Automatic Control of Mechanical
Systems
Dr. Omar Mehrez
(PhD) Assistant Professor,
Mechanical Power Engineering Department,
Faculty of Engineering, Tanta University
1
- About the Course -
❑ Introduction to Control Engineering
❑ System Modeling
❑ Time Domain Analysis
❑ Closed-Loop Control Systems
❑ Classical Design in the S-Plane
References:
Burns, R. S. “Advanced Control Engineering”, UK: Butterworth-Heinemann, 2001 (Main).
Ogata, K. “Modern Control Engineering”, US: PEARSON, 2010.
2
System Modeling
❑ Definition
❑ Mathematical Models of Mechanical Systems
❑ Mathematical Models of Electrical Systems
❑ Mathematical Models of Thermal Systems
❑ Mathematical Models of Fluid Systems
3
Definition
Mathematical Model of a Physical System
Input Output
System
Mathematical Model: any physical component
is obtaining the relation between the system input and output by an
equation or a set of equations.
it represents the dynamic behavior of the system
Obtaining the Mathematical Model:
✓ from knowledge of the physical characteristics of the system.
✓ by measuring how the system output responds to known
inputs (by experimentation).
4
Definition
Example: Mathematical Model of a Motor Vehicle
Accelerator Pedal Forward Speed 𝑢(𝑡)
Angle 𝜃(𝑡)
Fuel Flow
Motor Vehicle
Rate
Simple Mathematical Model:
5
Definition
Example: Mathematical Model of a Motor Vehicle
Complex Mathematical Model:
A change in accelerator angle doesn’t result in an instantaneous
change in vehicle forward speed.
Acceleration of the
vehicle
“Dynamic Behavior”
For steady state:
𝑑𝑢
=0
𝑑𝑡
6
Definition
Differential Equations with Constant Coefficients
Dynamic Behavior of a Represented by Differential
Physical System Equations
A system whose output 𝑥(𝑡), and input 𝑦(𝑡), and constant
coefficients of 𝑎, 𝑏, 𝑐, … , 𝑧
First-Order
Differential Equation
Second-Order
Differential Equation
Third-Order
Differential Equation7
Definition
Differential Equations with Constant Coefficients
General Form:
𝑑𝑛 𝑥 𝑑𝑛−1 𝑥 𝑑 𝑛−2 𝑥
𝑎 𝑛 + 𝑏 𝑛−1 + 𝑐 𝑛−2 + . . . . . . . . +𝑒𝑥 = 𝑓𝑦(𝑡)
𝑑𝑡 𝑑𝑡 𝑑𝑡
Linear Differential Equations with Constant Coefficients
Value of 𝑛 determines system order (value of the highest derivative)
First-Order Linear System
8
Definition
Mathematical Modeling
A system could be:
▪ Mechanical System
▪ Electrical System
▪ Thermal System
▪ Fluid System
9
System Modeling
❑ Definition
❑ Mathematical Models of Mechanical Systems
❑ Mathematical Models of Electrical Systems
❑ Mathematical Models of Thermal Systems
❑ Mathematical Models of Fluid Systems
10
Mathematical Modeling
Mechanical Systems
are usually considered to comprise of the linear lumped
parameter elements of stiffness, damping, and mass.
Storage → in stiffness element
Energy Input Dissipation → in damping element
Utilization → in mass element
Mechanical Systems
Translational Systems Rotational Systems
11
Mechanical Systems
1) Stiffness
An elastic element is assumed to produce an extension
proportional to force (or torque) applied to it.
Translational Spring Rotational Spring
Force 𝛼 Extension Torque 𝛼 Twist
𝐾 Spring Stiffness (N/m) 𝐾 Spring Stiffness (Nm/rad)
12
Mechanical Systems
2) Damping
A damping element (dashpot) is assumed to produce a velocity
proportional to force (or torque) applied to it.
Translational Damper Rotational Damper
Force 𝛼 Velocity Torque 𝛼 Angular Velocity
𝐶 Damping Coefficient (Ns/m) 𝐶 Damping Coefficient (Nm s/rad)13
Mechanical Systems
3) Mass
The force to accelerate a body is the product of its mass and
acceleration (Newton’s second law).
Translational System Rotational System
Force 𝛼 Acceleration Torque 𝛼 Angular Acceleration
𝐼 Moment of Inertia about the
14
rotational axis
Mechanical Systems
Examples
Analysis of mechanical systems:
▪ Identify all external forces
▪ Draw the Free Body Diagram
▪ Apply Newton’s Second Law
Translational System Rotational System
15
Mechanical Systems
Example (1)
Find the D.E. relating the displacements 𝑥𝑖 (𝑡)
and 𝑥𝑜 (𝑡) for the spring-mass-damper system.
Input force + ve - ve
causing direction direction
motion of motion of motion
Resisting
force
2nd order DE Mass motion
in the +ve
direction
Neglecting the mass:
Free body diagram
1st order DE
16
Mechanical Systems
Example (2)
Find the D.E. relating the applied torque 𝑇(𝑡) and the angular velocity ω(𝑡) of the
shaft.
