Mathematical Modelling of a System

Outline

• Introduction
• Types of Models
• Mathematical Modeling of
• Electrical Systems
• Mechanical Systems
• Transfer Functions

2
Types of Systems
•
Static System: If a system does not change with time, it is called a
static system.
•
Dynamic System: If a system changes with time, it is called a dynamic
system.

3
 Model
•
A model is a simplified representation or
abstraction of reality.
•
Reality is generally too complex to copy
exactly.
•
Much of the complexity is actually irrelevant
in problem solving.

4
 What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that describes the input-
output behavior of a system.
Mathematical models of physical systems are key elements in the design and
analysis of control systems.
The dynamic behavior is generally described by ordinary differential equations.
The differential equations describing the dynamic performance of a physical system are
obtained by utilizing the physical laws of the process
What is a model used for?
• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or unknown.

Input Output

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Grey Box Model
• When input and output and some information about the internal
dynamics of the system is known.

u(t) y(t)
y[u(t), t]

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White Box Model
• When input and output and internal dynamics of the system is
known.

dy(t ) du(t ) d 2 y(t )

u(t) 3  y(t)
dt dt dt 2

• One should know have complete knowledge of the system to derive a

white box model.

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The differential equations describing the
dynamic performance of a physical
system are obtained by utilizing the
physical laws of the process. This
approach is applied to mechanical,
electrical, fluid and thermodynamic
systems.
The transfer function of a linear system is defined
as the ratio of the Laplace transform of the output
variable to the Laplace transform of the input
variable, with all initial conditions assumed to be
zero.
The transfer function of a system represents the
relationship describing the dynamics of the system
under consideration.
 Basic Elements of Electrical
Systems
V-I Relation
V-I Relation
Component Symbol (Frequency
(Time Domain)
Domain)

Resistor
v R (t ) i R (t )R VR (s )  I R (s )R

Capacitor
1 1
vc (t )  ic (t )dt Vc (s )  I c (s )
C Cs
Inductor
di L (t )
v L (t )  L VL (s )  LsI L (s )
dt 14
 Example#1
• The two-port network shown in the following figure has vi(t) as
the input voltage and vo(t) as the output voltage. Find the transfer
function Vo(s)/Vi(s) of the network.

vi( t) i(t) C vo(t)

1
vi (t ) i(t )R  i(t )dt
C
1
vo (t )  i(t )dt
C
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 Example
1 1
vi (t ) i(t )R  i(t )dt vo (t )  i(t )dt
C C
• Taking Laplace transform of both equations, considering initial
conditions to zero.

1 1
Vi (s )  I (s )R  I (s ) Vo (s )  I (s )
Cs Cs

• Re-arrange both equations as:

1
Vi (s )  I (s )(R  ) CsVo (s )  I (s )
Cs

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 1
Vi (s )  I (s )(R  ) CsVo (s )  I (s )
Cs
• Substitute I(s) in equation on left

1
Vi (s ) CsVo (s )(R  )
Cs

Vo (s ) 1

Vi (s ) 1
Cs( R  )
Cs

Vo (s ) 1

Vi (s ) 1  RCs
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Example
• Find the transfer function G(S) of the following two port
network.

vi(t) i(t) C vo(t)

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• Simplify network by replacing multiple components with their
equivalent transform impedance.

Z
Vi(s) I(s) C Vo(s)

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Back to Example

L
Z

Vi(s) I(s) C Vo(s)

1 1 1
 
Z ZR ZL

1 1 1
 
Z R Ls

RLs
Z
1  RLs
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Example
RLs
Z
1  RLs
L
Z

Vi(s) I(s) C Vo(s)

1 1
Vi (s )  I (s )Z  I (s ) Vo (s )  I (s )
Cs Cs

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Operational Amplifiers

Vout Z2 Vout Z2
 1 
Vin Z1 Vin Z1

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Example
• Find out the transfer function of the following circuit.

Vout Z2

Vin Z1
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Basic Types of Mechanical Systems
• Translational
• Linear Motion

• Rotational
• Rotational Motion

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Basic Elements of Translational Mechanical Systems

Translational Spring
i)

Translational Mass
ii)

Translational Damper
iii)

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 Translational Spring
• A translational spring is a mechanical element that
can be deformed by an external force such that the
deformation is directly proportional to the force
applied to it.

Translational Spring
i)

Circuit Symbols
Translational Spring

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 Translational Spring
• If F is the applied force
x1
x2

• Then x1 is the deformation if x 2  0 F

• Or ( x1  x2 ) is the deformation. F

• The equation of motion is given as

F  k ( x1  x2 )

• Where k is stiffness of spring expressed in N/m 27

 Translational Mass
• Translational Mass is an inertia Translational Mass
element. ii)

• A mechanical system without

mass does not exist.

• If a force F is applied to a mass x(t )

and it is displaced to x meters
then the relation b/w force and F (t )
M
displacements is given by
Newton’s law.

F  Mx
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 Translational Damper
• When the viscosity or drag is not
negligible in a system, we often
model them with the damping
force.

• All the materials exhibit the Translational Damper

iii)
property of damping to some
extent.

• If damping in the system is not

enough then extra elements
(e.g. Dashpot) are added to
increase damping.
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 Translational Damper

F Cx F C ( x 1  x 2 )

• Where C is damping coefficient (N/ms-1).

 Common Uses of Dashpots
Door Stoppers
Vehicle Suspension

Bridge Suspension
Flyover Suspension

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Example
• Consider the following system (friction is negligible)

k
x
F
M

• Free Body Diagram

fk
M fM
F

• Where f k and f M are forces applied by the spring and

inertial force respectively.
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 fk
M fM
F

F  fk  fM
• Then the differential equation of the system is:

F  Mx  kx
• Taking the Laplace Transform of both sides and ignoring
initial conditions we get

F (s )  Ms 2 X (s )  kX (s )
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 F (s )  Ms 2 X (s )  kX (s )
• The transfer function of the system is

X (s ) 1

F (s ) Ms 2  k

• if
M 1000kg
k  2000Nm  1

X (s ) 0.001
 2
F (s ) s  2
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Example
• Consider the following system

k
x
F
M

C
• Free Body Diagram
fk fC
M fM
F

F  f k  f M  fC
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Differential equation of the system is:

F  Mx  Cx  kx
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get

F (s )  Ms 2 X (s )  CsX (s )  kX (s )

X (s ) 1

F (s ) Ms 2  Cs  k

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Example
• Consider the following system

• Free Body Diagram (same as example-3)

fk fB
M fM X (s ) 1
F

F (s ) Ms 2  Bs  k
F  fk  fM  fB
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Example
• Find the transfer function of the mechanical translational
system given in Figure-1.
Free Body Diagram
fk fB

Figure-1

f (t ) fM

X (s ) 1
f (t )  f k  f M  f B 
F (s ) Ms 2  Bs  k
38
 Example
• Find the transfer function X2(s)/F(s) of the following system.

Free Body Diagram

f k1 f k f B f k1 fB
2

M2 M1
k2
F (t ) f M 2 f M1

F (t )  f k1  f k 2  f M 2  f B

0  f k1  f M 1  f B
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 Basic Elements of Rotational Mechanical Systems

Rotational Spring

1
2

T k (1   2 )

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 Basic Elements of Rotational Mechanical Systems

Rotational Damper

C
1
2 T

T C (1   2 )

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 Basic Elements of Rotational Mechanical Systems

Moment of Inertia


J T

T  J

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Summary