Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
vL ( t ) + vc ( t ) + Ri ( t ) = e ( t ) E
i (t )
L
vL ( t ) = L C
dt
1
vc ( t ) = i ( t ) dt
C
i (t ) 1
L + i ( t ) dt + Ri ( t ) = e ( t )
dt C R
i (t ) 1
L L + i ( t ) dt + Ri ( t ) = L ( e ( t ) )
dt C E
I (s) L
LsI ( s ) + + RI ( s ) = E ( s )
Cs C
1
Ls + + R I (s) = E (s)
Cs
LCs 2 + RCs + 1
I (s) = E (s)
Cs
Cs Applied voltage E(s) Resistor current I(s)
I (s) = E (s)
Cs
LCs 2 + RCs + 1
LCs + RCs + 1
2
output I ( s ) Cs
= = = TF
input E ( s ) LCs + RCs + 1
2
Problem
Determine the transfer function of a series RLC circuit relating
circuit current to applied voltage, when subjected to an input voltage
of 10V dc. Given that
R
Resistor R= 2.2kΩ
Capacitor C = 4.7 μF
Inductor L= 1mH E
L
C
output I ( s ) Cs
= = = TF
input E ( s ) LCs + RCs + 1
2
C = 4.7 F
R = 2.2k
L = 1mH
Cs
TF =
LCs 2 + RCs + 1
4.7 Fs
TF =
1mH 4.7 Fs 2 + 2.2k 4.7 Fs + 1
4.7 10−6 s
TF =
4.7 10−9 s 2 + 1.03 10−2 s + 1
Problem
Determine the transfer function if the circuit is subjected to an
input voltage of 12V instead of 10V
R
Resistor R= 2.2kΩ
Capacitor C = 4.7 μF
Inductor L= 1mH E
L
C
Assignment
Determine the transfer function of the circuit in figure below for
output versus input voltage. Output voltage is measured across the
RC filter R2C
R1
R2
Vi VO
C
R2
Vi VO
C
f = Kx
applied displacement X ( s ) 1
TF = =
applied force F ( s ) K
Damper
A damper is a mechanical component that provides damping in the motion
control systems.
Some form of damping is desirable in most of motion control systems, because
damping reduces vibrations and tendency to hunt (back and forth movement
about the target position)
This type of damper (viscous) provides a resistance only to movement.
Force (resistance) developed by a viscous damper is directly proportional to
velocity
f = Bv
dx
f =B
dt
B damping coefficient
dx
L( f ) = L B
dt
F ( s ) = BsX ( s )
the damper transfer function
applied displacement X ( s ) 1
TF = =
applied force F ( s ) Bs
Spring mass damper System
❑ A spring mass damper system is shown in fig.
❑ The system is fixed at ends between two supports.
❑ Mass is supported by the spring and free to oscillate about the position of
rest.
❑ The frequency at which these oscillations take place is a function of the
spring stiffness and inertial mass and is known as the natural frequency
of the system.
❑ An equation of motion relating vertical motion of mass to applied force
will be developed.
❑ Four different forces are at work here
❑ Spring force (force = stiffness × displacement)
❑ Mass (inertia) force (resistance = mass × acceleration)
❑ Damping force (resistance = damping coefficient × velocity)
❑ External force F
❑ Equation all the forces,
❑ Mass force + damping force + spring force = F
d 2x dx
M 2 + B + Kx = F
dt dt
( Ms + Bs + K ) X ( s ) = F ( s )
2
Applied force F(s) 1 Mass movement X(s)
X (s) =
1
F (s) ( Ms 2 + Bs + K )
( Ms + Bs + K )
2
TF =
1 Transfer function of spring mass damper system
( Ms 2 + Bs + K )