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(16ME6DCCOE)
Unit – 1
Mathematical Modeling
Laplace Transform - Recap
Laplace Transform - Recap
• Inverse Laplace transform: used to find f(t) given,
F(s)
• Where,
– u(t) = 1 for t > 0
– u(t) = 0 for t < 0
Laplace Transform - Recap
Laplace Transform - Recap
Laplace Transform - Practice
Laplace Transform - Practice
Laplace Transform - Pairs
Laplace Transform – Pairs (Cont’d)
Rotational Mechanical Systems
• System with Gears
Rotational Mechanical Systems
• System with Gears
Conversion from T.F to State Space
• Q) Find the state-space representation of the
transfer function:
Conversion from T.F to State Space
(Cont'd)
• Solution)
• The given transfer function can be converted as:
• Therefore:
Conversion from State Space to T.F
(Cont'd)
• Solution)
Block Diagrams
• Complicated systems can be represented as
interconnection of several simple sub-systems.
• Such a representation is termed as a block
diagram.
• A block diagram consists of following elements:
– A block : represents a transfer function
– Input / Output: signals going into and coming out of a
block.
– Summing Junction: where, several signals come and
join together.
– Pickoff Point: where, a signal branches of to a
different route
Block Diagrams (Cont'd)
Block Diagrams (Cont'd)
• To obtain one transfer function for a block
diagram, block diagram reduction method has to
be followed.
• In order to reduce a block diagram to a single
transfer function, the following forms have to be
recognized:
– Cascade form,
– Parallel form, and
– Feedback form
Block Diagrams (Cont'd)
• Cascade Form:
– When several blocks are in series:
Block Diagrams (Cont'd)
• Parallel Form:
– When several blocks are in parallel:
Block Diagrams (Cont'd)
• Feedback Form:
– When a signal is fedback from a block to a summing
junction:
Electro Mechanical Systems
• Motors
• Converts electrical energy (power) to mechanical
energy (power)
• Governed by: Faraday’s Law & Lenz’s law.
• Types
– DC Motors
– AC Motors
– Servo Motors
DC Motors
DC Motors (Cont’d)
• DC Motors
– Converts DC Electrical power to mechanical power.
– Brushed, brushless, commutated, un-commutated,
wound stators etc.
– A major portion of torque generated in the rotor
(armature) is available to drive an external load.
– Used in various control applications like: robotic
manipulators, disk drives, machine tools, servo-valve
actuators etc.
DC Motors (Cont’d)
• DC Motors
– Salient features:
• high torque,
• speed controllability over a wide range,
• portability,
• well-behaved speed-torque characteristics,
• adaptability to various types of speed control methods.
DC Motors (Cont’d)
DC Motors (Cont’d)
• The voltages applied to the field
and armature sides of the
motor are represented by Vf and
Va.
• The resistances and
inductances of the field and
armature sides of the motor are
represented by Rf, Lf, Ra, and La.
DC Motors (Cont’d)
Armature Controlled DC Motors