01 1dynamic Systems

System Dynamic
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Department of Engineering Physics, Faculty of Engineering Study Programs of Engineering Physics & Nuclear Engineering
A system is defined as a combination of components that act together to perform a certain objective. A system can be understood as a conceptually isolated part of the universe that is of interest to us. Other parts of the universe that interact with the system comprise the system environment, or neighboring systems.
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Definition
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System Dynamics System dynamics deal with:

The mathematical modeling of dynamic systems o Response analyses of such systems with a view toward understanding the dynamic nature of each system and improving the systems performance.
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Static and Dynamics

All existing systems change with time, and when the rates of change are significant, the systems are referred to as dynamic systems. Static Systems have an output response to an input that does not change with time.
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System and Subsystem

A car riding over a road can be considered as a dynamic system. Therefore any part of the car given as an example of a system its engine, brakes, suspension, etc. can also be considered a system (i.e., a subsystem).
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Interaction with Environment

The isolation of a system from the environment is purely conceptual. Every system interacts with its environment through two groups of variables.
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Input varibales Output variables
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Dynamic Systems
Dynamic Systems have a response to an input that is not instantaneously proportional to the input or disturbance and that may continue after the input is held constant. Dynamic systems can respond to input signals, disturbance signals, or initial conditions. Intials Conditions
Inputs
Outputs Dynamic Systems

Disturbances
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Input and Output Variables

Input variables, or simply inputs:
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The variables originate outside the system and are not directly dependent on what happens in the system. The variables generated by the system as it interacts with its environment.
Output variables, or simply outputs:

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State Variables
State variables are used to describe the system. The state variables constitute the minimum set of system variables necessary to describe completely the state of the system at any given instant of time.
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Dynamic System
Graphical presentation
Inputs
Dynamic System (parameters, state variables)
Outputs
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Example: Moving Car

State variables:
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the position and velocity of the vehicle as it travels along a straight path. throttle position, position of the steering wheel, and road conditions such as slope and roughness. The choice of the output variables is arbitrary, determined by the objectives of the analysis. The position, velocity, or acceleration of the car, or perhaps the average fuel flow rate or the engine temperature
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Input variables:
Output Variables:
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Moving Car
System parameters:
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the mass of the vehicle and the size of its engine.
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System Analysis
The main objective of system analysis is to predict the manner in which a system will respond to various inputs and how that response changes with different system parameter values.
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System Models
A mathematical model is a set of equations that completely describes the relationships among the system variables. It is used as a tool in developing designs or control algorithms, and the major task for which it is to be used has basic implications for the choice of a particular form of the system model.
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Classification of System Models

