanical System Transfer Functions
β’ Let us first discuss the mechanical constants, π½ π and π· π.
Consider the figure: a motor with inertia
π½ π and damping π· π at the armature
driving a load consisting of inertia π½ πΏ
and damping π· πΏ
Assuming that all inertia and damping values shown are
known, π½ πΏ and π· πΏ can be reflected back to the armature as
some equivalent inertia and damping to be added to π½ π and
π· π , respectively. Thus, the equivalent inertia, π½ π , and
equivalent damping, π· π, at the armature are
π½ π = π½ π + π½πΏ
π1
π2
2
π· π = π· π + π·πΏ
π1
π2
2
System Dynamics and Control 2.131 Modeling in Frequency Domain
(2.155.a)
(2.155.b)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
ππ(π ) = πΎπ π π π(π ) (2.145), π π πΌπ π + πΏ π π πΌπ π + ππ π = πΈπ π (2.146), πΌπ(π ) =
1
πΎπ‘
π π(π ) (2.148)
Β§8.Electromechanical System Transfer Functions
β’ Substituting Eqs.(2.145), (2.148) into Eq. (2.146), with πΏ π = 0
π π
πΎπ‘
π π π + πΎπ π π π π = πΈ π π
Taking the inverse Laplace transform
π π
πΎπ‘
π π π‘ + πΎπ π π π‘ = π π π‘
β’ When the motor is operating at steady state with a dc voltage
input
π π
πΎπ‘
π π + πΎπ π π = π π
βΉ π π = β
πΎπ πΎπ‘
π π
π π +
πΎπ‘
π π
π π
System Dynamics and Control 2.132 Modeling in Frequency Domain
(2.156)
(2.157)
(2.158)
(2.159)
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23. 1/11/2016
23
Β§8.Electromechanical System Transfer Functions
The stall torque
ππ π‘πππ =
πΎπ‘
π π
π π
The no-load speed
π ππβππππ =
π π
πΎπ
The electrical constants of the motor
πΎπ‘
π π
=
ππ π‘πππ
π π
πΎπ =
π π
π ππβππππ
The electrical constants, πΎπ‘/π π and πΎπ, can be found from a
dynamometer test of the motor, which would yield ππ π‘πππ and
π ππβππππ for a given π π
System Dynamics and Control 2.133 Modeling in Frequency Domain
(2.160)
(2.161)
(2.162)
(2.163)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§8.Electromechanical System Transfer Functions
- Ex.2.23 Transfer Function-DC Motor and Load
Given the system and torque-speed curve, find the TF,
System Dynamics and Control 2.134 Modeling in Frequency Domain
π πΏ π
πΈ π π
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§8.Electromechanical System Transfer Functions
Solution
Find the mechanical constants
π½ π = π½ π + π½πΏ
π1
π2
2
= 5 + 700 Γ
100
1000
2
= 12
π· π = π· π + π· πΏ
π1
π2
2
= 2 + 800 Γ
100
1000
2
= 10
System Dynamics and Control 2.135 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§8.Electromechanical System Transfer Functions
Find the electrical constants from the torque-speed curve
ππ π‘πππ = 500, π ππβππππ = 50, π π = 100
πΎπ‘
π π
=
ππ π‘πππ
π π
=
500
100
= 5
πΎπ =
π π
π ππβππππ
=
100
50
= 2
System Dynamics and Control 2.136 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§8.Electromechanical System Transfer Functions
The transfer function π π(π )/πΈ π(π )
π π(π )
πΈ π(π )
=
πΎπ‘
π π
1
π½ π
π π +
1
π½ π
π· π +
πΎπ‘
π π
πΎπ
=
5 Γ
1
12
π π +
1
12
Γ 10 + 5 Γ 2
=
0.417
π (π + 1.667)
The transfer function π πΏ(π )/πΈ π(π )
π πΏ(π )
πΈ π(π )
=
π π(π )
π1
π2
πΈ π(π )
=
0.417 Γ
100
1000
π (π + 1.667)
=
0.0417
π (π + 1.667)
System Dynamics and Control 2.137 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§8.Electromechanical System Transfer Functions
Skill-Assessment Ex.2.11
Problem Find the TF, πΊ π = π πΏ(π )/πΈπ (π ), for the motor and load
system. The torque-speed curve is given by π π =
β 8π π + 200 when the input voltage is 100π£πππ‘π
Solution
Find the mechanical constants
π½ π = π½ π + π½πΏ
π1
π2
π3
π4
2
= 1 + 400 Γ
20
100
Γ
25
100
2
= 2
π· π = π· π + π·πΏ
π1
π2
π3
π4
2
= 5 + 800 Γ
20
100
Γ
25
100
2
= 7
System Dynamics and Control 2.138 Modeling in Frequency Domain
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24. 1/11/2016
24
π π = β8π π + 200
Β§8.Electromechanical System Transfer Functions
Find the electrical constants from the torque-speed eq.