𝑑𝜔
𝑇(𝑡) 𝜔 𝑡 ,
𝑑𝑡
𝑐𝜔 𝑡
17
Free body diagram
Mechanical Systems
Example (3)
Find the D.E. relating the motor torque 𝑇𝑚 (𝑡) and the output
angular position 𝜃𝑜 (𝑡) for the reduction gearbox.
18
Mechanical Systems
Example (3)
Free body diagram 19
Mechanical Systems
Example (3)
(1) Motor Shaft
d2 𝜃o
(2) Output Shaft 𝑀 = 𝐼𝑜
d𝑡 2
20
Mechanical Systems
Example (3)
For two meshing gears: 𝑎 𝜃m
Arcs length are equal
𝑎 𝜃m 𝑡 = 𝑏 𝜃o 𝑡
𝑏 𝜃o
Then:
21
System Modeling
❑ Definition
❑ Mathematical Models of Mechanical Systems
❑ Mathematical Models of Electrical Systems
❑ Mathematical Models of Thermal Systems
❑ Mathematical Models of Fluid Systems
22
Electrical Systems
Electrical System
The basic passive elements of electrical systems are resistance,
inductance, and capacitance.
1) Resistance
2) Inductance
23
Electrical Systems
3) Capacitance
The electrostatic equation:
Differentiating both sides:
Which equals, by integration:
24
Electrical Systems
Examples
Analysis of Electrical systems (based on Kirchhoff’s Laws):
▪ Law 1:
the total current flowing towards a junction is equal to the total
current flowing from the junction
▪ Law 2:
in a closed circuit or loop, the algebraic sum of the potential
differences across each part of the circuit is equal to the applied
e.m.f
25
Electrical Systems
Example (1)
Find the D.E. relating 𝑣1 (𝑡) and 𝑣2 (𝑡) for the RC network.
26
Electrical Systems
Example (2)
Find the D.E. relating 𝑣1 (𝑡) and 𝑣2 (𝑡) for the shown network.
28
Electrical Systems
Example (2)
29
Electromechanical Systems
DC Servomotor The most common actuating device
The input is either:
▪ The armature current 𝑖a
(armature controlled)
▪ The field current 𝑖𝑓
(field controlled)
∅
The output is:
▪ The rotational velocity 𝜔 𝑡
(or torque 𝑇m (𝑡))
30
Electromechanical Systems
DC Servomotor
a) Armature controlled
31
Electromechanical Systems
DC Servomotor
a) Armature controlled
𝑑𝑖𝑎
𝑒𝑎 𝑡 − 𝐾𝑏 𝜔 𝑡 = 𝐿𝑎 + 𝑅𝑎 𝑖𝑎 (𝑡)
d𝑡
For the mechanical load:
𝑑ω
𝑇𝑚 = 𝐼 + 𝑐𝜔 𝑡 = 𝐾𝑎 𝑖𝑎 (𝑡)
d𝑡 32
Electromechanical Systems
DC Servomotor
a) Armature controlled
𝑒𝑎 𝑡 𝑖𝑎 (𝑡) 𝑇𝑚 (𝑡) 𝜔 𝑡
+ Armature Armature
Load
- circuit 1 coil 2 3
𝑒𝑏 𝑡
Electromechanical inductance
4
𝑑𝑖𝑎
1 𝑒𝑎 𝑡 − 𝑒𝑏 𝑡 = 𝐿𝑎 + 𝑅𝑎 𝑖𝑎 (𝑡) Block diagram for armature-
d𝑡
2 𝑇𝑚 (𝑡) = 𝐾𝑎 𝑖𝑎 (𝑡) controlled DC servo motor
𝑑ω
3 𝑇𝑚 (𝑡) = 𝐼 + 𝑐𝜔 𝑡
d𝑡
4 𝑒𝑏 𝑡 = 𝐾𝑏 𝜔 𝑡
33
Electromechanical Systems
DC Servomotor
b) Field controlled
For the mechanical load:
𝑑ω
𝑇𝑚 = 𝐼 + 𝑐𝜔 𝑡 = 𝐾𝑓 𝑖𝑓 (𝑡)
d𝑡
34
Electromechanical Systems
DC Servomotor
b) Field controlled
𝑒𝑓 𝑡 𝑖𝑓 (𝑡) 𝑇𝑚 (𝑡) 𝜔 𝑡
Field Armature
Load
circuit 1 coil 2 3
𝑑𝑖𝑓
1 𝑒𝑓 𝑡 = 𝐿𝑓 + 𝑅𝑓 𝑖𝑓 (𝑡)
d𝑡
Block diagram for field-
2 𝑇𝑚 (𝑡) = 𝐾𝑓 𝑖𝑓 (𝑡)
controlled DC servo motor
𝑑ω
3 𝑇𝑚 (𝑡) = 𝐼 + 𝑐𝜔 𝑡
d𝑡
35
Summary
✓ What is meant by a system modeling
✓ Mathematical modeling of mechanical systems
✓ Mathematical modeling of electrical systems
36
THANK YOU
37
