NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

Modeling
g of Electrical Elements

D Bi
Dr. Bishakh
h kh Bh
Bhattacharya
tt h

Professor, Department of Mechanical Engineering

IIT Kanpur

Joint Initiative of IITs and IISc - Funded by MHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

This Lecture Contains

 Modeling of electrical elements

Kirchoff’s Laws and modeling electrical circuit

A
A multi‐loop system
lil

Modeling of a DC servomotor

Joint Initiative of IITs and IISc - Funded by MHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

Modeling
g of Electrical Elements

In the last lecture we have discussed about modeling of dynamic mechanical

systems. However, today you will hardly find dynamic systems which are purely
mechanical in nature. There will be invariably electrical systems coupled with the
mechanical elements. Similar to mechanical systems electrical systems consist of
three basic electrical elements
elements. These are: Resistors (R)
(R), Capacitors (C) and
Inductors (L)

Resistors are electric elements for which voltage g across it is proportional

p p to the
current passing through it. The constant of proportionality is known as Resistance.
For a wire of length ‘l’, cross-sectional area –’A’ and resistivity – ‘ρ’:

l
R
A

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

Electrical Elements – Resistors

Resistors are dissipative in nature. Energy (E) dissipated from a resistor (R) could
be modeled using ‘Joule Effect’. Accordingly:
2
V
E  i2R t  t
R
where ‘i’ is the current p
passed through
g the resistor for a time ‘t’ and ‘V’ is the
applied Voltage. Figure below shows different types of resistors.

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 NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

Electrical Elements: Capacitors

p

Capacitors are electrical elements used to store the electrostatic energy. Voltage
(V) across a capacitor of capacitance (C) changes according to the following
equation:
t
1
V (t )   i dt
C0
Th energy stored
The t d in
i a capacitor
it could
ld be
b expressed
d as:
1
E  CV 2
2
Capacitance of commonly used configuration of a capacitor and the corresponding
capacitance is shown below:

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 NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

Electrical Elements: Inductors

Inductors refer to the coiled conductors where a variable current generates

voltage, which, for a linear inductor is proportional to the current rate.
Accordingly, the voltage (V) is given by:

d i (t )
V (t )  L
dt

Where, L refers to the inductance of the coil. For a cylindrical coil of diameter d
length
g l,, no. of turns n,, and magnetic
g permeability
p y µ, the inductance is given
g by:
y

  n2 d 2
L
4l

The magnetic energy stored by an inductor is:

1
E  L i 2 (t )
2

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 NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

Modeling of Electrical Circuits

When the electrical elements get connected into a circuit, the dynamic behavior
of the electrical system could be modeled by using the following governing laws:

• Kirchoff’s Current Law: The algebraic sum of currents leaving a junction or

node equals the algebraic sum of currents entering the node.

• Kirchoff s Voltage Law: The algebraic sum of all voltages taken around a closed
Kirchoff’s
path in a circuit is zero.

Parameters Mechanical Electrical

Static storage of 
Static storage of Spring Capacitor
Energy 
Dynamic Storage of  Inertia Inductor
gy
Energy
Energy Dissipation Dashpot/Damper Resistor
Excitation Force Voltage
R
Response Di l
Displacement
t Ch
Charge

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 NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

Modeling
g of a LRC Circuit

The governing equation of the electrical  circuit could be obtained 
using Kirchoff ‘s Laws and is given by:
d q (t )
i (t ) 
dt
d 2 q (t ) d q (t ) 1
V (t )  L  R  q
d t2 dt C

Joint Initiative of IITs and IISc ‐ Funded by MHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

Impedance
p based representation
p

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

A multi-loop presentation
Similar to multiple DOF mechanical systems, one can have multi‐loop electrical 
circuits. Figure below shows a multi‐loop electrical circuit in time and frequency 
domain and the corresponding transfer function for the system

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

Assignment: How to Model a DC Servomotor?

The example below shows an electromechanical system. Find out the

governing equations of the system (electrical and mechanical).

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

Hints: Development
p of state-space
p representation
p
• Torque developed by the motor Tm = Kt im

• Back emf em = Kb dΘ/dt

• Kirchoff’s Law: ea = Lm dim/dt + Rm im + em

• Force Balance: Tm – Tl = J d2Θ/dt2 + B dΘ/dt

• Take states as x1 = Θ, x2 = dΘ/dt, x3=im, Obtain EOM in state-space form

Joint Initiative of IITs and IISc ‐ Funded by MHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 7

Special
p References for this lecture:

 System Dynamics for Engineering Students: Nicolae Lobontiu,

Lobontiu Academic

Publisher

Systems, Frankline,
 Feedback Control of Dynamic Systems Frankline Powell and Emami
Emami-Naeini,
Naeini

Pearson Publisher

 Control
C lSSystems Engineering,
E i i N
Norman S Ni
Nise, J
John
h Wil
Wiley & Sons
S

 Systems Dynamics and Response, S. Graham Kelly, Thomson Publisher

Joint Initiative of IITs and IISc ‐ Funded by MHRD