π π = 0 βΉ π π = 200
π π = 0 βΉ π ππβππππ = 200/8 = 25
πΎπ‘
π π
=
ππ π‘πππ
πΈ π
=
200
100
= 2
πΎπ =
πΈ π
π ππβππππ
=
100
25
= 4
System Dynamics and Control 2.139 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§8.Electromechanical System Transfer Functions
Substituting all values into the motor transfer function
π π(π )
πΈ π(π )
=
πΎπ‘
π π
1
π½ π
π π +
1
π½ π
π· π +
πΎπ‘
π π
πΎπ
=
2 Γ
1
2
π π +
1
2
7 + 2 Γ 4
=
1
π (π + 7.5)
The transfer function π πΏ(π )/πΈ π(π )
π πΏ(π )
πΈ π(π )
=
π π(π )
π1
π2
π3
π4
πΈ π(π )
=
20
100
Γ
25
100
π (π + 7.5)
=
0.05
π (π + 7.5)
System Dynamics and Control 2.140 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§9.Electric Circuit Analogs
- Electric circuit analog: an electric circuit that is analogous to a
system from another discipline
- In the commonality of systems from the various disciplines, the
mechanical systems can be represented by equivalent electric
circuits
- Analogs can be obtained by comparing the describing
equations, such as the equations of motion of a mechanical
system, with either electrical mesh or nodal equations
β’ When compared with mesh equations, the resulting electrical
circuit is called a series analog
β’ When compared with nodal equations, the resulting electrical
circuit is called a parallel analog
System Dynamics and Control 2.141 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§9.Electric Circuit Analogs
Series Analog
Consider the translational mechanical system, the equation of motion
ππ 2
+ ππ£ π + πΎ π π = πΉ π =
ππ 2
+ ππ£ π + πΎ
π
π π π
βΉ ππ + ππ£ +
πΎ
π
π π = πΉ(π )
Kirchhoffβs mesh equation for the simple series RLC network
πΏπ + π +
1
πΆπ
πΌ π = πΈ(π )
System Dynamics and Control 2.142 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§9.Electric Circuit Analogs
Parameters for series analog
mass = π βΉ inductor πΏ = π henries
viscous damper = ππ£ βΉ resistor π = ππ£ohms
spring = πΎ βΉ capacitor πΆ = 1/πΎ farads
applied force = π(π‘) βΉ voltage source π π‘ = π(π‘)
velocity = π£(π‘) βΉ mesh current π π‘ = π£(π‘)
System Dynamics and Control 2.143 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§9.Electric Circuit Analogs
- Ex.2.24 Converting a Mechanical System to a Series Analog
Draw a series analog for the mechanical system
Solution
The equations of motion with π(π ) β π(π )
π1 π + ππ£1
+ ππ£3
+
πΎ1 + πΎ2
π
π1 π β ππ£3
+
πΎ2
π
π2 π = πΉ(π )
β ππ£3
+
πΎ2
π
π1 π + π2 π + ππ£2
+ ππ£3
+
πΎ2 + πΎ3
π
π2 π = 0
System Dynamics and Control 2.144 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
25. 1/11/2016
25
+ π1 π + ππ£1
+ ππ£3
+
πΎ1+πΎ2
π
π1 π β ππ£3
+
πΎ2
π
π2 π = πΉ(π )
β ππ£3
+
πΎ2
π
π1 π + π2 π + ππ£2
+ ππ£3
+
πΎ2+πΎ3
π
π2 π = 0
Β§9.Electric Circuit Analogs
Coefficients represent sums of electrical impedance.
