MODULE-1: System Modelling

Part-a: Control Terminology and Transfer Functions;

System Block diagram - simplifying/reduction approach;
Part-b: Modelling simple systems - deriving Transfer Functions
Lecture 3c -

Mechanical
Electrical
Electromechanical
Level control
Thermal
Pressure difference
Hydraulic
Pneumatic
Others

Simple Pressure difference System

q = Gas flow rate

= dm/dt

m = Mass of the gas in the vessel (gas-stored)

C= capacitance of the gas in the vessel
V= Volume of the vessel

Gas flow Resistance:

---(1)

Gas flow Capacitance:

---(2)

At steady state:

---(3)

Substituting in (3)

Applying Laplace Transform (assuming zero initial conditions):

PASCALs Principle
Pressure is transmitted undiminished in an enclosed static fluid!
Large multiplication of force
Hydraulic systems are preferred for continuous control of motion
with significant external loads.

Pstatic fluid = .g.h

= m/V Fluid density
g = acceleration of gravity
h = depth of fluid

Standard symbols used & SI units

Constraints R and C
in the output flow

Liquids:
h
R
qo

dv
qi qo
dt

Gases:

v
h

Hydraulic Systems
Study of Incompressible fluids such as oil and water
Fluids density remains constant despite changes in fluid pressure.
Conservation of mass is equivalent to conservation of volume
Main System Variables:
Pressure,
Mass (m) and
Mass flow rate (qm)
The volume flow rate:

qm .q

---(1)

(, the density = constant )

For a container of volume V holding the incompressible fluid of mass m,

qin and qout are the inflow and outflow rates
The conservation of the mass is given by:

m (qin qout ) .V

---(2)

If q1 and q2 are the total volume inflow and outflow rates in the
container, such that

qin q1

qout q2
qin qout q1 q2

(q1 q2 )
V

---(3)

Simple Hydraulic System

Find the Transfer function Y/X:

e will cause a displacement in x:

e (and x) will move to the right:

Ports I and II will open as shown;

Pilot Valve

Power Cylinder

At lower piston, the oil flow-rate is

given by : q . A.

dy
---(4)
dt

is oil density
A is the piston cross-section area

At Port-II, the oil flow rate would be:

q K1 x

---(5)

K1 is a constant
Motion of the Piston:

q
dy
dt
A

Feedback link:
For the Flapper movement:

b
a
x
e
y
ab
ab

e y x y

ab
b

Displacement x as a result of adding two small displacements

q K1 x

---(4)

dy
q . A.
dt

---(5)

Hence, equating the two, we get: K1 x

dy
. A.
dt

Applying Laplace Transform (assuming zero initial conditions):

K1 X ( s ) AsY ( s )
Y ( s)
K1

Transfer Function:
X ( s ) sA
X(s)

K1
sA

---(6)

Y(s)

Proportional Controller
e y x y
Feedback link:

ab
b

---(7)

b K
Transfer Function: Y ( s ) a b s
E ( s) 1 K a
s ab

Y ( s) E ( s)

b
K s
---(8)
.
a b 1 ( K s ) . a ( a b)

Under normal operating conditions, we can Y ( s ) b

K p ---(9)
write (8) as |Ka/[s(a+b)]| >>1

E ( s)

Pneumatic Systems

Working medium compressible fluid (air/gas);

Slower response than that of hydraulic systems;

Forces are greater than those available from electrical

drive systems;

Quantities used:

Mass (m),
Volume (V),
Pressure (P)
Temp. (T)

The main variables of pneumatic system are:

Mass flow rate q (a through variable)
pressure P
(These are analogues of current and voltage in electrical networks)

Ideal Gas Law:

pV mRg T

---(1)

p is the absolute pressure of the gas with volume V,

m is the mass,
T its absolute temperature, and
Rg the gas constant that depends on the type of gas
The compressible Flow/pneumatic Resistance is modeled as,

Rq 2 m p

---(2)

R is similar to turbulent flow resistance;

p is the pressure drop across the component
Linearizing
---(3)

Pneumatic Proportional Controller

pb K1 x
pb K 2 z
pc K 3 z
Diaphragm
Valve

K3
KK
pb 1 3 x
K2
K2
---(4)

For the Flapper movement:

b
a
x
e
y
---(5)
ab
ab
Bellows act like springs:

A. pc k s y

---(6)

A is the effective area of bellows

and
kS is the equiv. spring constant

K1K 3
x
From eqn. (4) pc
K2
From eqn. (6) A. pc ks y
ab
a
From eqn. (5) e b x b y

Transfer Function could be obtained by dividing eqn. (4) by (5) and

applying Laplace transform
b
.K
P (s)
Pc ( s )
ab
c
Kp

E (s)
E (s) 1 K . a . A
a b ks

Exercise: Aircraft Elevator Control

Applications of Hydraulic and Pneumatic systems

Automobile systems
-such as hydraulic actuators as the
brake on an automobile

Elevators systems
-such as hydraulic jacks and lifts;
lifting heavy loads in the construction
and mining industry.

Aircraft systems
-such as control flaps of airplanes

Automation and Industrial Robots

Automatic controllers
Guided Missiles etc

Rescue Robot

Hydraulic & Pneumatic Systems

Large forces and torques;

High sped of response;
Availability of both Linear and Rotary Actuators (Hydraulic)
Power is not readily available;
Contaminated oil may cause system failure (Hydraulic);
Leakage;
Expensive;

Next coming up:

- Others combinations