Chapter 1

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INTRODUCTION TO SYSTEM DYNAMICS

In this section we establish some basic terminology and discuss the meaning of the topic "system dynamics," its methodology, and its applications. SYSTEM: The original meaning of the term is a combination of elements intended to act together to accomplish an objective. For example, a link in a bicycle chain is usually not considered to be a system. The system designer must focus on how all the elements act together to achieve the system's intended purpose INPUT/OUTPUT: In the system dynamics meaning of the terms, an input is a cause; an output is an effect due to the input. The behavior of a system element is specified by its inputoutput relation, which is a description of how the output is affected by the input. The input-output relation expresses the cause-and-effect behavior of the element.

Figure 1.1.1

Figure 1.1.1, can be in the form of a table of numbers, a graph, or a mathematical relation. The input-output or causal relation is, from Newton's second law, a = f / m. The input is f and the output is a. input-output relations for the elements in the system provide a means of specifying the connections between the elements.

Static and Dynamics Elements

When the present value of an element's output depends only on the present value of its e ay the element is a static element. For example, the current flowing through or depends only on the present value of the applied voltage. The resistor is thus element.

If an element's present output depends on past inputs, we say it is a dynamic element. For example, the present position of a bike depends on what its velocity has been from the start.

 Input= is provided to a system that delivers an output. System= component that act together developing output from the input. Component= individual units within the system. System= static if output is dependent only on instantaneous input. System= dynamic when the output is the function of the history of the input. System response= output from the system for a given system input.

MODELING OF SYSTEMS

Table 1.1.1 contains a summary of the methodology. Simplifying the problem sufficiently and applying the appropriate fundamental principles is called modeling, and the resulting mathematical description is called a mathematical model, or just a model. When the modeling has been finished, we need to solve the mathematical model to obtain the required answer.

Table 1.1.1

 DYNAMIC SYSTEM AND THEIR RESPONSE 1) Given the input and the system components, determine the system response. 2) Given the input and desired output, determine a set of system componentsthat can be used to achieve the desired output. Output of dynamic system= dependent on history of input, may be time dependent. Output varies with time

System response

Response of a system depends on many factor including system components and how the system is modeled. Order of a system is a key factor in understanding the dynamics such a system. Transfer function : relates order to a mathematical property of a system First order system : modeled by first order differential equation Second order system : is modeled by second order differential equation

 Higher order system : modeled by a set of differential equations; a system modeled by three second-order differential equations is a six-order system. Free response of system : response due to nonzero initial conditions and occurs is the absence of any other system input. Force response : system is subject to a nonzero input for t > 0 General system (linear system) : sum of forced response and the free response. Transient response : free response or to the system response shortly after input is changed.

 Steady-state response : systems response after a long period of time. If the input is periodic, the steady-state response is periodic. Steadystate response of a linear system when it exist is independent of initial conditions. Equilibrium : the balance achieved between competing forces. The term is often used to describe the state of a system when system variables do not change with time. A mechanical system is in static equilibrium when the resultant of external forces is zero.

 Mathematical modeling = process through which the dynamic system is obtained. Leads to development of mathematical equations that describe the behavior of the system. Behavior of a dynamic system usually governed by a different equations, an integral equation, an integrodifferential equation or a set of differential equations in which time is the independent variable. Dependent variables represent the system outputs.

Figure 1.1.2

Figure 1.1.2 shows a robot arm, whose motion must be properly controlled to move an object to a desired position and orientation. To do this, each of the several motors and drive trains in the arm must be adequately designed to handle the load, and the motor speeds and angular positions must be properly controlled.

Figure 1.1.3

Figure 1.1.3 shows a typical motor and drive train for one arm joint. Knowledge of system dynamics is essential to design these subsystems and to control them properly.

Figure 1.1.4

Figure 1.1.4 shows the mechanical drive for a conveyor system. The motor, the gears in the speed reducer, the chain, the sprockets, and the drive wheels all must be properly selected, and the motor must be properly controlled for the system to work well.

Figure 1.1.5

(Figure 1.1.5). Active suspension systems, whose characteristics can be changed under computer con-trol, and vehicle-dynamics control systems are undergoing rapid development, and their design requires an understanding of system dynamics.

Dimension and Units

Dimension = representation of how a physical variable is expressed quantitatively 7 basic dimension. = mass, length, time, temperature, electric current, luminous intensity, amount of substance in moles.

Table 1.2.1:UNITS

Table 1.2.2

Developing linear model

A linear model of a static system element has the form y = mx + b, where x is the input and y is the output of the element.

Example: The deflection of a cantilever beam is the distance its end moves in response to a force applied at the end (Figure 1.3.1). The following table gives the measured deflection x that was produced in a particular beam by the given applied force f. Plot the data to see whether a linear relation exists between f and x.

Figure 1.3.2

Solution

Common sense tells us that there must be zero beam deflection if there is no applied force, so the curve describing the data must pass through the origin. The straight line shown was drawn by aligning a straightedge so that it passes through the origin and near most of the data points. The data lies close to a straight line, so we can use the linear function x = af to describe the relation. The value of the constant a can be determined from the slope of the line, which is

SYSTEM CLASSIFICATION
LINEAR SYSTEM = mathematical model involve only linear differential equation NONLINEAR SYSTEM = mathematical model contain nonlinear differential equation

Linearization of Differential Equations

The modeling and response of linear systems, or system governed by linear differential equations. Assumption are often made to render systems linear. When appropriate, the equations may be linearized using mathematical methods to approximate the nonlinear equation by a linear equation. eg.1.4

CONTROL

SYSTEMS

Dynamic system are design their response is predictable when subject to defined input. Eg. Output variables for a heating and air conditioning system is the temperature of the room to service. INPUT = temperature of room to be heated / cooled (thermostat setting) > when the input change, system respond dynamically to change the room temperature

 The air conditioning system must be design with a sensor to determine the room temperature and compare it to the thermostat temperature. When the two temperatures are different, the system must respond so that the output temperature dynamically approaches the input temperature. A system that senses its output and responds to a difference between input and output is called a feedback control system. The feedback is design to provide stable response to unpredictable changes in system input.

Mathematical Modeling of Dynamic System

Mathematical modeling can be used to achieve one of the three objectives.. 1) system analysis is used to determine the outptut for a specific system. 2) system design is used to determine the system components and their parameters such that a specific system output is achieved. 3) system synthesis is the determination of system components and their parameters to achieve a specific performance for a variety of system inputs.

Procedure for the Mathematical Modeling

STEP 1: define the system to be modeled. Identify the input to the system and what will constitute output. STEP 2: the assumption under which the modeling occurs must be identified and stated. Implicit assumption & explicit assumption STEP 3: system components are identified and their behavior quantified. STEP 4: variables and parameters are verified. STEP 5: applicable physical laws are applied. STEP 6: initial condition

 STEP 7: mathematical analysis is performed to determine the time independent solution for the dependent variables. STEP 8: the system output is determined from the mathematical solution obtain in STEP 7 STEP 9: the model is validated

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Figure 1.5.1

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