Mechanical impedances associated with π1 form the first mesh,
where impedances between the two masses are common to
the two loops. Impedances associated with π2 form the second
mesh
π£1(π‘) and π£2(π‘)are the velocities of π1 and π2, respectively
System Dynamics and Control 2.145 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§9.Electric Circuit Analogs
Parallel Analog
Consider the translational mechanical system, the equation of motion
ππ + ππ£ +
πΎ
π
π π = πΉ(π )
Kirchhoffβs nodal equation for the simple parallel RLC network
πΆπ +
1
π π
+
1
πΏπ
πΈ π = πΌ(π )
System Dynamics and Control 2.146 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§9.Electric Circuit Analogs
Parameters for parallel analog
mass = π βΉ capacitor πΆ = π farads
viscous damper = ππ£ βΉ resistor π = 1/ππ£ ohms
spring = πΎ βΉ inductor πΏ = 1/πΎ henries
applied force = π(π‘) βΉ current source π(π‘) = π(π‘)
velocity = π£(π‘) βΉ node voltage π(π‘) = π£(π‘)
System Dynamics and Control 2.147 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§9.Electric Circuit Analogs
- Ex.2.25 Converting a Mechanical System to a Parallel Analog
Draw a parallel analog for the mechanical system
Solution
The equations of motion with π(π ) β π(π )
π1 π + ππ£1
+ ππ£3
+
πΎ1 + πΎ2
π
π1 π β ππ£3
+
πΎ2
π
π2 π = πΉ(π )
β ππ£3
+
πΎ2
π
π1 π + π2 π + ππ£2
+ ππ£3
+
πΎ2 + πΎ3
π
π2 π = 0
System Dynamics and Control 2.148 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
+ π1 π + ππ£1
+ ππ£3
+
πΎ1+πΎ2
π
π1 π β ππ£3
+
πΎ2
π
π2 π = πΉ(π )
β ππ£3
+
πΎ2
π
π1 π + π2 π + ππ£2
+ ππ£3
+
πΎ2+πΎ3
π
π2 π = 0
Β§9.Electric Circuit Analogs
Coefficients represent sums of electrical admittances.
Admittances associated with π1 form the elements connected
to the first node, where mechanical admittances between the
two masses are common to the two nodes. Mechanical
admittances associated with π2 form the elements connected
to the second node
π£1(π‘) and π£2(π‘) are the velocities of π1 and π2, respectively
System Dynamics and Control 2.149 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§9.Electric Circuit Analogs
Skill-Assessment Ex.2.12
Problem Draw a series and parallel analog for the rotational
mechanical system
Solution
The equations of motion
+ π½1 π 2
+ π·1 π + πΎ π1 π β πΎπ2 π = π(π )
βπΎπ1 π + π½2 π 2
+ π·2 π + πΎ π2 π = 0
System Dynamics and Control 2.150 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
26. 1/11/2016
26
Β§9.Electric Circuit Analogs
π½1 π 2
+ π·1 π + πΎ π1 π β πΎπ2 π = π(π )
βπΎπ1 π + π½2 π 2
+ π·2 π + πΎ π2 π = 0
Leting π1 π = π1(π )/π , π2 π = π2(π )/π
π½1 π + π·1 +
πΎ
π
π1 π β
πΎ
π
π2 π = π(π )
β
πΎ
π
π1 π + π½2 π + π·2 +
πΎ
π
π2 π = 0
From these equations, draw both series and parallel
analogs by considering these to be mesh or nodal
equations, respectively
System Dynamics and Control 2.151 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§10.Nonlinearities
- A linear system possesses two properties
β’ Superposition
β’ Homogeneity
- Some examples of physical nonlinearities
System Dynamics and Control 2.152 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§11.Linearization
- To obtain transfer function from a nonlinear system
β’ Recognize the nonlinear component and write the nonlinear
differential equation
β’ Find the steady-state solution is called equilibrium
β’ Linearize the nonlinear differential equation
β’ Take the Laplace transform of the linearized differential
equation, assuming zero initial conditions
β’ Separate input and output variables and form the transfer
function
System Dynamics and Control 2.153 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§11.Linearization
- Assume a nonlinear system operating at point π΄, [π₯0, π(π₯0)],
small changes in the input can be
related to changes in the output about
the point by way of the slope of the curve
at the point π΄
π π₯ β π(π₯0) β π π(π₯ β π₯0)
βΉ πΏπ π₯ β π π πΏπ₯
βΉ π π₯ β π π₯0 + π π π₯ β π₯0
β π π₯0 + π π πΏπ₯
π π : the slope of the curve at point π΄
Ξ΄π₯ : small excursions of the input about point π΄
πΏπ(π₯): small changes in the output related by the slope at
point π΄
System Dynamics and Control 2.154 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§11.Linearization
- Ex.2.26 Linearizing a Function
Linearize π π₯ = 5πππ π₯ about π₯ = π/2
Solution
Using the linearized equation
π π₯ β π π₯0 + π π πΏπ₯
where
π
π
2
= 5πππ
π
2
= 0
π π =
ππ
ππ₯ π₯=
π
2
= (β5π πππ₯)
π₯=
π
2
= β5
The system can be presented as
π π₯ β β5πΏπ₯
for small excursions of π₯ about π/2
System Dynamics and Control 2.155 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§11.Linearization
Taylor series expansion
Taylor series expansion expresses the value of a function in
terms of the value of that function at a particular point, the
excursion away from that point, and derivatives evaluated at
that point
π π₯ = π π₯0 +
ππ
ππ₯ π₯=π₯0
(π₯ β π₯ π)
1!
