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Representation of physical control system elements

• Learn how to
• Model physical system,
• Find transfer function,
• Make Analogies with other Systems

MENG 485 Dr. Ayman AL-KHAZRAJI 1


Mechanical Systems

Mechanical System : The basic elements are Spring, Damper and Mass.

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“Together Towards A Green Environment” 3
Mechanical Systems

Ex. write differential equation then TF for the circuit shown in Figure.

Solution:
Step1: draw the Free body diagram.
Step2: write net force equation

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Mechanical Systems

Summary
The relation between Force (F) and displacement (x) is given by:

Element name Differential Laplace

Spring F = 𝑘𝑥 F(s) = 𝑘𝑋(𝑠)


𝑑𝑥
Damper/dashpot F=𝑐 F(s) = 𝑐𝑠𝑋(𝑠)
𝑑𝑡

𝑑2 𝑦
Mass F= 𝑚 2 F(s) = 𝑚𝑠 2 𝑋(𝑠)
𝑑𝑡

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Electrical System

Electrical System

The basic elements are inductors, capacitors and resistors.

Transfer Fn (TF) = Laplace of (output/Input) when all initial conditions = 0

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Electrical System

Ex1. write differential equation then TF for the Low pass filter shown in Figure.

Solution

Using Kirchhoff’s voltage law

𝑉𝑖 = 𝑉𝑅 + 𝑉𝑜

Take Laplace for above two equations


and substitute (2) in (1) to get 𝑉𝑜 1
=
𝑉𝑖 𝑅𝐶𝑆 + 1

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Electrical System

Ex2. write differential equation then TF for the circuit shown in Figure.

Solution
Using Kirchhoff’s voltage law
𝑣𝑖 = 𝑣𝑙 + 𝑣𝑐 + 𝑣𝑜
Applying Ohm’s law for inductor, capacitor
𝑑𝑖 1
𝑣𝑖 = 𝐿 𝑑𝑡 + 𝐶 ‫ 𝑡𝑑𝑖 ׬‬+ 𝑣𝑜 ------(1)
For the resistor, we have
𝑣𝑜
𝑖= ------(2)
𝑅

Take Laplace for above two equations 𝑉𝑜(𝑠) 𝑅𝐶𝑆


=
and substitute (2) in (1) to get 𝑉𝑖(𝑠) 𝐿𝐶𝑆 2 + 𝑅𝐶𝑆 + 1

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Electrical System
Check your learning
1. Obtain differential equation then give TF for the shown circuit

2. Obtain differential equation then give TF for the shown circuit

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Electric Circuit Analogs of Mechanical Systems

Force to Voltage

C
C

Conclusion
Force (in mechanical) equivalent to Voltage (in Electrical)
Velocity (in mechanical) equivalent to Current (in Electrical) 10
Mechanical Systems
Summary
The relation between voltage (v) and current (i) is given by:

Element name Differential Laplace |ICs=0

Resistor v = 𝑅𝑖 V(s) = 𝑅𝐼(𝑠)


𝑑𝑖
Inductor v= 𝐿 V(s) = 𝐿𝑠𝐼(𝑠)
𝑑𝑡

1 1
Capacitor v = ‫ ׬‬idt V(s) = 𝐼(𝑠)
𝐶 𝐶𝑠
➢ Whenever its possible, we put the input (vi) on a side and the output (vo) on
the other side (see Ex1 & Ex2).

Mechanical System Electrical System


represent
Analogies

Force Voltage
Mass Inductor
Damper Resistor
Spring 1/Capacitor
Velocity current 11

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