Type of Classification model criterion Nonlinear Principle of superposition does not apply Principle of Linear superposition applies Type of model equation Nonlinear differential equations Linear differential equations
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Type of model Distributed Classification criterion Dependent variables are functions of spatial coordinates and time Dependent variables are independent of spatial coordinates Type of model equation Partial differential equations
Lumped
Ordinary differential equations
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Type of model Timevarying Classification criterion Model parameters vary in time Type of model equation Differential equations with time-varying coefficients Differential equations with constant coefficients
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Stationary
Model parameters are constant in time
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Type of model Continuous Classification criterion Dependent variables defined over continuous range of independent variables Dependent variables defined only for distinct values of independent variables Type of model equation Differential equations
Discrete
Time-difference equations
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System
Simple ideal system elements found in four main types of systems:
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mechanical, electrical, fluid, and thermal
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Mechanical Systems
Systems that possess significant mass, inertia and spring and energy dissipation (damper) components driven by forces, torques, specified displacements are considered to be mechanical systems. An automobile is a good example of a dynamic mechanical system. It has a dynamic response as it speeds up, slows down, or rounds a curve in the road. The body and the suspension system of the car have a dynamic response of the position of the vehicle as it goes over a bump
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Electrical Systems
Electrical systems include circuits with resistive, capacitive, or inductive components excited by voltage or current. Electronic circuits can include transistors or amplifiers. A television receiver has a dynamic response of the beam that traces the picture on the screen of the set. The TV tuning circuit, which allows you to select the desired channel, also has a dynamic response
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Fluid Systems
Fluid systems employ orifices, restrictions, control valves, accumulators (capacitors), long tubes (inductors), and actuators excited by pressure or fluid flow. A city water tower has a dynamic response of the height of the water as a function of the amount of water pumped into the tower and the amount being used by the citizens.
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Thermal Systems
Thermal systems have components that provide resistance (conduction, convection or radiation) and a capacitance (mass a specific heat) when excited by temperature or heat flow. A heating system warming a house has a dynamic response as the temperature rises to meet the set point on the thermostat. Placing a pot of water over a burner to boil has a dynamic response of the temperature.
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Systems
Type of System Variables Force Mechanic Velocity Current Electric Voltage Flow rate Fluid Pressure Heat flow rate Thermal Temperature T Symbol F v i E p q T
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Mixed Systems
Some of the more interesting dynamic systems use two or more of the previously mentioned engineering disciplines, with energy conversion between various components.
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Electro-Mechanical Systems
Systems employing electromagnetic component that converts a current into a force generally have a dynamic response. Examples are a loudspeaker in a stereo system, a solenoid actuator, and electric motors. In a loudspeaker, electrical current from the amplifier is transformed into movement of the speaker cone and the subsequent air pressure fluctuations that cause us to hear the amplified sound.
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Fluid-Mechanical Systems
Hydraulic or pneumatic systems with fluidmechanical conversion components exhibit dynamic behavior. Examples are a hydraulic pump, a valve controlled actuator, and a hydraulic motor drive. A hydraulic servo system used for flight control in an airplane is a good example of a common electro-fluid-mechanical dynamic system.
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Thermo-Mechanical Systems
A combustion engine used in a car, truck, ship, or airplane is a thermo-fluid-mechanical (or simply, thermomechanical) device, since it converts thermal energy into a fluid power and then into mechanical power. Thermodynamics, fluid dynamics, and mechanical dynamics are all involved in the process.
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Electro-thermal Systems
A space heater that uses electric current to heat filament, which in turn warms the air, has a dynamic response to the surrounding environment. An electric water heater is another common example of an electro-thermal system.
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Quarter Car Model

only bounce (vertical) motion of the car is of interest. both pitch and roll motions can be neglected. Cases of analysis:
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in a study of passenger ride comfort in a study of dynamic loads applied by vehicle tires to road pavement
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Quarter Car Model

independent energy-storing elements, ms , mu, ks , and kt. energy-dissipating element, damper bs, representing the shock absorber. The input variable to the model is the history of the elevation profile, x1(t), of the road surface over which the vehicle is traveling. In most cases, the elevation profile is measured as a function of distance traveled, and it is then combined with vehicle forward velocity data to obtain x1(t).
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Main Variable of Interest

In studies of ride comfort, the main variable of interest is usually acceleration of the vehicle body.
x1(t) System
a3(t)
In studies of dynamic tire loads, on the other hand, the variable of interest is the vertical force applied by the tire to the road surface
x1(t) System Ft(t)
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01 1dynamic Systems

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01 1dynamic Systems

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System Dynamic

System Dynamics System dynamics deal with:

Static and Dynamics

System and Subsystem

Interaction with Environment

Input varibales Output variables

Outputs Dynamic Systems

Input and Output Variables

Output variables, or simply outputs:

Dynamic System (parameters, state variables)

Example: Moving Car

the mass of the vehicle and the size of its engine.

Classification of System Models

Classification of System Models

Ordinary differential equations

Classification of System Models

Model parameters are constant in time

Classification of System Models

mechanical, electrical, fluid, and thermal

Quarter Car Model

Quarter Car Model

Main Variable of Interest

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