+
π2
π
ππ₯2
π₯=π₯0
(π₯ β π₯ π)2
2!
+ β―
For small excursions of π₯ from π₯0, the higher-order terms can
be neglected
π π₯ = π π₯0 +
ππ
ππ₯ π₯=π₯0
(π₯ β π₯ π)
System Dynamics and Control 2.156 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
27. 1/11/2016
27
Β§11.Linearization
- Ex.2.27 Linearizing a Differential Equation
Linearize the following equation for small excursion about π₯ = π/4
π2
π₯
ππ‘2 + 2
ππ₯
ππ‘
+ πππ π₯ = 0
Solution
The presence of the term πππ π₯ makes this equation nonlinear
Since we want to linearize the equation about π₯ = π/4, we let
π₯ = π/4 + πΏπ₯, where πΏπ₯ is the small excursion about π/4
π2
(πΏπ₯ + π/4)
ππ‘2 + 2
π(πΏπ₯ + π/4)
ππ‘
+ πππ (πΏπ₯ + π/4) = 0
π2
(πΏπ₯ + π/4)
ππ‘2 =
π2
πΏπ₯
ππ‘2
π(πΏπ₯ + π/4)
ππ‘
=
ππΏπ₯
ππ‘
System Dynamics and Control 2.157 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§11.Linearization
π π₯ = π π₯0 +
ππ
ππ₯ π₯=π₯0
(π₯ β π₯0)
π π₯ = πππ π₯ = πππ πΏπ₯ + π/4
π π₯0 = π π/4 = cos(π/4) = 2/2
π₯ β π₯0 = πΏπ₯
ππ
ππ₯ π₯=π₯0
=
ππππ π₯
ππ₯ π₯=π/4
= β sin π/4 = β 2/2
βΉ πππ πΏπ₯ + π/4 =
2
2
+ β
2
2
πΏπ₯
The linearized differential equation
π2
πΏπ₯
ππ‘2 + 2
ππΏπ₯
ππ‘
β
2
2
πΏπ₯ = β
2
2
Solve this equation for πΏπ₯, and obtain π₯ = πΏπ₯ + π/4
System Dynamics and Control 2.158 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§11.Linearization
- Ex.2.28 Transfer Function-Nonlinear Electrical Network
Find the transfer function, ππΏ(π )/π(π ), for the electrical network,
which contains a nonlinear resistor whose
voltage-current relationship is defined by
π π = 2π0.1π£ π , where π π and π£π are the
resistor current and voltage, respectively.
Also, π£(π‘) is a small-signal source
Solution
From the voltage-current relationship
π π = 2π0.1π£ π
βΉ π£π = 10ln(0.5π π) = 10ln(0.5π)
Applying Kirchhoffβs voltage law around the loop
πΏ
ππ
ππ‘
+ 10 ln 0.5π β 20 = π£(π‘)
System Dynamics and Control 2.159 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§11.Linearization
- Evaluate the equilibrium solution
β’ Set the small-signal source, π£(π‘), equal to zero
β’ Evaluate the steady-state current
In the steady state π£ πΏ π‘ = πΏππ/ππ‘ and
ππ/ππ‘, given a constant battery source.
