Announcements

MECH466: Automatic Control

ƒ Lab starts next week.
ƒ Double-
Double-check which group you belong to, and
Lecture 4 what time your lab schedule is.
Modeling of electrical and mechanical ƒ Go to Kaiser 1160 in time. We check the
systems attendance at the starting time.
time.
ƒ If you are not in time, you have to
• conduct the lab by yourself at a rescheduled time
Dr. Ryozo Nagamune
• write a report by yourself.
Department of Mechanical Engineering
ƒ We will be VERY STRICT about this rule.
University of British Columbia
ƒ Read the manual before the lab.
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Course roadmap Controller design procedure (review)

Modeling Analysis Design Disturbance
Ref. Input Output
Controller Actuator plant
Laplace transform Time response
Design specs
• Transient
Transfer function • Steady state Sensor
Root locus
Models for systems Frequency response 4. Implemenation 1. Modeling
Frequency domain
• electrical • Bode plot
• mechanical Controller Mathematical model
PID & Lead-
Lead-lag
• electromechanical Stability
• Routh-
Routh-Hurwitz 2. Analysis
Design examples 3. Design
Linearization • Nyquist
ƒ What is the “mathematical model”
model”?
ƒ Transfer function
Matlab simulations & laboratories ƒ Modeling of electrical & mechanical systems
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 Mathematical model Important remarks on models
ƒ Representation of the input-
input-output (signal) ƒ Modeling is the most important and difficult task
relation of a physical system in control system design.
Physical Output ƒ No mathematical model exactly represents a
Input
system physical system.
Modeling

Model

ƒ Do not confuse models with physical systems!

systems!
ƒ A model is used for the analysis and design of
control systems. ƒ In this course, we may use the term “system”
system” to
mean a mathematical model.
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Transfer function Impulse response

ƒ A transfer function is defined by ƒ Suppose that u(t)
u(t) is the unit impulse function
and system is at rest.
Laplace transform of system output

Laplace transform of system input System

ƒ The output g(t)

g(t) for the unit impulse input is called
impulse response.
response.
ƒ A system is assumed to be at rest. (Zero initial ƒ Since R(s)=1,
R(s)=1, the transfer function can also be
condition) defined as the Laplace transform of impulse
response:
response:
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 Models of electrical elements Modeling example
i(t)
i(t) R1
Resistance Inductance Capacitance
i(t)
i(t) i(t)
i(t) i(t)
i(t) Input v1(t) R2 v2(t) Output
C
v(t)
v(t) R v(t)
v(t) L v(t)
v(t) C
ƒ Kirchhoff voltage law (with zero initial conditions)

Laplace
transform ƒ By Laplace transform,
transform,

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Modeling example (cont’d) Example: Modeling of op amp

i(t)
i(t) R1
-
Zf(s)
(s) i =0
Input v1(t) R2 v2(t) Output I(s)
I(s) -
i Vd=0
Zi(s)
(s) -
C vd +
Input Vi(s)
(s) Vo(s)
(s) Output
ƒ Transfer function

ƒ Impedance Z(s):
Z(s): V(s)=
V(s)=Z(s)I(s
Z(s)I(s))
ƒ Transfer function of the above op amp:

(first-
(first-order system)
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 Impedance computation Modeling example: op amp
R2 C
ƒ Series connection -
i =0
I(s)
I(s) i(t) R1
i(t) -
i vd=0
Z1(s) Z2(s) -
Input vi(t) vd +
(t) vo(t)
(t) Output
V(s)
V(s)
ƒ Parallel connection

Z1(s)
ƒ By the formula in previous two pages,
I(s)
I(s)

Z2(s)

V(s)
V(s) (first-
(first-order system)
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More exercises (in Philipps &

Modeling exercise: op amp
Harbor’s book)
ƒ Find a transfer function from v1 to v2.
C1 C2

R2 -
i =0
R1 -
i Vd=0
- ƒ Find a transfer function from vi to vo.
Input vi(t) vd +
(t) vo(t)
(t) Output

Find the transfer function!

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 Course roadmap Translational mechanical elements
Mass Spring Damper
Modeling Analysis Design
f(t)
f(t) f(t)
f(t)
Laplace transform Time response
Design specs
• Transient x2(t) x2(t)
M K B
Transfer function • Steady state
Root locus
Models for systems Frequency response f(t) f(t)
f(t)
Frequency domain f(t) x(t) f(t)
f(t) x1(t)
• electrical • Bode plot x(t) x1(t)
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
• Routh-
Routh-Hurwitz
Design examples
Linearization • Nyquist

Matlab simulations & laboratories

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Mass-spring-damper system Automobile suspension system

automobile M1
x1(t)
K B
suspension K1 B
M
wheel M2
x(t)
x(t) x2(t)
f(t)
f(t) f(t)
f(t)
tire K2
ƒ Newton’
Newton’s law

ƒ By Laplace transform (with zero initial conditions),

(2nd order system)

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 Automobile suspension system Exercises (Franklin et al.)
ƒ Quarter car model:
model: Obtain a transfer function
from R(s)
R(s) to Y(s).
Y(s).
Laplace transform with zero ICs
M2
y(t)
y(t) Answer

Ks B

M1
Block diagram x (t)
F X2 X1 Kw
G2 G1
Road surface

G3

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Rotational mechanical elements Torsional pendulum system

Moment of inertia Rotational spring Friction
torque
B K friction between
K bob and air
J J B

rotation angle
ƒ Newton’
Newton’s law

ƒ By Laplace transform (with zero ICs),

(2nd order system)

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 Example Example (cont’d)
ƒ From second equation:

(2nd order system)

ƒ From first equation:

ƒ By Newton’
Newton’s law

(4th order system)

ƒ By Laplace transform (with zero ICs),
Block diagram
G2 G1

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Rigid satellite Summary & Exercises

ƒ Modeling
ƒ Modeling is an important task!
ƒ Mathematical model
ƒ Transfer function
ƒ Modeling of electrical & mechanical systems

Thrustor ƒ Next, modeling of electromechanical systems

ƒ Exercises
• Broadcasting ƒ Read Sections 2.3-
2.3-2.6.
• Weather forecast ƒ Solve PROBLEMS 16,17,21,23,24,30,31 at the end of
• Communication Double
Chapter 2.
• GPS, etc. integrator

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