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Automation and Control Lecture

This document contains a lecture on modeling and control of dynamic electro-mechanical systems. It discusses representing systems using block diagrams, including information organization, information hiding using transfer functions, basic block diagram components and algebra. It also covers closed loop systems, advanced block diagrams in Simulink/MATLAB and assigns modeling a single degree of freedom mechanical system as a block diagram.

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Samujawal Kumar Suman
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© Attribution Non-Commercial (BY-NC)
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Download as PDF, TXT or read online on Scribd
73 views

Automation and Control Lecture

This document contains a lecture on modeling and control of dynamic electro-mechanical systems. It discusses representing systems using block diagrams, including information organization, information hiding using transfer functions, basic block diagram components and algebra. It also covers closed loop systems, advanced block diagrams in Simulink/MATLAB and assigns modeling a single degree of freedom mechanical system as a block diagram.

Uploaded by

Samujawal Kumar Suman
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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7/31/2012

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Let us consider first the problems mooted in the last lecture


Problem1:

Information Organization through Block Diagram


Dr. Bishakh Bhattacharya Professor, Department of Mechanical Engineering IIT Kanpur

Fromthecruisecontrol perspective: wecanhavea simplified modelforthe automobile system. Assuming M tobethemassof thecarandu tobethevelocity, thegoverning EOMcould be writtenas:

M u D u F (t )
Where,D istheDrag/Resistance Coefficient andF(t) isthecruising force.
JointInitiativeofIITsandIISc FundedbyMHRD JointInitiativeofIITsandIISc FundedbyMHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Problem2:

System Transfer Functions


Thelasttwoexamples relatetothedescription ofthesystemsinTimeDomain. ByLaplace transformation onecanconverttheequations intofrequency domain. Assuming zeroinitial condition, thefirstmathematical modelcould beexpressedas:

sMU ( s ) BU ( s ) F ( s ) U ( s)

F ( s)
Again,asimplified modelcould bedeveloped byneglecting thedisturbance, theEOMwillbe(C shaftdamping coefficient andkshaftstiffness)

1 sM B
1 s2I2 s C k

Similarly, thesecond mathematical modelcould beexpressed as:

2 ( s)

Mc

I 2 2 C ( 2 1 ) k ( 2 1 ) M c (t ) I1 1 C ( 1 2 ) k (1 2 ) 0
JointInitiativeofIITsandIISc FundedbyMHRD

..

..

TheRHSofboththeequations areknownasTransferFunction thatdescribes the relationship between outputandinput.Example 1,pertains toafirstordertransfer function, while Example 2presents asecond ordertransferfunction. Suchrelationship couldbegraphicallyrepresented forbetterperception andthistechnique willbe 4 discussed inthislecture.
JointInitiativeofIITsandIISc FundedbyMHRD

7/31/2012

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

TheLectureContains
Information Organization

InformationOrganization
Graphical Information Organisation isanoldpractice.Thepicture belowshowsthegraphical organization ofTroopForce.

Information Hiding Blockdiagram ofaclosedloopsystem Blockdiagram algebra I Blockdiagram algebra II Advanced blockdiagrams Assignment

JointInitiativeofIITsandIISc FundedbyMHRD

JointInitiativeofIITsandIISc FundedbyMHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

InformationHiding
Oneoftheimportant partofsuch graphical representation isrepresenting the actualsystembyasuitable mathematical transferfunction thushiding thephysical system:

InformationHiding
TheCauseandEffectrelationship between theinput andoutputsofasystemcould berepresented graphically using BlockDiagrams

FigureRef.Prof.YuHo,Harvard
JointInitiativeofIITsandIISc FundedbyMHRD JointInitiativeofIITsandIISc FundedbyMHRD

7/31/2012

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

SubsystemsofaBlockDiagram
Therearefourcommon subsystemsinablockdiagram: Functionblocks

BlockdiagramofaClosedLoopSystem

Summing Junctions

C/R=G/(1+GH)=(1/H)[1/(1+1/GH)]
Only one input and one output from a block Signals may be summed at explicit summing junction A single signal fed to multiple blocks does not imply the physical splitting of the signal

Comparators Sampling anAnalogSignal


9
JointInitiativeofIITsandIISc FundedbyMHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Block Diagram Algebra - I

Block Diagram Algebra - II

JointInitiativeofIITsandIISc FundedbyMHRD

JointInitiativeofIITsandIISc FundedbyMHRD

7/31/2012

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

AdvancedBlockDiagrams:Simulink/MATLAB

SpecialReferencesforthislecture
UsingBlockDiagramsinControlSystemsDesign Tim Wescott,WescottDesignServices ModernControlEngineering K.Ogata,PrenticeHall FeedbackControlofDynamicSystems Franklin,Powelland Naeini,PearsonEducationAsia

14
JointInitiativeofIITsandIISc FundedbyMHRD JointInitiativeofIITsandIISc FundedbyMHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Assignment
FindouttheBlockDiagramRepresentationofasingledegreeof freedomSDOF mechanicalsystemgivenbythefollowingEquationofMotion:

M x C x K x R(t )
Here,M,C andK arethemass,damping andstiffness parameters respectively and R(t)istheforceapplied tothesystem.

..

15
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