3.mathematical Modeling of Mechanical Systems and Electrical Systems
3.mathematical Modeling of Mechanical Systems and Electrical Systems
3.mathematical Modeling of Mechanical Systems and Electrical Systems
Mathematical Modeling of
Mechanical Systems and Electrical
Systems
3-1 Introduction
b2
(Fig.a)
x y
(Fig.b)
x z y
bb 1
Hence, beq 1 2
(b1 b2 ) 1 1
b1 b2
Example. Consider the spring-mass-dashpot system
mounted on a massless cart. Let u, the displacement of the
cart, be the input, and y, the displacement of the mass, be
the output. Obtain the mathematical model of the SMD
system.
u y u y
m
du dy
b k u y b
dt dt
By Newton’s law: d 2y du dy
m b k u y
dt dt dt
d 2y dy du
m b ky b ku
dt dt dt
Therefore, the system transfer function can be obtained
as u y
Y (s ) bs k
U (s ) ms 2 bs k
Massless cart k
b
Example. Mechanical system is shown below. Obtain the
transfer functions X1(s)/U(s) and X2(s)/U(s), where u denotes
the force, and x1 and x2 denote the displacements of the two
carts, respectively.
Solution: By Newton’s second law, we have
m 1x1 u k1x 1 k 2 (x 1 x 2 ) b(x1 x 2 )
m 2x2 k 3x 2 k 2 (x 2 x 1 ) b(x 2 x1 )
u x1 x2
k2
m1 m2
k1 k3
b
Simplifying, we obtain
u x1 x2
k2
m1 m2
k1 k3
b
Taking the Laplace transforms of these two equations, and
assuming zero initial conditions,
[m 1s 2 bs (k1 k 2 )]X 1 (s ) U (bs k 2 )X 2 (s ) (1)
X 1 (s )
U (s )
[m 2s 2 bs (k 2 k 3 )]
[m 1s 2 bs (k1 k 2 )][m 2s 2 bs (k 2 k 3 )] (bs k 2 ) 2
Example. An inverted pendulum mounted on a motor-
drive cart is shown below. This is a model of attitude
control of a space booster on takeoff; that
is, the objective of the y
l cos
mg
u
O
x
M
u
Define:
u: the control force to the cart;
: the angle of the rod from the vertical line;
(xG, yG): the center of gravity of
y
the rod in (x, y)
coordinates. Hence,
xG x l sin q
x
yG l cos q
1) The horizontal V
motion of cart is mg
described by H H
O x
d 2x u V
M
M 2 u H (1)
dt
2)The horizontal motion of center of gravity of the rod is
2
d
m 2 (x l sin q) H (2)
dt y
3)The vertical motion of
pendulum rod is
2 V
d
m 2 (l cos q) V mg (3) mg
dt
H H
O x
M
u V
4) The rotation motion of the rod about its center of
gravity can be described by
I q l (V sin q) l (H cos q) (4)
y
H H
O x
M
u V
Since we must keep the inverted pendulum vertical, we can
assume that and d/dt are small quantities so that sin,
cos1 and (d/dt)2 0. Hence, the equations (2)-(4) can be
linearized as
m (x l q) H (2)
0 V mg (3) Mx u H (1)
I q V ql Hl (4)
By replacing (1) into (2) yields
(M m )x ml q u (5)
From equations (2)-(4), we have
I q mgl q Hl mgl q l (mx ml q)
(I ml 2 )q lmx mgl q (6)
From (6), we have
mgl q (I ml )q
2
x (7)
lm
Substituting (7) into (5) yields
mgl q (I ml 2 )q
(M m ) ml q u (8)
lm
Taking the Laplace transform on both sides of (8) yields
mgl (I ml 2 )s 2
(M m ) mls 2 U (s ) (9)
lm
Therefore,
(s ) lm
U (s ) (M m )mgl (MI mMl 2 mI )s 2
y
Example. An inverted x sin
pendulum is shown in the
figure below. Similar to the mg
previous example:
cos
u
O x
P
M
u
(s ) lm
U (s ) (M m )mgl (MI mMl 2 mI )s 2
For this case, the moment of inertia of the pendulum
about its center of gravity is small, and we assume I = 0.