Hence, the resistor voltage, π£π, is 20π
π π = 2π0.1π£ π = 2π0.1Γ20
= 14.78π΄
βΉ π0 = π π = 14.78π΄
π0 is the equilibrium value of the network current βΉ π = π0 + πΏπ
πΏ
ππ
ππ‘
+ 10 ln 0.5π β 20 = π£(π‘)
βΉ πΏ
π(π0 + πΏπ)
ππ‘
+ 10ln[0.5 π0 + πΏπ ] β 20 = π£(π‘)
System Dynamics and Control 2.160 Modeling in Frequency Domain
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πΏ
π(π0+πΏπ)
ππ‘
+ 10 ln[0.5 π0 + πΏπ ] β 20 = π£(π‘)
Β§11.Linearization
π π = π π0 +
ππ
ππ π=π0
(π β π0)
π π = ln(0.5π) = ln[0.5 π0 + πΏπ ]
π π0 = ln(0.5π0)
π β π0 = πΏπ
ππ
ππ π=π0
=
π ln(0.5π)
ππ π=π0
=
1
π π=π0
=
1
π0
βΉ ln[0.5 π0 + πΏπ ] = ln(0.5π0) +
1
π0
πΏπ
The linearized equation
πΏ
ππΏπ
ππ‘
+ 10 ln(0.5π0) +
1
π0
πΏπ β 20 = π£(π‘)
System Dynamics and Control 2.161 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§11.Linearization
The linearized equation with πΏ = 1π», π0 = 14.78π΄
ππΏπ
ππ‘
+ 0.677πΏπ = π£(π‘) βΉ πΏπ π =
π(π )
π + 0.677
The voltage across the inductor about the equilibrium point
π£ πΏ π‘ = πΏ
π(π0 + πΏπ)
ππ‘
= πΏ
ππΏπ
ππ‘
βΉ ππΏ π = πΏπ πΏπ π = π πΏπ π
The voltage across the inductor about the equilibrium point
ππΏ π = π
π(π )
π + 0.677
The final transfer function
ππΏ π
π(π )
=
π
π + 0.677
for small excursions about π = 14.78π΄ or, equivalently, about
π£ π‘ = 0
System Dynamics and Control 2.162 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
28. 1/11/2016
28
Β§11.Linearization
Skill-Assessment Ex.2.13
Problem Find the linearized transfer function, πΊ π = π(π )/πΌ(π ),
for the electrical network. The network contains a
nonlinear resistor whose voltage-current relationship is
defined by π π = π π£ π. The current source, π(π‘), is a small-
signal generator
Solution
The nodal equation
πΆ
ππ£
ππ‘
+ π π β 2 = π π‘
But πΆ = 1, π£ = π£0 + πΏπ£, π π = π π£ π = π π£
= π π£0+πΏπ£
π(π£0 + πΏπ£)
ππ‘
+ π π£0+πΏπ£
β 2 = π π‘
System Dynamics and Control 2.163 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
π(π£0+πΏπ£)
ππ‘
+ π π£0+πΏπ£
β 2 = π π‘
Β§11.Linearization
Linearize π π£
π π£ = π π£0 +
ππ
ππ£ π£=π£0
(π£ β π£0)
π π£ = π π£
= π π£0+πΏπ£
π π£0 = π π£0
π£ β π£0 = πΏπ£
ππ
ππ£ π£=π£0
=
ππ π£
ππ£ π£=π£0
= π π£
π£=π£0
= π π£0
βΉ π π£0+πΏπ£
= π π£0 + π π£0 πΏπ£
The linearized equation
ππΏπ£
ππ‘
+ π π£0 + π π£0 πΏπ£ β 2 = π π‘
System Dynamics and Control 2.164 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§11.Linearization
Setting π π‘ = 0 and letting the circuit reach steady
state, the capacitor acts like an open circuit. Thus, π£0 =
π£π with π π = 2. But, π π = π π£ π or π£π = lnπ π. Hence, π£0 =
ln2 = 0.693
ππΏπ£
ππ‘
+ π π£0 + π π£0 πΏπ£ β 2 = π π‘
βΉ
ππΏπ£
ππ‘
+ 2πΏπ£ = π π‘
Taking the Laplace transform
π + 2 πΏπ£ π = πΌ(π )
The transfer function
πΏπ£(π )
πΌ(π )
=
π(π )
πΌ(π )
=
1
π + 2
about equilibrium
System Dynamics and Control 2.165 Modeling in Frequency Domain
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Β§12.Case Studies
System Dynamics and Control 2.166 Modeling in Frequency Domain