Then the mathematical model for this system becomes:
(s ) 1
U (s ) (M m )g Mls 2
Example. Gear Train: Rotational transformer. In
servo control systems, the rotor drives a load through
gear train.
Jm N1
m m L, L
N2 JL
r(t)
Current v(t)
source
v (t ) dv (t ) 1 t
R
C
dt
L v (t )dt r (t )
0
V (s ) 1
CsV (s ) V (s ) R (s )
R Ls
Hence,
1 1
V (s )( Cs ) R (s )
R Ls
V (s ) 1
R (s ) ( 1 Cs 1 )
R Ls
R Ls
R LCs 2 Ls R
2. Transfer functions of cascaded elements
1
eo
C2 i 2dt
Ei 1 I1 1 U c1 1
I2 1 Eo
R1 sC 1 R2 sC 2
U c1
Resistance R: R
Capacitance: 1/Cs
Inductance: Ls
Example. Find Y(s)/U(s)
Solution:
Y (s ) 1 / Cs
U (s ) R Ls 1 / Cs
Example. Find Eo(s)/Ei(s).
E (s ) 1 I (s )
0
sC 2
2
Ei 1 I1 1 U ab I2 1 Eo
1
R1 sC 1 R2 sC 2
U ab
Example. Find Eo(s)/Ei(s).
C
4. Transfer functions of nonloading cascaded
elements
Again, consider the two simple RC circuits. Now, the
circuits are isolated by an amplifier as shown below and
therefore, have negligible loading effects, and the
transfer function
E 0 (s ) K
E i (s ) (R 1C 1s 1)(R 2C 2s 1)
R1 a R2
+ +
Isolating
amplifier
ei i1 C1 (Gain K ) i2 C2 eo
- -
b
In general, the transfer function of a system consisting
of two or more nonloading cascaded elements can be
obtained by eliminating the intermediate inputs and
outputs:
R(s) U C(s)
G1(s) G2(s)
R(s) C(s)
G1(s)G2(s)
C (s ) G 2 (s )U (s ) G 2 (s )G 1 (s )R (s )
5. Operational amplifiers
Ua(s) DC m(s)
motor
Stator winding: 定子绕
组;
Rotor windings: 转子绕
组;
Shaft: 电机轴;
Inertia load: 惯性负载 ;
Bearings: 轴承
Commutator :换向器
ua J m
fm
m
Rotor: 转子; Torque: 电磁转矩; Back emf voltage:
反电势; Armature current: 电枢电流 ;
ua Jm
fm
m
E b K b qm (2)
Ra 3) The electrical equation:
J m , fm
dia
ua
ia
La ua ia R a La Eb (3)
dt
qm , wm
4) The torque equation: by using Newton’s law,
J m qm M m fm qm J m qm fm qm M m (4)
K bs
Eb
m Cm
U a (s ) [(Las R a )(J m s 2 fm s ) C m K bs ]
where
J J 0 / n 2
B [b 0 (K K
2 3 / R a )] / n 2
K K K K / R n
0 1 2 a
Summary of Chapter 3
In this chapter, we studied the mathematical
modeling of some simple mechanical and electrical
systems.
1. For mechanical systems, Newton’s second law is
applied to establish the mathematical models of (1)
some spring-mass-damper systems and (2), inverted
pendulum systems. y
u y x
V
mg
Massless cart k
H H
m O x
b u
M
V
2. For electrical systems, Kirchhoff’s laws are used. In
particular, the concept of complex impedance is
introduced, which provides a convenient way to
obtain system transfer function.
3. The mathematical modeling of DC motor, which
combines mechanical and electrical systems, is
introduced and can be expressed as
M m C m ia
E
b K
q
b m
m Cm
dia
u i
a a a a dtR L E b
U a (s ) [(La s R a )(J m s 2
fm s ) C m K bs ]
J m qm fm qm M m
Ra
J m , fm
ia Ua(s) m(s)
ua La DC
qm , wm motor